From 5bdf247c166b4277222b0abb6c8ae338a15f302a Mon Sep 17 00:00:00 2001 From: NestorDP Date: Thu, 11 Jan 2024 17:13:37 -0300 Subject: [PATCH 1/7] Basic forms to colision tags of the free wheell --- .../urdf/littlebot_body.urdf.xacro | 18 +++++++++--------- .../urdf/littlebot_description.urdf.xacro | 6 +++--- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/littlebot_description/urdf/littlebot_body.urdf.xacro b/littlebot_description/urdf/littlebot_body.urdf.xacro index 5f910a5..c8b8d45 100644 --- a/littlebot_description/urdf/littlebot_body.urdf.xacro +++ b/littlebot_description/urdf/littlebot_body.urdf.xacro @@ -52,7 +52,7 @@ - + - + - + diff --git a/littlebot_description/urdf/littlebot_description.urdf.xacro b/littlebot_description/urdf/littlebot_description.urdf.xacro index 95eeb1e..5df5d03 100755 --- a/littlebot_description/urdf/littlebot_description.urdf.xacro +++ b/littlebot_description/urdf/littlebot_description.urdf.xacro @@ -9,7 +9,7 @@ - + @@ -34,10 +34,10 @@ - + - + - + - + - + - - - - - + + + + + diff --git a/littlebot_description/urdf/littlebot_description.urdf.xacro b/littlebot_description/urdf/littlebot_description.urdf.xacro index 5df5d03..71156dc 100755 --- a/littlebot_description/urdf/littlebot_description.urdf.xacro +++ b/littlebot_description/urdf/littlebot_description.urdf.xacro @@ -12,7 +12,7 @@ - + @@ -62,9 +62,9 @@ - + From 6e14c638758522d0c7a612b9a65e7db535c62cec Mon Sep 17 00:00:00 2001 From: aldenpower Date: Wed, 17 Jan 2024 11:28:33 -0300 Subject: [PATCH 3/7] add files to launch differential controller --- .../spawn_diffdriver_controller.launch.py | 35 +++++++++++++++++++ littlebot_control/package.xml | 20 ++++++----- .../gazebo/littlebot.gazebo.xacro | 25 +++++++++++-- 3 files changed, 69 insertions(+), 11 deletions(-) create mode 100644 littlebot_control/launch/spawn_diffdriver_controller.launch.py diff --git a/littlebot_control/launch/spawn_diffdriver_controller.launch.py b/littlebot_control/launch/spawn_diffdriver_controller.launch.py new file mode 100644 index 0000000..4d42f50 --- /dev/null +++ b/littlebot_control/launch/spawn_diffdriver_controller.launch.py @@ -0,0 +1,35 @@ +import os +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import RegisterEventHandler +from launch.event_handlers import OnProcessExit + + +def generate_launch_description(): + 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=["littlebot_velocity_controller", "--controller-manager", "/controller_manager"], + ) + + + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], + ) + ) + + return LaunchDescription([ + # control_node, + joint_state_broadcaster_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, + + ]) diff --git a/littlebot_control/package.xml b/littlebot_control/package.xml index 106b9e2..41953a4 100755 --- a/littlebot_control/package.xml +++ b/littlebot_control/package.xml @@ -10,15 +10,17 @@ ament_cmake - controller_manager - diff_drive_controller - interactive_marker_twist_server - joint_state_broadcaster - joint_trajectory_controller - joy - robot_state_publisher - teleop_twist_joy - twist_mux + + + ros2_control + ros2_controllers + + + + + + + ament_cmake diff --git a/littlebot_description/gazebo/littlebot.gazebo.xacro b/littlebot_description/gazebo/littlebot.gazebo.xacro index fdb333e..684aeae 100644 --- a/littlebot_description/gazebo/littlebot.gazebo.xacro +++ b/littlebot_description/gazebo/littlebot.gazebo.xacro @@ -3,8 +3,7 @@ - - + + + + + ign_ros2_control/IgnitionSystem + + + + + + + + + + + + + + + + $(find littlebot_control)/config/control.yaml + From e115e56d2a565d3f56c5ebce2ba7d1a9189ded6f Mon Sep 17 00:00:00 2001 From: aldenpower Date: Thu, 22 Feb 2024 05:12:07 -0300 Subject: [PATCH 4/7] fix rviz ros2 control joint visualization --- littlebot_description/gazebo/littlebot.gazebo.xacro | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/littlebot_description/gazebo/littlebot.gazebo.xacro b/littlebot_description/gazebo/littlebot.gazebo.xacro index 684aeae..2326276 100644 --- a/littlebot_description/gazebo/littlebot.gazebo.xacro +++ b/littlebot_description/gazebo/littlebot.gazebo.xacro @@ -37,6 +37,12 @@ + + + + + + From 6932a86754c51a1b39ba78d11b927586bc8af205 Mon Sep 17 00:00:00 2001 From: aldenpower Date: Thu, 22 Feb 2024 05:12:47 -0300 Subject: [PATCH 5/7] add rviz2 node to controller launch --- littlebot_control/CMakeLists.txt | 2 +- .../spawn_diffdriver_controller.launch.py | 14 ++ littlebot_control/rviz/diff_drive.rviz | 235 ++++++++++++++++++ 3 files changed, 250 insertions(+), 1 deletion(-) create mode 100644 littlebot_control/rviz/diff_drive.rviz diff --git a/littlebot_control/CMakeLists.txt b/littlebot_control/CMakeLists.txt index ed2691b..0f9fb3b 100755 --- a/littlebot_control/CMakeLists.txt +++ b/littlebot_control/CMakeLists.txt @@ -5,7 +5,7 @@ project(littlebot_control) find_package(ament_cmake REQUIRED) -install(DIRECTORY config launch +install(DIRECTORY config launch rviz DESTINATION share/${PROJECT_NAME} ) diff --git a/littlebot_control/launch/spawn_diffdriver_controller.launch.py b/littlebot_control/launch/spawn_diffdriver_controller.launch.py index 4d42f50..b438f51 100644 --- a/littlebot_control/launch/spawn_diffdriver_controller.launch.py +++ b/littlebot_control/launch/spawn_diffdriver_controller.launch.py @@ -19,6 +19,13 @@ def