diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 72fa72fb3..ef0c44180 100644 --- a/.github/workflows/ci-coverage-build.yml +++ b/.github/workflows/ci-coverage-build.yml @@ -23,10 +23,13 @@ jobs: import-token: ${{ secrets.GITHUB_TOKEN }} # build all packages listed in the meta package package-name: - diffbot_description - ros2_control_demo_bringup - ros2_control_demo_hardware - rrbot_description + ros2_control_demo_example_1 + ros2_control_demo_example_2 + ros2_control_demo_example_3 + ros2_control_demo_example_4 + ros2_control_demo_example_5 + ros2_control_demo_example_6 + ros2_control_demo_example_8 vcs-repo-file-url: | https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml index f9f1e10f2..02f8cefed 100644 --- a/.github/workflows/ci-ros-lint.yml +++ b/.github/workflows/ci-ros-lint.yml @@ -18,11 +18,13 @@ jobs: distribution: rolling linter: ${{ matrix.linter }} package-name: - diffbot_description - ros2_control_demo_bringup - ros2_control_demo_hardware - rrbot_description - + ros2_control_demo_example_1 + ros2_control_demo_example_2 + ros2_control_demo_example_3 + ros2_control_demo_example_4 + ros2_control_demo_example_5 + ros2_control_demo_example_6 + ros2_control_demo_example_8 ament_lint_100: name: ament_${{ matrix.linter }} @@ -40,7 +42,10 @@ jobs: linter: cpplint arguments: "--linelength=100 --filter=-whitespace/newline" package-name: - diffbot_description - ros2_control_demo_bringup - ros2_control_demo_hardware - rrbot_description + ros2_control_demo_example_1 + ros2_control_demo_example_2 + ros2_control_demo_example_3 + ros2_control_demo_example_4 + ros2_control_demo_example_5 + ros2_control_demo_example_6 + ros2_control_demo_example_8 diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml index 0fdd03ed8..269ccbf40 100644 --- a/.github/workflows/reusable-ros-tooling-source-build.yml +++ b/.github/workflows/reusable-ros-tooling-source-build.yml @@ -32,10 +32,13 @@ jobs: target-ros2-distro: ${{ inputs.ros_distro }} # build all packages listed in the meta package package-name: - diffbot_description - ros2_control_demo_bringup - ros2_control_demo_hardware - rrbot_description + ros2_control_demo_example_1 + ros2_control_demo_example_2 + ros2_control_demo_example_3 + ros2_control_demo_example_4 + ros2_control_demo_example_5 + ros2_control_demo_example_6 + ros2_control_demo_example_8 vcs-repo-file-url: | https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos diff --git a/README.md b/README.md index 0bd3d3fb9..2443c0e35 100644 --- a/README.md +++ b/README.md @@ -7,13 +7,6 @@ It consists of simple implementations that demonstrate different concepts. If you want to have rather step by step manual how to do things with `ros2_control` checkout [ros-control/roscon2022_workshop](https://github.com/ros-controls/roscon2022_workshop) repository. -### Goals - -The repository has two other goals goals: - -1. Implements the example configuration described in the `ros-controls/roadmap` repository file [components_architecture_and_urdf_examples](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md). -2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers). - ## Getting started @@ -44,79 +37,10 @@ The concepts in this package are demonstrated on the examples of *RRBot* and *Di Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts. -## What you can Find in This Repository and Example Description - -This repository demonstrates the following `ros2_control` concepts: - -* Creating a `*HardwareInterface` for a System, Sensor, and Actuator. -* Creating a robot description in the form of URDF files. -* Loading the configuration and starting a robot using launch files. -* Control of a differential mobile base *DiffBot*. -* Control of two joints of *RRBot*. -* Using simulated robots and starting `ros2_control` with Gazebo simulator. -* Implementing a controller switching strategy for a robot. -* Using joint limits and transmission concepts in `ros2_control`. - - -### Example Overview - -Check README file inside each example folder for detailed description. - - -##### Example 1 - -*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. - - -##### Example 2 - -*DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. -The robot is basically a box moving according to differential drive kinematics. - - -##### Example 3 - -*RRBot* - or ''Revolute-Revolute Manipulator Robot'' with multiple interfaces - - -##### Example 4: "Industrial robot with integrated sensor" -*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an integrated sensor. - - -##### Example 5: "Industrial Robots with externally connected sensor" -*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an externally connected sensor. - - -##### Example 6: "Modular Robots with separate communication to each actuator" - -The example shows how to implement robot hardware with separate communication to each actuator. - - -##### Example 8: Using transmissions -*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with an exposed transmission interface - - -## Quick Hints - -These are some quick hints, especially for those coming from a ROS1 control background: - -* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*. - *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators. - You could think of a Sensor as read-only. - All components are used as plugins and therefore exported using `PLUGINLIB_EXPORT_CLASS` macro. -* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort. - *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a `position_in_degrees` or a `temperature` interface. - The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. -* Joint names in tags in the URDF must be compatible with the controller's configuration. -* In ros2_control, all parameters for the driver are specified in the URDF. - The ros2_control framework uses the **** tag in the URDF. -* Joint names in tags in the URDF must be compatible with the controller's configuration. - - ## Build status -ROS2 Distro | Branch | Build status | Documentation -:---------: | :----: | :----------: | :-----------: +ROS 2 Distro | Branch | Build status | Documentation +:----------: | :----: | :----------: | :-----------: **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master)
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[API Reference](https://control.ros.org/rolling/api/) **Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml?branch=master)
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[API Reference](https://control.ros.org/rolling/api/) **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic)
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[API Reference](https://control.ros.org/rolling/api/) @@ -145,7 +69,7 @@ git clone https://github.com/ros-controls/ros2_controllers git clone https://github.com/ros-controls/ros2_control_demos ``` -**NOTE**: `ros2_control` and `ros2_controllers` packages are released for foxy and can be installed using a package manager. +**NOTE**: `ros2_control` and `ros2_controllers` packages are released and can be installed using a package manager. We provide officially released and maintained debian packages, which can easily be installed via aptitude. However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace. @@ -160,111 +84,3 @@ However, there might be cases in which not-yet released demos or features are on ``` * Do not forget to source `setup.bash` from the `install` folder! - - -# Getting Started with demos - -This repository provides the following simple example robots: a 2 degrees of freedom manipulator - *RRBot* - and a mobile differential drive base - *DiffBot*. -The first two examples demonstrate the minimal setup for those two robots to run. -Later examples show more details about `ros2_control`-concepts and some more advanced use-cases. - -# Examples of ros2_control concepts - -Each of the described example cases from the [roadmap](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md) has its own launch and URDF file. - - -### General notes about examples - -1. Each example is started with a single launch file which starts up the robot hardware, loads controller configurations and it also opens `RViz`. - - The `RViz` setup can be recreated following these steps: - - - The robot models can be visualized using `RobotModel` display using `/robot_description` topic. - - Or you can simply open the configuration from `rviz` folder in `rrbot_description` or `diffbot_description` package manually or directly by executing: - ``` - rviz2 --display-config `ros2 pkg prefix rrbot_description`/share/rrbot_description/config/rrbot.rviz - ``` - -1. To check that robot descriptions are working properly use following launch commands: - ``` - ros2 launch rrbot_description view_robot.launch.py - ``` - Optional arguments for specific example (the robot visualization will be the same for all examples): - ``` - description_file:=rrbot_system_multi_interface.urdf.xacro - ``` - -**NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`. - This happens because `joint_state_publisher_gui` node need some time to start. - - -1. To start an example open a terminal, source your ROS2-workspace and execute a launch file with: - ``` - ros2 launch ros2_control_demo_bringup - ``` - -1. To stop RViz2 from auto-start use `start_rviz:=false` launch file argument. - -1. To check if the hardware interface loaded properly, open another terminal and execute: - ``` - ros2 control list_hardware_interfaces - ``` - You should get something like: - ``` - command interfaces - joint1/position [unclaimed] - joint2/position [unclaimed] - state interfaces - joint1/position - joint2/position - ``` - -1. Check which controllers are running using: - ``` - ros2 control list_controllers - ``` - You should get something like: - ``` - forward_position_controller[forward_command_controller/ForwardCommandController] unconfigured - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - ``` - -1. Check [Controllers and moving hardware](#controllers-and-moving-hardware) section to move *RRBot*. - - -*NOTE:* The examples reuse the same, configurable base-launch file [`rrbot_base.launch.py`](ros2_control_demo_bringup/launch/rrbot_base.launch.py). -This also demonstrates how launch files are usually reused for different scenarios when working with `ros2_control`. - - -### Example 1: "Industrial Robots with only one interface" - -Files: - - Launch file: [rrbot_system_position_only.launch.py](ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py) - - Controllers yaml: [rrbot_controllers.yaml](ros2_control_demo_bringup/config/rrbot_controllers.yaml) - - URDF: [rrbot_system_position_only.urdf.xacro](ros2_control_demos/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro) - - `ros2_control` URDF tag: [rrbot_system_position_only.