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Simplify prefix #82

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Simplify prefix #82

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80460e4
Simplify code and use robot_state_publisher for ns
rafal-gorecki Nov 16, 2023
325e51a
Fix
rafal-gorecki Nov 16, 2023
40a480d
added namespace to urdf
delihus Nov 21, 2023
1a48f5b
changed wubrepo for tests
delihus Nov 21, 2023
3acbfc4
Revert to None
rafal-gorecki Nov 24, 2023
ad1b12b
one line
rafal-gorecki Nov 24, 2023
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6 changes: 3 additions & 3 deletions .pre-commit-config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ repos:
args: [--pytest-test-first]

- repo: https://github.com/codespell-project/codespell
rev: v1.16.0
rev: v2.2.6
hooks:
- id: codespell
name: codespell
Expand All @@ -26,13 +26,13 @@ repos:
types: [text]

- repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
rev: 0.2.1
rev: 0.2.3
hooks:
- id: yamlfmt
files: ^.github|./\.yaml

- repo: https://github.com/psf/black
rev: 23.10.1
rev: 23.11.0
hooks:
- id: black
args: ["--line-length=99", "--experimental-string-processing"]
Expand Down
2 changes: 2 additions & 0 deletions .wordlist.txt
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Expand Up @@ -125,3 +125,5 @@ TODO
delipl
microros
namespaces
rplidar
slamtec
2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -144,7 +144,7 @@ black rosbot*
```

## Demo
Bellow you can find demos with ROSbots:
Below you can find demos with ROSbots:
- in [rosbot-docker](https://github.com/husarion/rosbot-docker/tree/ros2) you will find a simple example how to drive ROSbot with `teleop_twist_keyboard`.
- in [rosbot-sensors](https://github.com/husarion/rosbot-sensors) you will find an example how to visualize all ROSbot sensors.
- in [rosbot-mapping](https://github.com/husarion/rosbot-mapping) you will find an example how to use ROSbot with the [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox/).
Expand Down
2 changes: 1 addition & 1 deletion rosbot/rosbot_hardware.repos
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Expand Up @@ -6,7 +6,7 @@ repositories:
ros_components_description:
type: git
url: https://github.com/husarion/ros_components_description.git
version: ros2
version: namespace-suggestions
rosbot_controllers:
type: git
url: https://github.com/husarion/rosbot_controllers
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2 changes: 0 additions & 2 deletions rosbot_bringup/config/ekf.yaml
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Expand Up @@ -18,7 +18,6 @@
publish_tf: true
publish_acceleration: false

# The odometry topic name is overwritten in launch file due to the namespace argument
odom0: rosbot_base_controller/odom
odom0_config: [false, false, false, # X , Y , Z
false, false, false, # roll , pitch ,yaw
Expand All @@ -31,7 +30,6 @@
odom0_differential: false
odom0_relative: true

# The IMU topic name is overwritten in launch file due to the namespace argument
imu0: imu_broadcaster/imu
imu0_config: [false, false, false, # X , Y , Z
false, false, true, # roll , pitch ,yaw
Expand Down
91 changes: 40 additions & 51 deletions rosbot_bringup/launch/bringup.launch.py
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Expand Up @@ -12,19 +12,42 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from launch import LaunchDescription
from launch import LaunchDescription, LaunchContext
from launch_ros.actions import Node, SetParameter
from ament_index_python.packages import get_package_share_directory
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, OpaqueFunction
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution


def launch_ekf(context: LaunchContext, *args, **kwargs):
rosbot_bringup = get_package_share_directory("rosbot_bringup")