generate_launch_description(): arguments=["littlebot_velocity_controller", "--controller-manager", "/controller_manager"], ) + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + # arguments=["-d", rviz_config_file], + ) delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( @@ -26,10 +33,17 @@ def generate_launch_description(): on_exit=[robot_controller_spawner], ) ) + delay_rviz_after_robot_controller = RegisterEventHandler( + event_handler=OnProcessExit( + target_action=robot_controller_spawner, + on_exit=[rviz_node], + ) + ) return LaunchDescription([ # control_node, joint_state_broadcaster_spawner, delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, + delay_rviz_after_robot_controller ]) diff --git a/littlebot_control/rviz/diff_drive.rviz b/littlebot_control/rviz/diff_drive.rviz new file mode 100644 index 0000000..32a8f12 --- /dev/null +++ b/littlebot_control/rviz/diff_drive.rviz @@ -0,0 +1,235 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 570 + - 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 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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 + caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chassis_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + free_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + 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 + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + caster: + Value: true + chassis_link: + Value: true + free_wheel: + Value: true + imu_link: + Value: true + left_wheel: + Value: true + odom: + Value: true + right_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + base_link: + chassis_link: + caster: + free_wheel: + {} + imu_link: + {} + left_wheel: + {} + right_wheel: + {} + Update Interval: 0 + Value: 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 + 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: 5.098728656768799 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0343431793153286 + Y: 0.13100281357765198 + Z: -0.0660405084490776 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6753981113433838 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.0353977680206299 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 884 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000015f000002ccfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002cc000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ccfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002cc000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054c00000040fc0100000002fb0000000800540069006d006501000000000000054c000002a700fffffffb0000000800540069006d00650100000000000004500000000000000000000002d2000002cc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1356 + X: 2276 + Y: 64 From a92f894e69ab148c5ceb32e87c84de1ae0c32949 Mon Sep 17 00:00:00 2001 From: aldenpower Date: Thu, 22 Feb 2024 05:13:09 -0300 Subject: [PATCH 6/7] enable odom tf to control configuration --- littlebot_control/config/control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/littlebot_control/config/control.yaml b/littlebot_control/config/control.yaml index 797ba16..f75c34b 100755 --- a/littlebot_control/config/control.yaml +++ b/littlebot_control/config/control.yaml @@ -28,7 +28,7 @@ littlebot_velocity_controller: twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] open_loop: false - enable_odom_tf: false + enable_odom_tf: true cmd_vel_timeout: 0.5 #publish_limited_velocity: true From 33db77a6b46130d550d8f299364a59b44734b9e4 Mon Sep 17 00:00:00 2001 From: aldenpower Date: Tue, 19 Mar 2024 14:46:04 -0300 Subject: [PATCH 7/7] fix linting errors --- .../launch/spawn_diffdriver_controller.launch.py | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/littlebot_control/launch/spawn_diffdriver_controller.launch.py b/littlebot_control/launch/spawn_diffdriver_controller.launch.py index b438f51..1f59eb3 100644 --- a/littlebot_control/launch/spawn_diffdriver_controller.launch.py +++ b/littlebot_control/launch/spawn_diffdriver_controller.launch.py @@ -1,7 +1,5 @@ -import os from launch_ros.actions import Node from launch import LaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit @@ -10,13 +8,15 @@ def generate_launch_description(): joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], + arguments=["joint_state_broadcaster", + "--controller-manager", "/controller_manager"], ) robot_controller_spawner = Node( package="controller_manager", executable="spawner", - arguments=["littlebot_velocity_controller", "--controller-manager", "/controller_manager"], + arguments=["littlebot_velocity_controller", "--controller-manager", + "/controller_manager"], ) rviz_node = Node( @@ -24,10 +24,9 @@ def generate_launch_description(): executable="rviz2", name="rviz2", output="log", - # arguments=["-d", rviz_config_file], ) - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( + delay_robot_controller_after_joint_state_spawner = RegisterEventHandler( event_handler=OnProcessExit( target_action=joint_state_broadcaster_spawner, on_exit=[robot_controller_spawner], @@ -41,9 +40,7 @@ def generate_launch_description(): ) return LaunchDescription([ - # control_node, joint_state_broadcaster_spawner, - delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, + delay_robot_controller_after_joint_state_spawner, delay_rviz_after_robot_controller - ])