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro) - -Interfaces: - - Command interfaces: - - joint1/position - - joint2/position - - State interfaces: - - joint1/position - - joint2/position - -Available controllers: - - `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` - - `forward_position_controller[forward_command_controller/ForwardCommandController]` (position) - -Moving the robot: - - see below description of `forward_position_controller` - -Available launch file options: - - `use_fake_hardware:=true` - start `FakeSystem` instead of hardware. - This is a simple simulation that mimics joint command to their states. - This is useful to test *ros2_control* integration and controllers without physical hardware. - - -### Example 1-Sim: "Industrial Robots with only one interface" (Gazebo simulation) - -- **TBA** diff --git a/doc/index.rst b/doc/index.rst new file mode 100644 index 000000000..df2dd3d56 --- /dev/null +++ b/doc/index.rst @@ -0,0 +1,103 @@ +.. _ros2_control_demos: + +################# +Demos +################# + +This `GitHub Repository `_ +provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts. + +If you want to have a rather step by step manual how to do things with ``ros2_control`` checkout `ros-control/roscon2022_workshop `_ repository. + +========================================== +What you can find in this repository +========================================== + +This repository demonstrates the following ``ros2_control`` concepts: + +* Creating a ``HardwareInterface`` for a System, Sensor, and Actuator. +* Creating a robot description in the form of URDF files. +* Loading the configuration and starting a robot using launch files. +* Control of a differential mobile base *DiffBot*. +* Control of two joints of *RRBot*. +* Implementing a controller switching strategy for a robot. +* Using joint limits and transmission concepts in ``ros2_control``. + +===================== +Goals +===================== + +The repository has two other goals: + +1. Implements the example configuration described in the ``ros-controls/roadmap`` repository file `components_architecture_and_urdf_examples `_. +2. The repository is a validation environment for ``ros2_control`` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers). + +===================== +Example Overview +===================== + +* Example 1: RRBot + + *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers. + + +* Example 2: DiffBot + + *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive. + The robot is basically a box moving according to differential drive kinematics. + + +* Example 3: "RRBot with multiple interfaces" + + *RRBot* with multiple interfaces. + + +* Example 4: "Industrial robot with integrated sensor" + + *RRBot* with an integrated sensor. + + +* Example 5: "Industrial Robots with externally connected sensor" + + *RRBot* with an externally connected sensor. + +* Example 6: "Modular Robots with separate communication to each actuator" + + The example shows how to implement robot hardware with separate communication to each actuator. + + +* Example 8: Using transmissions + + *RRBot* with an exposed transmission interface. + +===================== +Quick Hints +===================== + +These are some quick hints, especially for those coming from a ROS1 control background: + +* There are now three categories of hardware components: *Sensor*, *Actuator*, and *System*. + *Sensor* is for individual sensors; *Actuator* is for individual actuators; *System* is for any combination of multiple sensors/actuators. + You could think of a Sensor as read-only. + All components are used as plugins and therefore exported using ``PLUGINLIB_EXPORT_CLASS`` macro. +* *ros(1)_control* only allowed three hardware interface types: position, velocity, and effort. + *ros2_control* allows you to create any interface type by defining a custom string. For example, you might define a ``position_in_degrees`` or a ``temperature`` interface. + The most common (position, velocity, acceleration, effort) are already defined as constants in hardware_interface/types/hardware_interface_type_values.hpp. +* Joint names in tags in the URDF must be compatible with the controller's configuration. +* In ros2_control, all parameters for the driver are specified in the URDF. + The ros2_control framework uses the **** tag in the URDF. +* Joint names in tags in the URDF must be compatible with the controller's configuration. + +===================== +Examples +===================== +.. toctree:: + :titlesonly: + + Example 1: RRBot <../example_1/doc/userdoc.rst> + Example 2: DiffBot <../example_2/doc/userdoc.rst> + Example 3: RRBot with multiple interfaces <../example_3/doc/userdoc.rst> + Example 4: Industrial robot with integrated sensor <../example_4/doc/userdoc.rst> + Example 5: Industrial Robots with externally connected sensor <../example_5/doc/userdoc.rst> + Example 6: Modular Robots with separate communication to each actuator <../example_6/doc/userdoc.rst> + Example 8: Using transmissions <../example_8/doc/userdoc.rst> diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt index f7bea298c..1b6fc0173 100644 --- a/example_1/CMakeLists.txt +++ b/example_1/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_1) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_1 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,17 +22,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_1 SHARED hardware/rrbot.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_1 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_1 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_1 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -49,21 +44,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_1_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_1.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_1 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_1 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_1 +) +install(TARGETS ros2_control_demo_example_1 + EXPORT export_ros2_control_demo_example_1 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -71,13 +68,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_1 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_1/description/meshes/hokuyo.dae b/example_1/description/meshes/hokuyo.dae deleted file mode 100644 index 5334503ae..000000000 --- a/example_1/description/meshes/hokuyo.dae +++ /dev/null @@ -1,253 +0,0 @@ - - - - - Blender User - Blender 2.64.0 r51232 - - 2013-03-22T08:19:53 - 2013-03-22T08:19:53 - - Z_UP - - - - - - - 49.13434 - 1.777778 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_1/description/urdf/rrbot.urdf.xacro b/example_1/description/urdf/rrbot.urdf.xacro index b519fc2e3..b403f2c33 100644 --- a/example_1/description/urdf/rrbot.urdf.xacro +++ b/example_1/description/urdf/rrbot.urdf.xacro @@ -18,9 +18,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_1/description/urdf/rrbot_description.urdf.xacro b/example_1/description/urdf/rrbot_description.urdf.xacro index 8c0673208..cfcb0388b 100644 --- a/example_1/description/urdf/rrbot_description.urdf.xacro +++ b/example_1/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_1/README.rst b/example_1/doc/userdoc.rst similarity index 86% rename from example_1/README.rst rename to example_1/doc/userdoc.rst index 438cc82a5..02aa95be6 100644 --- a/example_1/README.rst +++ b/example_1/doc/userdoc.rst @@ -1,6 +1,7 @@ -**************** +.. _ros2_control_demos_example_1_userdoc: + Example 1: RRBot -**************** +===================== *RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features. @@ -13,14 +14,26 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder. ros2 launch ros2_control_demo_example_1 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to change the configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + + The ``joint_state_publisher_gui`` provides a GUI to change the configuration for *RRbot*. It is immediately displayed in *RViz*. - .. image:: doc/rrbot.png + .. image:: rrbot.png :width: 400 :alt: Revolute-Revolute Manipulator Robot + The *RViz* setup can be recreated following these steps: + + - The robot models can be visualized using ``RobotModel`` display using ``/robot_description`` topic. + - Or you can simply open the configuration from ``description/rviz`` folder manually or directly by executing + + .. code-block:: shell + + rviz2 --display-config `ros2 pkg prefix ros2_control_demo_example_1`/share/ros2_control_demo_example_1/rviz/rrbot.rviz + 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -65,7 +78,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder. 5. If you get output from above you can send commands to *Forward Command Controller*, either: - a. Manually using ros2 cli interface: + a. Manually using ROS 2 CLI interface: .. code-block:: shell @@ -122,8 +135,11 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder. ros2 control set_controller_state position_trajectory_controller inactive what should give ``Successfully configured position_trajectory_controller``. - Note that the parameters are already set in `rrbot_controllers.yaml `__ - but the controller was not loaded from the `launch file rrbot.launch.py `__ before. + + .. note:: + + The parameters are already set in `rrbot_controllers.yaml `__ + but the controller was not loaded from the `launch file rrbot.launch.py `__ before. As an alternative, you can load the controller directly in ``inactive``-state by means of the option for ``load_controller`` @@ -183,7 +199,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder. You can adjust the goals in `rrbot_joint_trajectory_publisher `__. Files used for this demos -######################### +------------------------- - Launch file: `rrbot.launch.py `__ - Controllers yaml: `rrbot_controllers.yaml `__ @@ -202,7 +218,7 @@ Files used for this demos Controllers from this demo -########################## +-------------------------- - ``Joint State Broadcaster`` (`ros2_controllers repository `__): `doc `__ - ``Forward Command Controller`` (`ros2_controllers repository `__): `doc `__ - ``Joint Trajectory Controller`` (`ros2_controllers repository `__): `doc `__ diff --git a/example_1/package.xml b/example_1/package.xml index 5da5ebfdc..eb7b3a328 100644 --- a/example_1/package.xml +++ b/example_1/package.xml @@ -6,6 +6,7 @@ Demo package of `ros2_control` hardware for RRbot. Dr.-Ing. Denis Štogl + Bence Magyar Christoph Froehlich Dr.-Ing. Denis Štogl @@ -20,6 +21,13 @@ rclcpp_lifecycle ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + joint_trajectory_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher ament_cmake_gtest diff --git a/example_2/CMakeLists.txt b/example_2/CMakeLists.txt index 669695753..ae7951048 100644 --- a/example_2/CMakeLists.txt +++ b/example_2/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_2) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_2 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,17 +22,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_2 SHARED hardware/diffbot_system.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_2 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_2 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_2 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -49,21 +44,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_2_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_2.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_2 ) install( DIRECTORY description/launch description/ros2_control description/urdf description/rviz - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_2 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_2 +) +install(TARGETS ros2_control_demo_example_2 + EXPORT export_ros2_control_demo_example_2 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -71,13 +68,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_2 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_2/README.rst b/example_2/doc/userdoc.rst similarity index 97% rename from example_2/README.rst rename to example_2/doc/userdoc.rst index eacf2fb61..e92438dd4 100644 --- a/example_2/README.rst +++ b/example_2/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_2_userdoc: + ********* DiffBot ********* @@ -16,7 +18,7 @@ The *DiffBot* URDF files can be found in ``description/urdf`` folder. Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. This happens because ``joint_state_publisher_gui`` node need some time to start. - .. image:: doc/diffbot.png + .. image:: diffbot.png :width: 400 :alt: Differential Mobile Robot @@ -67,7 +69,7 @@ The *DiffBot* URDF files can be found in ``description/urdf`` folder. diffbot_base_controller[diff_drive_controller/DiffDriveController] active joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active -5. If everything is fine, now you can send a command to *Diff Drive Controller* using ros2 cli interface: +5. If everything is fine, now you can send a command to *Diff Drive Controller* using ROS 2 CLI interface: .. code-block:: shell diff --git a/example_2/package.xml b/example_2/package.xml index bf83d5859..b98693d35 100644 --- a/example_2/package.xml +++ b/example_2/package.xml @@ -6,6 +6,7 @@ Demo package of `ros2_control` hardware for DiffBot. Dr.-Ing. Denis Štogl + Bence Magyar Christoph Froehlich Dr.-Ing. Denis Štogl @@ -19,6 +20,14 @@ rclcpp rclcpp_lifecycle + ros2_controllers_test_nodes + joint_state_broadcaster + diff_drive_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/example_3/CMakeLists.txt b/example_3/CMakeLists.txt index d3d7dcd2b..489c0219b 100644 --- a/example_3/CMakeLists.txt +++ b/example_3/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_3) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_3 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,17 +22,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_3 SHARED hardware/rrbot_system_multi_interface.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_3 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_3 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_3 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -49,21 +44,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_3_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_3.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_3 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_3 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_3 +) +install(TARGETS ros2_control_demo_example_3 + EXPORT export_ros2_control_demo_example_3 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -71,13 +68,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_3 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_3/bringup/launch/rrbot_base.launch.py b/example_3/bringup/launch/rrbot_base.launch.py index a526f1630..b91774bba 100644 --- a/example_3/bringup/launch/rrbot_base.launch.py +++ b/example_3/bringup/launch/rrbot_base.launch.py @@ -63,13 +63,6 @@ def generate_launch_description(): have to be updated.", ) ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", @@ -111,7 +104,6 @@ def generate_launch_description(): description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") use_fake_hardware = LaunchConfiguration("use_fake_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") @@ -130,9 +122,6 @@ def generate_launch_description(): "prefix:=", prefix, " ", - "use_gazebo:=", - use_gazebo, - " ", "use_fake_hardware:=", use_fake_hardware, " ", diff --git a/example_3/description/meshes/hokuyo.dae b/example_3/description/meshes/hokuyo.dae deleted file mode 100644 index 5334503ae..000000000 --- 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro b/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro index d2f1ec157..85b2e3911 100644 --- a/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro +++ b/example_3/description/ros2_control/rrbot_system_multi_interface.ros2_control.xacro @@ -1,30 +1,23 @@ - + - - - gazebo_ros2_control/GazeboSystem - - - - - - mock_components/GenericSystem - ${mock_sensor_commands} - 0.0 - - - ros2_control_demo_example_3/RRBotSystemMultiInterfaceHardware - 0.0 - 3.0 - ${slowdown} - - - + + + mock_components/GenericSystem + ${mock_sensor_commands} + 0.0 + + + ros2_control_demo_example_3/RRBotSystemMultiInterfaceHardware + 0.0 + 3.0 + ${slowdown} + + diff --git a/example_3/description/urdf/rrbot_description.urdf.xacro b/example_3/description/urdf/rrbot_description.urdf.xacro index f15cc8d42..cfcb0388b 100644 --- a/example_3/description/urdf/rrbot_description.urdf.xacro +++ b/example_3/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro b/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro index f1b4786ff..11cb2d8da 100644 --- a/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro +++ b/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro @@ -5,7 +5,6 @@ Copied and modified from ROS1 example - https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro --> - @@ -24,9 +23,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_3/README.rst b/example_3/doc/userdoc.rst similarity index 94% rename from example_3/README.rst rename to example_3/doc/userdoc.rst index 021aab480..cb62bac6d 100644 --- a/example_3/README.rst +++ b/example_3/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_3_userdoc: + ************************************************ Example 3: Robots with multiple interfaces ************************************************ @@ -11,9 +13,10 @@ The two illegal controllers demonstrate how hardware interface declines faulty c ros2 launch ros2_control_demo_example_3 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -77,7 +80,7 @@ The two illegal controllers demonstrate how hardware interface declines faulty c 5. If you get output from above you can send commands to *Forward Command Controller*, either: - #. Manually using ros2 cli interface. + #. Manually using ROS 2 CLI interface. * when using ``forward_position_controller`` controller diff --git a/example_3/package.xml b/example_3/package.xml index eaad048a1..c10ab559c 100644 --- a/example_3/package.xml +++ b/example_3/package.xml @@ -6,6 +6,7 @@ Demo package of `ros2_control` hardware for RRbot with multi interface. Denis Štogl + Bence Magyar Christoph Froehlich Apache-2.0 @@ -17,6 +18,14 @@ rclcpp rclcpp_lifecycle + ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/example_4/CMakeLists.txt b/example_4/CMakeLists.txt index 5dc73988a..a56179387 100644 --- a/example_4/CMakeLists.txt +++ b/example_4/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_4) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_4 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,17 +22,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_4 SHARED hardware/rrbot_system_with_sensor.