ekf_config = PathJoinSubstitution([rosbot_bringup, "config", "ekf.yaml"])

namespace = context.perform_substitution(LaunchConfiguration("namespace"))
namespace = namespace + "/" if namespace else ""

robot_localization_node = Node(
package="robot_localization",
executable="ekf_node",
name="ekf_filter_node",
output="screen",
parameters=[
ekf_config,
{"map_frame": namespace + "map"},
{"odom_frame": namespace + "odom"},
{"base_link_frame": namespace + "base_link"},
{"world_frame": namespace + "odom"},
],
namespace=namespace,
)

return [robot_localization_node]


def generate_launch_description():
namespace = LaunchConfiguration("namespace")
namespace_tf_prefix = PythonExpression(
["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "_'"]
)

declare_namespace_arg = DeclareLaunchArgument(
"namespace",
default_value="",
Expand Down Expand Up @@ -54,7 +77,6 @@ def generate_launch_description():
)

rosbot_controller = get_package_share_directory("rosbot_controller")
rosbot_bringup = get_package_share_directory("rosbot_bringup")

mecanum = LaunchConfiguration("mecanum")
declare_mecanum_arg = DeclareLaunchArgument(
Expand Down Expand Up @@ -84,48 +106,15 @@ def generate_launch_description():
}.items(),
)

ekf_config = PathJoinSubstitution([rosbot_bringup, "config", "ekf.yaml"])

robot_localization_node = Node(
package="robot_localization",
executable="ekf_node",
name="ekf_filter_node",
output="screen",
parameters=[
ekf_config,
{
"map_frame": LaunchConfiguration(
"ekf_map_frame", default=[namespace_tf_prefix, "map"]
)
},
{
"odom_frame": LaunchConfiguration(
"ekf_odom_frame", default=[namespace_tf_prefix, "odom"]
)
},
{
"base_link_frame": LaunchConfiguration(
"ekf_base_link_frame", default=[namespace_tf_prefix, "base_link"]
)
},
{
"world_frame": LaunchConfiguration(
"ekf_world_frame", default=[namespace_tf_prefix, "odom"]
)
},
],
namespace=namespace,
return LaunchDescription(
[
declare_namespace_arg,
declare_mecanum_arg,
declare_use_sim_arg,
declare_use_gpu_arg,
declare_simulation_engine_arg,
SetParameter(name="use_sim_time", value=use_sim),
controller_launch,
OpaqueFunction(function=launch_ekf),
]
)

actions = [
declare_namespace_arg,
declare_mecanum_arg,
declare_use_sim_arg,
declare_use_gpu_arg,
declare_simulation_engine_arg,
SetParameter(name="use_sim_time", value=use_sim),
controller_launch,
robot_localization_node,
]

return LaunchDescription(actions)
15 changes: 5 additions & 10 deletions rosbot_controller/launch/controller.launch.py
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Expand Up @@ -84,15 +84,14 @@ def generate_launch_description():
]
)

namespace_for_controller_name = PythonExpression(
namespace_ext = PythonExpression(
["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "/'"]
)
controller_manager_name = LaunchConfiguration(
"controller_manager_name",
default=[namespace_for_controller_name, controller_manager_type_name],
default=[namespace_ext, controller_manager_type_name],
)

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
Expand All @@ -112,7 +111,7 @@ def generate_launch_description():
use_gpu,
" simulation_engine:=",
simulation_engine,
" tf_prefix:=",
" namespace:=",
namespace,
rafal-gorecki marked this conversation as resolved.
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]
)
Expand All @@ -132,11 +131,7 @@ def generate_launch_description():
parameters=[
robot_description,
robot_controllers,
{
"tf_frame_prefix": LaunchConfiguration(
"rosbot_base_tf_frame_prefix", default=[namespace]
)
},
{"tf_frame_prefix": namespace},
],
remappings=[
("imu_sensor_node/imu", "/_imu/data_raw"),
Expand All @@ -151,7 +146,7 @@ def generate_launch_description():
robot_state_pub_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
parameters=[robot_description],
parameters=[robot_description, {"frame_prefix": namespace_ext}],
namespace=namespace,
)

Expand Down
