Ros2 control support package added

.gitignore

@@ -16,6 +16,7 @@ msg/_.*\.py$
 
 \.pcd$
 .pyc$
+**/__pycache__/
 
 # Generated by dynamic reconfigure
 \.cfgc$

README.md

@@ -1,16 +1,11 @@
 
 # Kuka experimental
 
-[![Build Status: Ubuntu Bionic (Actions)](https://github.com/ros-industrial/kuka_experimental/workflows/CI%20-%20Ubuntu%20Bionic/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/kuka_experimental/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22)
-[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/kuka_experimental/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=melodic-devel)](https://github.com/ros-industrial/kuka_experimental/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
-
 [![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.svg)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
 
 Experimental packages for Kuka manipulators within [ROS-Industrial][].
 See the [ROS wiki][] page for more information.
 
-## Contents
-
 This repository contains packages that will be migrated to the [kuka][]
 repository after they have received sufficient testing. The contents of
 these packages are subject to change, without prior notice. Any available
@@ -21,6 +16,16 @@ and / or functional.
 [ROS wiki]: http://wiki.ros.org/kuka_experimental
 [kuka]: https://github.com/ros-industrial/kuka
 
+## Contents
+
+KUKA is one the major robot manufacturers in the world. Therefore, KUKA robots can be found in many industrial applications and research labs.
+
+This branch contains ROS 2 version of the driver supporting new features enabled by ROS 2, such as decreased latency, improved security, and more flexibility regarding middleware configuration.
+The repository contains descriptions for many KUKA manipulators, ros2_control support for RSI and EKI Protocols to control the robot, as well as generic MoveIt2 setup to get you started.
+
+[//]: <> (TODO: I you want to learn more check the videos and presentation about the repository:)
+
+
 ## Build status
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
@@ -44,3 +49,154 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
    Uses repos file: `$NAME$.repos`
 
 1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
+
+
+## Packages in the Repository:
+
+- `kuka_experimental` - Meta package that provides a single point of installation for the released packages.
+- `kuka_eki_hw_interface` - Hardware interface implementation for ros2_control based on EKI communication protocol.
+- `kuka_rsi_hw_interface` - Hardware interface implementation for ros2_control based on RSI communication protocol.
+- `kuka_resources` - Shared resources across support packages, e.g., rviz configuration, launch files, and URDF properties (colors, materials, math constants), etc.
+- `kuka_ros2_control_support` - Support files for using KUKA with ros2_control.
+- `kuka_rsi_simulator` - Simple simulator of RSI communication that is useful for driver testing without connected hardware.
+
+- **support packages** - descriptions, meshes and test-launch file for different versions of KUKA manipulators.
+
+  - `kuka_kr3_support`
+  - `kuka_kr5_support`
+  - `kuka_kr6_support`
+  - `kuka_kr10_support`
+  - `kuka_kr16_support`
+  - `kuka_kr120_support`
+  - `kuka_kr150_support`
+  - `kuka_kr210_support`
+  - `kuka_lbr_iiwa_support` - *NOT tested extensively! Note that there are packages with possibly better support!*
+
+
+## Getting Started
+
+For getting started to use this driver you have to follow the next steps:
+
+1. **Install the driver** (see below). Currently only install from source is supported.
+
+2. **Setup the robot**. Once driver is installed, decide which interface, RSI or EKI, you want to use and [check instructions for RSI interface](./kuka_rsi_hw_interface/krl/README.md) or [check instructions for EKI interface](./kuka_eki_hw_interface/krl/README.md).
+
+3. **Start the driver** (see below).
+
+
+### Build from Source
+
+Before building from source please make sure that you actually need to do that. Building from source
+might require some special treatment, especially when it comes to dependency management.
+Dependencies might change from time to time. Upstream packages might change
+their features / API which require changes in this repo. Therefore, this repo's source builds might
+require upstream repositories to be present in a certain version as otherwise builds might fail.
+Starting from scratch following exactly the steps below should always work, but simply pulling and
+building might fail occasionally.
+
+1. [Install ROS2](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html).
+   For using this driver with ROS2 `foxy`. Checkout [foxy
+   branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy), for using it
+   with ROS2 ``humble``, use the [humble branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble),
+   and for using it with ROS2 ``rolling``, use the [rolling
+   branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/rolling).
+
+   Once installed, please make sure to actually [source ROS2](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files) before proceeding.
+
+3. Make sure that `colcon`, its extensions and `vcs` are installed:
+   ```
+   sudo apt install python3-colcon-common-extensions python3-vcstool
+   ```
+
+4. Create a new ROS2 workspace:
+   ```
+   export COLCON_WS=~/workspace/ros2_kuka_driver
+   mkdir -p $COLCON_WS/src
+   ```
+
+5. Clone relevant packages, install dependencies, compile, and source the workspace by using:
+   ```
+   cd $COLCON_WS
+   git clone https://github.com/StoglRobotics-forks/kuka_experimental.git src/kuka_experimental
+   vcs import src --skip-existing --input src/kuka_experimental/kuka_experimental-not-released.${ROS_DISTRO}.repos
+   rosdep update
+   rosdep install --ignore-src --from-paths src -y
+   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+   source install/setup.bash
+   ```
+
+6. When consecutive pulls leads to build errors, please make sure to update the upstream packages before
+   filing an issue:
+   ```
+   cd $COLCON_WS
+   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
+   rosdep update
+   rosdep install --ignore-src --from-paths src -y
+   ```
+
+
+### Starting the driver
+
+1. Start *Mock Hardware* first to see how the system is setup (example for `KR5 arc`):
+   ```
+   ros2 launch kuka_ros2_control_support test_bringup.launch.py description_package:=kuka_kr5_support description_macro_file:=kr5_arc_macro.xacro use_mock_hardware:=true
+   ```
+   Now check started nodes, available topics and services.
+
+2. Start test node for joint trajectory controller:
+   ```
+   ros2 launch kuka_ros2_control_support test_joint_trajectory_controller.launch.py
+   ```
+
+3. To start other robot type use the following arguments:
+    ```
+    "description_package",
+        choices=[
+            "kuka_kr3_support",
+            "kuka_kr5_support",
+            "kuka_kr6_support",
+            "kuka_kr10_support",
+            "kuka_kr16_support",
+            "kuka_kr120_support",
+            "kuka_kr150_support",
+            "kuka_kr210_support",
+            "kuka_lbr_iiwa_support",
+        ]
+
+    "description_macro_file",
+        choices=[
+            "kr3r540_macro.xacro",
+            "kr5_arc_macro.xacro",
+            "kr6r700sixx_macro.xacro",
+            "kr6r900_2_macro.xacro",
+            "kr6r900sixx_macro.xacro",
+            "kr10r900_2_macro.xacro",
+            "kr10r1100sixx_macro.xacro",
+            "kr10r1420_macro.xacro",
+            "kr16_2_macro.xacro",
+            "kr120r2500pro_macro.xacro",
+            "kr150_2_macro.xacro",
+            "kr150r3100_2_macro.xacro",
+            "kr210l150_macro.xacro",
+            "lbr_iiwa_14_r820_macro.xacro",
+        ]
+
+    "controllers_file",
+        choices=[
+            "kuka_6dof_controllers.yaml",
+            "kuka_7dof_controllers.yaml",
+            # Note: for the robot kuka_lbr_iiwa_14_r820, kuka_7dof_controllers.yaml should be used
+            # and the rest use kuka_6dof_controllers.yaml
+        ]
+
+    ```
+    **NOTE: Please choose only the related combination of the various parameters.**
+
+4. Start the real hardware using the following arguments on `test_bringup.launch.py`:
+   ```
+   use_rsi_communication:=true rsi_listen_ip:=<IP_OF_PC_IN_RSI_Network> rsi_listen_port:=49152
+   ```
+   You can omit `rsi_listen_port` if you didn't change it in the robots configuration.
+   For example:
+   ```
+   ```