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_4 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_4 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_4 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -49,21 +44,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_4_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_4.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_4 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_4 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_4 +) +install(TARGETS ros2_control_demo_example_4 + EXPORT export_ros2_control_demo_example_4 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -71,13 +68,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_4 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_4/bringup/launch/rrbot_base.launch.py b/example_4/bringup/launch/rrbot_base.launch.py index 5071d08ee..f79fa2e43 100644 --- a/example_4/bringup/launch/rrbot_base.launch.py +++ b/example_4/bringup/launch/rrbot_base.launch.py @@ -63,13 +63,6 @@ def generate_launch_description(): have to be updated.", ) ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", @@ -111,7 +104,6 @@ def generate_launch_description(): description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") use_fake_hardware = LaunchConfiguration("use_fake_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") @@ -130,9 +122,6 @@ def generate_launch_description(): "prefix:=", prefix, " ", - "use_gazebo:=", - use_gazebo, - " ", "use_fake_hardware:=", use_fake_hardware, " ", diff --git a/example_4/description/meshes/hokuyo.dae b/example_4/description/meshes/hokuyo.dae deleted file 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro b/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro index c8f74e3b3..feaa9c3d0 100644 --- a/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro +++ b/example_4/description/ros2_control/rrbot_system_with_sensor.ros2_control.xacro @@ -1,7 +1,7 @@ - + diff --git a/example_4/description/urdf/rrbot_description.urdf.xacro b/example_4/description/urdf/rrbot_description.urdf.xacro index 0788de152..cfcb0388b 100644 --- a/example_4/description/urdf/rrbot_description.urdf.xacro +++ b/example_4/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro index ccefe1fb0..36d10d366 100644 --- a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro +++ b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro @@ -5,7 +5,6 @@ Copied and modified from ROS1 example - https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro --> - @@ -24,9 +23,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_4/README.rst b/example_4/doc/userdoc.rst similarity index 91% rename from example_4/README.rst rename to example_4/doc/userdoc.rst index 90e4069e7..31a2b9d0b 100644 --- a/example_4/README.rst +++ b/example_4/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_4_userdoc: + *************************************************** Example 4: Industrial robot with integrated sensor *************************************************** @@ -11,9 +13,11 @@ A 2D Force-Torque Sensor (FTS) is simulated by generating random sensor readings ros2 launch ros2_control_demo_example_4 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -62,7 +66,7 @@ A 2D Force-Torque Sensor (FTS) is simulated by generating random sensor readings 5. If you get output from above you can send commands to *Forward Command Controller*, either: - #. Manually using ros2 cli interface. + #. Manually using ROS 2 CLI interface. .. code-block:: shell diff --git a/example_4/package.xml b/example_4/package.xml index b7b5887b1..09c06f51c 100644 --- a/example_4/package.xml +++ b/example_4/package.xml @@ -6,6 +6,7 @@ Demo package of `ros2_control` hardware for RRbot with integrated sensor. Denis Štogl + Bence Magyar Christoph Froehlich Apache-2.0 @@ -17,6 +18,14 @@ rclcpp rclcpp_lifecycle + ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/example_5/CMakeLists.txt b/example_5/CMakeLists.txt index 682f8c19b..37fd35bbc 100644 --- a/example_5/CMakeLists.txt +++ b/example_5/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_5) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_5 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,18 +22,18 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_5 SHARED hardware/external_rrbot_force_torque_sensor.cpp hardware/rrbot.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_5 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_5 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_5 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -50,21 +45,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_5_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_5.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_5 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_5 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_5 +) +install(TARGETS ros2_control_demo_example_5 + EXPORT export_ros2_control_demo_example_5 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -72,13 +69,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_5 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_5/bringup/launch/rrbot_base.launch.py b/example_5/bringup/launch/rrbot_base.launch.py index 7ccdfbe73..a109a0e6a 100644 --- a/example_5/bringup/launch/rrbot_base.launch.py +++ b/example_5/bringup/launch/rrbot_base.launch.py @@ -63,13 +63,6 @@ def generate_launch_description(): have to be updated.", ) ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", @@ -111,7 +104,6 @@ def generate_launch_description(): description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") use_fake_hardware = LaunchConfiguration("use_fake_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") @@ -130,9 +122,6 @@ def generate_launch_description(): "prefix:=", prefix, " ", - "use_gazebo:=", - use_gazebo, - " ", "use_fake_hardware:=", use_fake_hardware, " ", diff --git 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro index 4e557200b..259e09e3f 100644 --- a/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro +++ b/example_5/description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro @@ -1,7 +1,7 @@ - + diff --git a/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro index 789f3928f..705df40d8 100644 --- a/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro +++ b/example_5/description/ros2_control/rrbot_system_position_only.ros2_control.xacro @@ -1,30 +1,23 @@ - + - - - gazebo_ros2_control/GazeboSystem - - - - - - mock_components/GenericSystem - ${mock_sensor_commands} - 0.0 - - - ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware - 0.0 - 3.0 - ${slowdown} - - - + + + mock_components/GenericSystem + ${mock_sensor_commands} + 0.0 + + + ros2_control_demo_example_5/RRBotSystemPositionOnlyHardware + 0.0 + 3.0 + ${slowdown} + + diff --git a/example_5/description/urdf/rrbot_description.urdf.xacro b/example_5/description/urdf/rrbot_description.urdf.xacro index f15c6fdbe..cfcb0388b 100644 --- a/example_5/description/urdf/rrbot_description.urdf.xacro +++ b/example_5/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro index bda130f11..548c7a6b1 100644 --- a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro +++ b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro @@ -5,7 +5,6 @@ Copied and modified from ROS1 example - https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro --> - @@ -27,9 +26,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_5/README.rst b/example_5/doc/userdoc.rst similarity index 92% rename from example_5/README.rst rename to example_5/doc/userdoc.rst index 08fb060a5..a4fbd0fa6 100644 --- a/example_5/README.rst +++ b/example_5/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_5_userdoc: + ************************************************************* Example 5: Industrial robot with externally connected sensor ************************************************************* @@ -12,9 +14,11 @@ generating random sensor readings. ros2 launch ros2_control_demo_example_5 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -66,7 +70,7 @@ generating random sensor readings. 5. If you get output from above you can send commands to *Forward Command Controller*, either: - #. Manually using ros2 cli interface. + #. Manually using ROS 2 CLI interface. .. code-block:: shell @@ -116,7 +120,7 @@ generating random sensor readings. Wrench data are also visualized in *RViz*: - .. image:: doc/rrbot_wrench.png + .. image:: rrbot_wrench.png :width: 400 :alt: Revolute-Revolute Manipulator Robot with wrench visualization diff --git a/example_5/package.xml b/example_5/package.xml index b524ba54e..ffeda124f 100644 --- a/example_5/package.xml +++ b/example_5/package.xml @@ -3,10 +3,11 @@ ros2_control_demo_example_5 0.0.0 - Demo package of `ros2_control` hardware for RRbot with integrated sensor. + Demo package of `ros2_control` hardware for RRbot with externally connected sensor. Denis Štogl - Dr.techn. Christoph Froehlich + Bence Magyar + Christoph Froehlich Apache-2.0 @@ -17,6 +18,14 @@ rclcpp rclcpp_lifecycle + ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/example_5/ros2_control_demo_example_5.xml b/example_5/ros2_control_demo_example_5.xml index 7635e13b6..ed0890a5b 100644 --- a/example_5/ros2_control_demo_example_5.xml +++ b/example_5/ros2_control_demo_example_5.xml @@ -10,7 +10,7 @@ type="ros2_control_demo_example_5::RRBotSystemPositionOnlyHardware" base_class_type="hardware_interface::SystemInterface"> - The ROS2 Control minimal robot protocol. This is example for start porting the robot from ROS 1. + The ros2_control RRbot example using a system hardware interface-type. diff --git a/example_6/CMakeLists.txt b/example_6/CMakeLists.txt index 8874b5898..120b2af4f 100644 --- a/example_6/CMakeLists.txt +++ b/example_6/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_6) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_6 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -27,17 +22,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_6 SHARED hardware/rrbot_actuator.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_6 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_6 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_6 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -49,21 +44,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_6_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_6.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_6 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_6 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_6 +) +install(TARGETS ros2_control_demo_example_6 + EXPORT export_ros2_control_demo_example_6 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -71,13 +68,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_6 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_6/bringup/launch/rrbot_base.launch.py b/example_6/bringup/launch/rrbot_base.launch.py index f55447cac..e2d1abc28 100644 --- a/example_6/bringup/launch/rrbot_base.launch.py +++ b/example_6/bringup/launch/rrbot_base.launch.py @@ -63,13 +63,6 @@ def generate_launch_description(): have to be updated.", ) ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", @@ -111,7 +104,6 @@ def generate_launch_description(): description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") use_fake_hardware = LaunchConfiguration("use_fake_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") @@ -130,9 +122,6 @@ def generate_launch_description(): "prefix:=", prefix, " ", - "use_gazebo:=", - use_gazebo, - " ", "use_fake_hardware:=", use_fake_hardware, " ", diff --git a/example_6/description/meshes/hokuyo.dae b/example_6/description/meshes/hokuyo.dae deleted file mode 100644 index 5334503ae..000000000 --- a/example_6/description/meshes/hokuyo.dae +++ /dev/null @@ -1,253 +0,0 @@ - - - - - Blender User - Blender 2.64.0 r51232 - - 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_6/description/ros2_control/rrbot_modular_actuators.ros2_control.xacro b/example_6/description/ros2_control/rrbot_modular_actuators.ros2_control.xacro index a49136e45..41918baae 100644 --- a/example_6/description/ros2_control/rrbot_modular_actuators.ros2_control.xacro +++ b/example_6/description/ros2_control/rrbot_modular_actuators.ros2_control.xacro @@ -1,7 +1,7 @@ - + diff --git a/example_6/description/urdf/rrbot_description.urdf.xacro b/example_6/description/urdf/rrbot_description.urdf.xacro index 72149084d..cfcb0388b 100644 --- a/example_6/description/urdf/rrbot_description.urdf.xacro +++ b/example_6/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro index 6c2141ea9..18414ea83 100644 --- a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro +++ b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro @@ -5,7 +5,6 @@ Copied and modified from ROS1 example - https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro --> - @@ -22,9 +21,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_6/README.rst b/example_6/doc/userdoc.rst similarity index 88% rename from example_6/README.rst rename to example_6/doc/userdoc.rst index be6cfb178..c62605988 100644 --- a/example_6/README.rst +++ b/example_6/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_6_userdoc: + *********************************************************************** Example 6: Modular Robots with separate communication to each actuator *********************************************************************** @@ -11,16 +13,18 @@ is implemented with a hardware interface of type ``hardware_interface::ActuatorI ros2 launch ros2_control_demo_example_6 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + The ``joint_state_publisher_gui`` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in *RViz*. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with .. code-block:: shell - ros2 launch ros2_control_demo_example_6 rrbot.launch.py + ros2 launch ros2_control_demo_example_6 rrbot_modular_actuators.launch.py The launch file loads and starts the robot hardware, controllers and opens *RViz*. In starting terminal you will see a lot of output from the hardware implementation showing its internal states. @@ -59,7 +63,7 @@ is implemented with a hardware interface of type ``hardware_interface::ActuatorI 5. If you get output from above you can send commands to *Forward Command Controller*, either: - #. Manually using ros2 cli interface. + #. Manually using ROS 2 CLI interface. .. code-block:: shell diff --git a/example_6/package.xml b/example_6/package.xml index 167b78910..86e5669d4 100644 --- a/example_6/package.xml +++ b/example_6/package.xml @@ -3,10 +3,11 @@ ros2_control_demo_example_6 0.0.0 - Demo package of `ros2_control` hardware for RRbot with integrated sensor. + Demo package of `ros2_control` hardware for RRbot with separate communication to each actuator. Denis Štogl - Dr.techn. Christoph Froehlich + Bence Magyar + Christoph Froehlich Apache-2.0 @@ -17,6 +18,14 @@ rclcpp rclcpp_lifecycle + ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/example_8/CMakeLists.txt b/example_8/CMakeLists.txt index 9483fb4d9..5222b5c4b 100644 --- a/example_8/CMakeLists.txt +++ b/example_8/CMakeLists.txt @@ -1,12 +1,7 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_example_8) +cmake_minimum_required(VERSION 3.16) +project(ros2_control_demo_example_8 LANGUAGES CXX) -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra) endif() @@ -28,17 +23,17 @@ endforeach() ## COMPILE add_library( - ${PROJECT_NAME} + ros2_control_demo_example_8 SHARED hardware/rrbot_transmissions_system_position_only.cpp ) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - hardware/include +target_compile_features(ros2_control_demo_example_8 PUBLIC cxx_std_17) +target_include_directories(ros2_control_demo_example_8 PUBLIC +$ +$ ) ament_target_dependencies( - ${PROJECT_NAME} + ros2_control_demo_example_8 PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS} ) @@ -50,21 +45,23 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_8_ pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_8.xml) # INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) install( DIRECTORY hardware/include/ - DESTINATION include + DESTINATION include/ros2_control_demo_example_8 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes - DESTINATION share/${PROJECT_NAME} + DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DESTINATION share/ros2_control_demo_example_8 ) install( DIRECTORY bringup/launch bringup/config - DESTINATION share/${PROJECT_NAME} + DESTINATION share/ros2_control_demo_example_8 +) +install(TARGETS ros2_control_demo_example_8 + EXPORT export_ros2_control_demo_example_8 + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -72,13 +69,6 @@ if(BUILD_TESTING) endif() ## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) +ament_export_targets(export_ros2_control_demo_example_8 HAS_LIBRARY_TARGET) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) ament_package() diff --git a/example_8/bringup/launch/rrbot_base.launch.py b/example_8/bringup/launch/rrbot_base.launch.py index c08ab90c1..55a3706d6 100644 --- a/example_8/bringup/launch/rrbot_base.launch.py +++ b/example_8/bringup/launch/rrbot_base.launch.py @@ -63,13 +63,6 @@ def generate_launch_description(): have to be updated.", ) ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) declared_arguments.append( DeclareLaunchArgument( "use_fake_hardware", @@ -111,7 +104,6 @@ def generate_launch_description(): description_package = LaunchConfiguration("description_package") description_file = LaunchConfiguration("description_file") prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") use_fake_hardware = LaunchConfiguration("use_fake_hardware") mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") slowdown = LaunchConfiguration("slowdown") @@ -130,9 +122,6 @@ def generate_launch_description(): "prefix:=", prefix, " ", - "use_gazebo:=", - use_gazebo, - " ", "use_fake_hardware:=", use_fake_hardware, " ", diff --git 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- - - 