kuka_eki_hw_interface/config/hardware_controllers_6dof.yaml

@@ -0,0 +1,36 @@
+controller_manager:
+  ros__parameters:
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    position_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+position_trajectory_controller:
+  ros__parameters:
+
+    joints:
+      - joint_a1
+      - joint_a2
+      - joint_a3
+      - joint_a4
+      - joint_a5
+      - joint_a6
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+
+    state_publish_rate: 2.0 # Defaults to 50
+    action_monitor_rate: 2.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    open_loop_control: true
+    allow_integration_in_goal_trajectories: true
+    constraints:
+      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)

kuka_eki_hw_interface/config/hardware_controllers_7dof.yaml

@@ -0,0 +1,37 @@
+controller_manager:
+  ros__parameters:
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    position_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+position_trajectory_controller:
+  ros__parameters:
+
+    joints:
+      - joint_a1
+      - joint_a2
+      - joint_a3
+      - joint_a4
+      - joint_a5
+      - joint_a6
+      - joint_a7
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+
+    state_publish_rate: 2.0 # Defaults to 50
+    action_monitor_rate: 2.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    open_loop_control: true
+    allow_integration_in_goal_trajectories: true
+    constraints:
+      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)

kuka_experimental.foxy.repos

@@ -1,6 +1,9 @@
 repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: [email protected]:<some_github_namespace>/<some_ros_package>.git
-#     version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: foxy
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: foxy

kuka_experimental.rolling.repos

@@ -1,6 +1,9 @@
 repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: [email protected]:<some_github_namespace>/<some_ros_package>.git
-#     version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master

kuka_experimental/package.xml

@@ -7,6 +7,8 @@
   <author>Shaun Edwards</author>
   <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
+  <maintainer email="[email protected]">Dr. Denis Štogl (Stogl Robotics Consulting)</maintainer>
+  <license>BSD</license>
 
   <url type="website">http://wiki.ros.org/kuka_experimental</url>
   <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url>
@@ -23,8 +25,8 @@
   <exec_depend>kuka_kr6_support</exec_depend>
   <exec_depend>kuka_lbr_iiwa_support</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
-  <!--<exec_depend>kuka_rsi_hw_interface</exec_depend>-->
-  <exec_depend>kuka_eki_hw_interface</exec_depend>
+  <exec_depend>kuka_ros2_control_support</exec_depend>
+<!--   <exec_depend>kuka_eki_hw_interface</exec_depend> -->
   <exec_depend>kuka_rsi_hw_interface</exec_depend>
   <exec_depend>kuka_rsi_simulator</exec_depend>
 

kuka_kr10_support/CMakeLists.txt

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 3.16)
-
 project(kuka_kr10_support LANGUAGES CXX)
 
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
@@ -10,7 +9,7 @@ find_package(ament_cmake REQUIRED)
 
 
 install(
-  DIRECTORY config launch meshes urdf
+  DIRECTORY launch meshes urdf
   DESTINATION share/${PROJECT_NAME}
 )