1 - - - - - - 7.481132 -6.50764 5.343665 - 0 0 1 46.69194 - 0 1 0 0.619768 - 1 0 0 63.5593 - 1 1 1 - - - - 4.076245 1.005454 5.903862 - 0 0 1 106.9363 - 0 1 0 3.163707 - 1 0 0 37.26105 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 90.00001 - 1 1 1 - - - - - - - - - - - - - - - diff --git a/example_8/description/urdf/rrbot_description.urdf.xacro b/example_8/description/urdf/rrbot_description.urdf.xacro index 31101600c..cfcb0388b 100644 --- a/example_8/description/urdf/rrbot_description.urdf.xacro +++ b/example_8/description/urdf/rrbot_description.urdf.xacro @@ -9,7 +9,6 @@ - @@ -115,90 +114,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro index 339dc87bb..83328e163 100644 --- a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro +++ b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro @@ -21,9 +21,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - - true - diff --git a/example_8/README.rst b/example_8/doc/userdoc.rst similarity index 90% rename from example_8/README.rst rename to example_8/doc/userdoc.rst index 8c2187aa5..a6feddc04 100644 --- a/example_8/README.rst +++ b/example_8/doc/userdoc.rst @@ -1,3 +1,5 @@ +.. _ros2_control_demos_example_8_userdoc: + ******************************************************************************** Example 8: Industrial Robots with an exposed transmission interface ******************************************************************************** @@ -12,9 +14,11 @@ In this example, both joints use an exposed transmission interface. ros2 launch ros2_control_demo_example_8 view_robot.launch.py - **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. - This happens because ``joint_state_publisher_gui`` node need some time to start. - The ``joint_state_publisher_gui`` provides a GUI to change the configuration for rrbot. It is immediately displayed in *RViz*. + .. note:: + + Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``. + This happens because ``joint_state_publisher_gui`` node need some time to start. + The ``joint_state_publisher_gui`` provides a GUI to change the configuration for rrbot. It is immediately displayed in *RViz*. 2. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with @@ -59,7 +63,7 @@ In this example, both joints use an exposed transmission interface. 5. If you get output from above you can send commands to *Forward Command Controller*, either: - a. Manually using ros2 cli interface: + a. Manually using ROS 2 CLI interface: .. code-block:: shell diff --git a/example_8/package.xml b/example_8/package.xml index c39d9fb22..f722c42e0 100644 --- a/example_8/package.xml +++ b/example_8/package.xml @@ -6,6 +6,7 @@ Demo package of `ros2_control` hardware for RRbot with transmission interface. Dr.-Ing. Denis Štogl + Bence Magyar Christoph Froehlich Jordan Palacios @@ -20,6 +21,14 @@ rclcpp_lifecycle transmission_interface + ros2_controllers_test_nodes + joint_state_broadcaster + forward_command_controller + ros2controlcli + controller_manager + rviz2 + robot_state_publisher + ament_cmake_gtest diff --git a/ros2_control_demo_bringup/CMakeLists.txt b/ros2_control_demo_bringup/CMakeLists.txt deleted file mode 100644 index 163ff7004..000000000 --- a/ros2_control_demo_bringup/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_bringup) - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY config launch - DESTINATION share/${PROJECT_NAME} -) - -ament_package() diff --git a/ros2_control_demo_bringup/config/rrbot_forward_position_publisher.yaml b/ros2_control_demo_bringup/config/rrbot_forward_position_publisher.yaml deleted file mode 100644 index 7ea4fe301..000000000 --- a/ros2_control_demo_bringup/config/rrbot_forward_position_publisher.yaml +++ /dev/null @@ -1,11 +0,0 @@ -publisher_forward_position_controller: - ros__parameters: - - controller_name: "forward_position_controller" - wait_sec_between_publish: 5 - - goal_names: ["pos1", "pos2", "pos3", "pos4"] - pos1: [0.785, 0.785] - pos2: [0, 0] - pos3: [-0.785, -0.785] - pos4: [0, 0] diff --git a/ros2_control_demo_bringup/config/rrbot_gazebo_forward_controller_position.yaml b/ros2_control_demo_bringup/config/rrbot_gazebo_forward_controller_position.yaml deleted file mode 100644 index dfb1fc6f8..000000000 --- a/ros2_control_demo_bringup/config/rrbot_gazebo_forward_controller_position.yaml +++ /dev/null @@ -1,16 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 100 # Hz - - joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - -joint_trajectory_controller: - ros__parameters: - joints: - - joint1 - - joint2 - interface_name: position diff --git a/ros2_control_demo_bringup/launch/rrbot_base.launch.py b/ros2_control_demo_bringup/launch/rrbot_base.launch.py deleted file mode 100644 index 796327f17..000000000 --- a/ros2_control_demo_bringup/launch/rrbot_base.launch.py +++ /dev/null @@ -1,216 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, RegisterEventHandler -from launch.conditions import IfCondition -from launch.event_handlers import OnProcessExit -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="ros2_control_demo_bringup", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "controllers_file", - default_value="rrbot_controllers.yaml", - description="YAML file with the controllers configuration.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="rrbot_description", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_gazebo", - default_value="false", - description="Start robot in Gazebo simulation.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_fake_hardware", - default_value="true", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_fake_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="3.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - controllers_file = LaunchConfiguration("controllers_file") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - use_gazebo = LaunchConfiguration("use_gazebo") - use_fake_hardware = LaunchConfiguration("use_fake_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - " ", - "use_gazebo:=", - use_gazebo, - " ", - "use_fake_hardware:=", - use_fake_hardware, - " ", - "mock_sensor_commands:=", - mock_sensor_commands, - " ", - "slowdown:=", - slowdown, - ] - ) - robot_description = {"robot_description": robot_description_content} - - robot_controllers = PathJoinSubstitution( - [ - FindPackageShare(runtime_config_package), - "config", - controllers_file, - ] - ) - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "config", "rrbot.rviz"] - ) - - control_node = Node( - package="controller_manager", - executable="ros2_control_node", - parameters=[robot_description, robot_controllers], - output="both", - ) - robot_state_pub_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - condition=IfCondition(start_rviz), - ) - - joint_state_broadcaster_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], - ) - - robot_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[robot_controller, "-c", "/controller_manager"], - ) - - # Delay rviz start after `joint_state_broadcaster` - delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[rviz_node], - ) - ) - - # Delay start of robot_controller after `joint_state_broadcaster` - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, - on_exit=[robot_controller_spawner], - ) - ) - - nodes = [ - control_node, - robot_state_pub_node, - joint_state_broadcaster_spawner, - delay_rviz_after_joint_state_broadcaster_spawner, - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, - ] - - return LaunchDescription(declared_arguments + nodes) diff --git a/ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py b/ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py deleted file mode 100644 index bbd15d7aa..000000000 --- a/ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py +++ /dev/null @@ -1,89 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_fake_hardware", - default_value="false", - description="Start robot with fake hardware mirroring command to its states.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "mock_sensor_commands", - default_value="false", - description="Enable fake command interfaces for sensors used for simple simulations. \ - Used only if 'use_fake_hardware' parameter is true.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "slowdown", default_value="50.0", description="Slowdown factor of the RRbot." - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_controller", - default_value="forward_position_controller", - description="Robot controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "start_rviz", - default_value="true", - description="Start RViz2 automatically with this launch file.", - ) - ) - - # Initialize Arguments - prefix = LaunchConfiguration("prefix") - use_fake_hardware = LaunchConfiguration("use_fake_hardware") - mock_sensor_commands = LaunchConfiguration("mock_sensor_commands") - slowdown = LaunchConfiguration("slowdown") - robot_controller = LaunchConfiguration("robot_controller") - start_rviz = LaunchConfiguration("start_rviz") - - base_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ThisLaunchFileDir(), "/rrbot_base.launch.py"]), - launch_arguments={ - "description_file": "rrbot_system_position_only.urdf.xacro", - "prefix": prefix, - "use_fake_hardware": use_fake_hardware, - "mock_sensor_commands": mock_sensor_commands, - "slowdown": slowdown, - "robot_controller": robot_controller, - "start_rviz": start_rviz, - }.items(), - ) - - return LaunchDescription(declared_arguments + [base_launch]) diff --git a/ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py b/ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py deleted file mode 100644 index 4436958c7..000000000 --- a/ros2_control_demo_bringup/launch/rrbot_system_position_only_gazebo.launch.py +++ /dev/null @@ -1,76 +0,0 @@ -# Copyright 2021 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution -from launch.launch_description_sources import PythonLaunchDescriptionSource - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare("gazebo_ros"), "launch", "gazebo.launch.py"])] - ), - launch_arguments={"verbose": "false"}.items(), - ) - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [ - FindPackageShare("rrbot_description"), - "urdf", - "rrbot_system_position_only.urdf.xacro", - ] - ), - " use_gazebo:=true", - ] - ) - robot_description = {"robot_description": robot_description_content} - - node_robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="screen", - parameters=[robot_description], - ) - - spawn_entity = Node( - package="gazebo_ros", - executable="spawn_entity.py", - arguments=["-topic", "robot_description", "-entity", "rrbot_system_position"], - output="screen", - ) - spawn_controller = Node( - package="controller_manager", - executable="spawner", - arguments=["joint_state_broadcaster"], - output="screen", - ) - - return LaunchDescription( - [ - gazebo, - node_robot_state_publisher, - spawn_entity, - spawn_controller, - ] - ) diff --git a/ros2_control_demo_bringup/launch/view_robot.launch.py b/ros2_control_demo_bringup/launch/view_robot.launch.py deleted file mode 100644 index 759b4b3e0..000000000 --- a/ros2_control_demo_bringup/launch/view_robot.launch.py +++ /dev/null @@ -1,101 +0,0 @@ -# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - # Declare arguments - declared_arguments = [] - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="rrbot_description", - description="Description package with robot URDF/xacro files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - default_value="", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "prefix", - default_value='""', - description="Prefix of the joint names, useful for \ - multi-robot setup. If changed than also joint names in the controllers' configuration \ - have to be updated.", - ) - ) - - # Initialize Arguments - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - prefix = LaunchConfiguration("prefix") - - # Get URDF via xacro - robot_description_content = Command( - [ - PathJoinSubstitution([FindExecutable(name="xacro")]), - " ", - PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] - ), - " ", - "prefix:=", - prefix, - ] - ) - robot_description = {"robot_description": robot_description_content} - - rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] - ) - - joint_state_publisher_node = Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - ) - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - output="both", - parameters=[robot_description], - ) - rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config_file], - ) - - return LaunchDescription( - declared_arguments.append( - [ - joint_state_publisher_node, - robot_state_publisher_node, - rviz_node, - ] - ) - ) diff --git a/ros2_control_demo_bringup/package.xml b/ros2_control_demo_bringup/package.xml deleted file mode 100644 index 3fd274f00..000000000 --- a/ros2_control_demo_bringup/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - ros2_control_demo_bringup - 0.0.0 - Package with launch files and run-time configurations for `ros2_control` examples. - - Denis Štogl - - Apache-2.0 - - ament_cmake - - diffbot_description - force_torque_sensor_broadcaster - forward_command_controller - joint_state_broadcaster - joint_trajectory_controller - joint_state_publisher_gui - robot_state_publisher - ros2_control_demo_hardware - ros2_control_test_nodes - rrbot_description - rviz2 - xacro - - - ament_cmake - - diff --git a/ros2_control_demo_description/diffbot_description/CMakeLists.txt b/ros2_control_demo_description/diffbot_description/CMakeLists.txt deleted file mode 100644 index 9738cf711..000000000 --- a/ros2_control_demo_description/diffbot_description/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(diffbot_description) - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY config gazebo launch ros2_control urdf - DESTINATION share/${PROJECT_NAME} -) - -ament_package() diff --git a/ros2_control_demo_description/diffbot_description/config/diffbot.rviz b/ros2_control_demo_description/diffbot_description/config/diffbot.rviz deleted file mode 100644 index 365d5724e..000000000 --- a/ros2_control_demo_description/diffbot_description/config/diffbot.rviz +++ /dev/null @@ -1,172 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1112 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_frontal_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_rear_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.359799385070801 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.05434183403849602 - Y: 0.6973574757575989 - Z: -0.00023954140488058329 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.48539823293685913 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.0053997039794921875 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1383 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fcfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fc000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fc000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/ros2_control_demo_description/diffbot_description/config/diffbot_view.rviz b/ros2_control_demo_description/diffbot_description/config/diffbot_view.rviz deleted file mode 100644 index d887a8193..000000000 --- a/ros2_control_demo_description/diffbot_description/config/diffbot_view.rviz +++ /dev/null @@ -1,172 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.5 - Tree Height: 1112 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_frontal_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_rear_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 3.359799385070801 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.05434183403849602 - Y: 0.6973574757575989 - Z: -0.00023954140488058329 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.48539823293685913 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.0053997039794921875 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1383 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fcfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fc000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fc000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 28 diff --git a/ros2_control_demo_description/diffbot_description/gazebo/diffbot.gazebo.xacro b/ros2_control_demo_description/diffbot_description/gazebo/diffbot.gazebo.xacro deleted file mode 100644 index 1f2073d4b..000000000 --- a/ros2_control_demo_description/diffbot_description/gazebo/diffbot.gazebo.xacro +++ /dev/null @@ -1,86 +0,0 @@ - - - - - - - - - Gazebo/Blue - - - - - 0.2 - 0.2 - Gazebo/Black - - - - - 0.2 - 0.2 - Gazebo/Black - - - - - 0.2 - 0.2 - Gazebo/Red - - - - - - 30.0 - - 1.3962634 - - 800 - 800 - R8G8B8 - - - 0.02 - 300 - - - gaussian - - 0.0 - 0.007 - - - - true - 0.0 - diffbot/camera1 - image_raw - camera_info - camera_link_optical - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0 - 0.0 - 0.0 - 0.0 - - - - - - - diff --git a/ros2_control_demo_description/diffbot_description/package.xml b/ros2_control_demo_description/diffbot_description/package.xml deleted file mode 100644 index 8fc9d394b..000000000 --- a/ros2_control_demo_description/diffbot_description/package.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - diffbot_description - 0.0.0 - Package with URDF and description files of a differential drive robot. - - Denis Štogl - - Apache-2.0 - - ament_cmake - - joint_state_publisher_gui - robot_state_publisher - rviz2 - - - ament_cmake - - diff --git a/ros2_control_demo_description/diffbot_description/ros2_control/diffbot_system.ros2_control.xacro b/ros2_control_demo_description/diffbot_description/ros2_control/diffbot_system.ros2_control.xacro deleted file mode 100644 index e071a2035..000000000 --- a/ros2_control_demo_description/diffbot_description/ros2_control/diffbot_system.ros2_control.xacro +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - mock_components/GenericSystem - ${mock_sensor_commands} - 0.0 - - - ros2_control_demo_hardware/DiffBotSystemHardware - 2.0 - 3.0 - - - - - -1 - 1 - - - - - - - -1 - 1 - - - - - - - - - diff --git a/ros2_control_demo_description/diffbot_description/urdf/diffbot_system.urdf.xacro b/ros2_control_demo_description/diffbot_description/urdf/diffbot_system.urdf.xacro deleted file mode 100644 index eb00ec4d0..000000000 --- a/ros2_control_demo_description/diffbot_description/urdf/diffbot_system.urdf.xacro +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros2_control_demo_description/rrbot_description/CMakeLists.txt b/ros2_control_demo_description/rrbot_description/CMakeLists.txt deleted file mode 100644 index 65835b764..000000000 --- a/ros2_control_demo_description/rrbot_description/CMakeLists.txt +++ /dev/null @@ -1,13 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(rrbot_description) - -find_package(ament_cmake REQUIRED) - -install( - DIRECTORY config gazebo meshes launch ros2_control urdf - DESTINATION share/${PROJECT_NAME} -) - -ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in") - -ament_package() diff --git a/ros2_control_demo_description/rrbot_description/config/rrbot.rviz b/ros2_control_demo_description/rrbot_description/config/rrbot.rviz deleted file mode 100644 index 0efbecc38..000000000 --- a/ros2_control_demo_description/rrbot_description/config/rrbot.rviz +++ /dev/null @@ -1,205 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 1096 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Arrow Width: 0.5 - Class: rviz_default_plugins/Wrench - Enabled: true - Force Arrow Scale: 0.20000000298023224 - Force Color: 204; 51; 51 - History Length: 1 - Name: Wrench - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /fts_broadcaster/wrench - Torque Arrow Scale: 0.20000000298023224 - Torque Color: 204; 204; 51 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1379 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 1470 diff --git a/ros2_control_demo_description/rrbot_description/env-hooks/rrbot_description.dsv.in b/ros2_control_demo_description/rrbot_description/env-hooks/rrbot_description.dsv.in deleted file mode 100644 index c9db32545..000000000 --- a/ros2_control_demo_description/rrbot_description/env-hooks/rrbot_description.dsv.in +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;GAZEBO_MODEL_PATH;share diff --git a/ros2_control_demo_description/rrbot_description/gazebo/rrbot.gazebo.xacro b/ros2_control_demo_description/rrbot_description/gazebo/rrbot.gazebo.xacro deleted file mode 100644 index 6fef4631c..000000000 --- a/ros2_control_demo_description/rrbot_description/gazebo/rrbot.gazebo.xacro +++ /dev/null @@ -1,130 +0,0 @@ - - - - - - - - - - $(find ros2_control_demo_bringup)/config/rrbot_gazebo_forward_controller_position.yaml - - - - - - Gazebo/Orange - - - - - 0.2 - 0.2 - Gazebo/Black - - - - - 0.2 - 0.2 - Gazebo/Orange - - - - - 0.2 - 0.2 - Gazebo/Red - - - - - - 0 0 0 0 0 0 - false - 40 - - - - 720 - 1 - -1.570796 - 1.570796 - - - - 0.10 - 30.0 - 0.01 - - - gaussian - - 0.0 - 0.01 - - - - /rrbot/laser/scan - hokuyo_link - - - - - - - - 30.0 - - 1.3962634 - - 800 - 800 - R8G8B8 - - - 0.02 - 300 - - - gaussian - - 0.0 - 0.007 - - - - true - 0.0 - rrbot/camera1 - image_raw - camera_info - camera_link_optical - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0 - 0.0 - 0.0 - 0.0 - - - - - - - diff --git a/ros2_control_demo_description/rrbot_description/gazebo/rrbot.materials.xacro b/ros2_control_demo_description/rrbot_description/gazebo/rrbot.materials.xacro deleted file mode 100644 index eb8e0212c..000000000 --- a/ros2_control_demo_description/rrbot_description/gazebo/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros2_control_demo_description/rrbot_description/package.xml b/ros2_control_demo_description/rrbot_description/package.xml deleted file mode 100644 index 6503a172e..000000000 --- a/ros2_control_demo_description/rrbot_description/package.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - rrbot_description - 0.0.0 - Package with URDF and description files of a RRBOT. - - Denis Štogl - - Apache-2.0 - - ament_cmake - - joint_state_publisher_gui - robot_state_publisher - rviz2 - - - ament_cmake - - diff --git a/ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro b/ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro deleted file mode 100644 index 9aaaa7393..000000000 --- a/ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - gazebo_ros2_control/GazeboSystem - - - - - - mock_components/GenericSystem - ${mock_sensor_commands} - 0.0 - - - ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware - 0.0 - 3.0 - ${slowdown} - - - - - - - -1 - 1 - - - - - - -1 - 1 - - - - - - - - diff --git a/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro b/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro deleted file mode 100644 index 8254deff4..000000000 --- a/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - - - - - - - - - - - diff --git a/ros2_control_demo_hardware/CMakeLists.txt b/ros2_control_demo_hardware/CMakeLists.txt deleted file mode 100644 index 78b91fd45..000000000 --- a/ros2_control_demo_hardware/CMakeLists.txt +++ /dev/null @@ -1,80 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ros2_control_demo_hardware) - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_lifecycle REQUIRED) - -## COMPILE -add_library( - ${PROJECT_NAME} - SHARED - src/diffbot_system.cpp - src/rrbot_system_position_only.cpp - src/rrbot_system_multi_interface.cpp - src/rrbot_system_with_sensor.cpp - src/rrbot_actuator.cpp - src/external_rrbot_force_torque_sensor.cpp -) -target_include_directories( - ${PROJECT_NAME} - PRIVATE - include -) -ament_target_dependencies( - ${PROJECT_NAME} - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle - transmission_interface -) - -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. -target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_HARDWARE_BUILDING_DLL") - -# Export hardware plugins -pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml) - -# INSTALL -install( - TARGETS ${PROJECT_NAME} - DESTINATION lib -) -install( - DIRECTORY include/ - DESTINATION include -) - -if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) -endif() - -## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - ${PROJECT_NAME} -) -ament_export_dependencies( - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle - transmission_interface -) -ament_package() diff --git a/ros2_control_demo_hardware/include/ros2_control_demo_hardware/visibility_control.h b/ros2_control_demo_hardware/include/ros2_control_demo_hardware/visibility_control.h deleted file mode 100644 index b747ae5cd..000000000 --- a/ros2_control_demo_hardware/include/ros2_control_demo_hardware/visibility_control.h +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2017 Open Source Robotics Foundation, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -/* This header must be included by all rclcpp headers which declare symbols - * which are defined in the rclcpp library. When not building the rclcpp - * library, i.e. when using the headers in other package's code, the contents - * of this header change the visibility of certain symbols which the rclcpp - * library cannot have, but the consuming code must have inorder to link. - */ - -#ifndef ROS2_CONTROL_DEMO_HARDWARE__VISIBILITY_CONTROL_H_ -#define ROS2_CONTROL_DEMO_HARDWARE__VISIBILITY_CONTROL_H_ - -// This logic was borrowed (then namespaced) from the examples on the gcc wiki: -// https://gcc.gnu.org/wiki/Visibility - -#if defined _WIN32 || defined __CYGWIN__ -#ifdef __GNUC__ -#define ROS2_CONTROL_DEMO_HARDWARE_EXPORT __attribute__((dllexport)) -#define ROS2_CONTROL_DEMO_HARDWARE_IMPORT __attribute__((dllimport)) -#else -#define ROS2_CONTROL_DEMO_HARDWARE_EXPORT __declspec(dllexport) -#define ROS2_CONTROL_DEMO_HARDWARE_IMPORT __declspec(dllimport) -#endif -#ifdef ROS2_CONTROL_DEMO_HARDWARE_BUILDING_DLL -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ROS2_CONTROL_DEMO_HARDWARE_EXPORT -#else -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ROS2_CONTROL_DEMO_HARDWARE_IMPORT -#endif -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC_TYPE ROS2_CONTROL_DEMO_HARDWARE_PUBLIC -#define ROS2_CONTROL_DEMO_HARDWARE_LOCAL -#else -#define ROS2_CONTROL_DEMO_HARDWARE_EXPORT __attribute__((visibility("default"))) -#define ROS2_CONTROL_DEMO_HARDWARE_IMPORT -#if __GNUC__ >= 4 -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC __attribute__((visibility("default"))) -#define ROS2_CONTROL_DEMO_HARDWARE_LOCAL __attribute__((visibility("hidden"))) -#else -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC -#define ROS2_CONTROL_DEMO_HARDWARE_LOCAL -#endif -#define ROS2_CONTROL_DEMO_HARDWARE_PUBLIC_TYPE -#endif - -#endif // ROS2_CONTROL_DEMO_HARDWARE__VISIBILITY_CONTROL_H_ diff --git a/ros2_control_demo_hardware/package.xml b/ros2_control_demo_hardware/package.xml deleted file mode 100644 index 866c80bab..000000000 --- a/ros2_control_demo_hardware/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - ros2_control_demo_hardware - 0.0.0 - Demo package of `ros2_control` Hardware. This package provides example on how to define hardware of your own robot for ROS2 control. The package is used with `ros2_control_demo_bringup` from package `rrbot_description` and `diffbot_description`. - - Denis Štogl - - Apache-2.0 - - ament_cmake - - hardware_interface - pluginlib - rclcpp - rclcpp_lifecycle - - ament_cmake_gtest - - - ament_cmake - - diff --git a/ros2_control_demo_hardware/ros2_control_demo_hardware.xml b/ros2_control_demo_hardware/ros2_control_demo_hardware.xml deleted file mode 100644 index d51ddc761..000000000 --- a/ros2_control_demo_hardware/ros2_control_demo_hardware.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - The ros2_control RRBot example using a system hardware interface-type and only one command and state interface. This example is the starting point to implement a hardware interface for robots with sensors providing one communication path. - - - diff --git a/ros2_control_demos/package.xml b/ros2_control_demos/package.xml index de2dbfc2c..67990da66 100644 --- a/ros2_control_demos/package.xml +++ b/ros2_control_demos/package.xml @@ -7,16 +7,20 @@ Denis Štogl Denis Štogl + Bence Magyar + Christoph Froehlich Apache-2.0 ament_cmake - ros2_control_demo_bringup - diffbot_description - rrbot_description - ros2_control_demo_hardware - ros2_control_test_nodes + ros2_control_demo_example_1 + ros2_control_demo_example_2 + ros2_control_demo_example_3 + ros2_control_demo_example_4 + ros2_control_demo_example_5 + ros2_control_demo_example_6 + ros2_control_demo_example_8 ament_cmake