50 changes: 25 additions & 25 deletions rosbot_description/urdf/body.urdf.xacro
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Expand Up @@ -5,21 +5,21 @@
<xacro:include filename="$(find rosbot_description)/urdf/components/vl53lox.urdf.xacro" ns="range_sensor" />

<xacro:if value="${tf_prefix == 'None'}">
<xacro:property name="tf_prefix_ext" value="" />
<xacro:property name="prefix" value="" />
</xacro:if>
<xacro:unless value="${tf_prefix == 'None'}">
<xacro:property name="tf_prefix_ext" value="${tf_prefix}_" />
<xacro:property name="prefix" value="${tf_prefix}_" />
</xacro:unless>

<link name="${tf_prefix_ext}base_link" />
<link name="${prefix}base_link" />

<joint name="${tf_prefix_ext}base_to_${tf_prefix_ext}body_joint" type="fixed">
<joint name="${prefix}base_to_${prefix}body_joint" type="fixed">
<origin xyz="0.0 0.0 ${wheel_radius}" rpy="0.0 0.0 0.0" />
<parent link="${tf_prefix_ext}base_link" />
<child link="${tf_prefix_ext}body_link" />
<parent link="${prefix}base_link" />
<child link="${prefix}body_link" />
</joint>

<link name="${tf_prefix_ext}body_link">
<link name="${prefix}body_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_description)/meshes/body.stl" scale="0.001 0.001 0.001" />
Expand All @@ -45,17 +45,17 @@
<origin xyz="0.0 0.0 ${0.040 - 0.02}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<gazebo reference="${tf_prefix_ext}body_link">
<gazebo reference="${prefix}body_link">
<material>Gazebo/White</material>
</gazebo>

<joint name="${tf_prefix_ext}body_to_${tf_prefix_ext}cover_joint" type="fixed">
<joint name="${prefix}body_to_${prefix}cover_joint" type="fixed">
<origin xyz="0.0 0.0 0.0603" rpy="0.0 0.0 0.0" />
<parent link="${tf_prefix_ext}body_link" />
<child link="${tf_prefix_ext}cover_link" />
<parent link="${prefix}body_link" />
<child link="${prefix}cover_link" />
</joint>

<link name="${tf_prefix_ext}cover_link">
<link name="${prefix}cover_link">
<visual>
<geometry>
<mesh filename="file://$(find rosbot_description)/meshes/cover.stl" scale="0.001 0.001 0.001" />
Expand All @@ -65,31 +65,31 @@
<color rgba="0.8 0.0 0.0 1.0" />
</material>
</visual>
<gazebo reference="${tf_prefix_ext}cover_link">
<gazebo reference="${prefix}cover_link">
<material>Gazebo/Red</material>
</gazebo>
</link>

<joint name="${tf_prefix_ext}body_to_${tf_prefix_ext}imu_joint" type="fixed">
<joint name="${prefix}body_to_${prefix}imu_joint" type="fixed">
<origin xyz="0.003 -0.0495 0.04332" rpy="0.0 0.0 0.0" />
<parent link="${tf_prefix_ext}body_link" />
<child link="${tf_prefix_ext}imu_link" />
<parent link="${prefix}body_link" />
<child link="${prefix}imu_link" />
</joint>

<link name="${tf_prefix_ext}imu_link" />
<link name="${prefix}imu_link" />

<joint name="${tf_prefix_ext}body_to_${tf_prefix_ext}camera_joint" type="fixed">
<joint name="${prefix}body_to_${prefix}camera_joint" type="fixed">
<origin xyz="-0.0141 0.0 0.125" rpy="0.0 0.0 0.0" />
<parent link="${tf_prefix_ext}body_link" />
<child link="${tf_prefix_ext}camera_link" />
<parent link="${prefix}body_link" />
<child link="${prefix}camera_link" />
</joint>

<link name="${tf_prefix_ext}camera_link" />
<link name="${prefix}camera_link" />

<xacro:range_sensor.vl53lox parent="${tf_prefix_ext}body_link" xyz="0.0926 0.05 0.015" rpy="0.0 0.0 ${radians(12.5)}" side="fl" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${tf_prefix_ext}body_link" xyz="0.0926 -0.05 0.015" rpy="0.0 0.0 ${radians(-12.5)}" side="fr" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${tf_prefix_ext}body_link" xyz="-0.0926 0.05 0.0115" rpy="0.0 0.0 ${radians(167.5)}" side="rl" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${tf_prefix_ext}body_link" xyz="-0.0926 -0.05 0.0115" rpy="0.0 0.0 ${radians(192.5)}" side="rr" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${prefix}body_link" xyz="0.0926 0.05 0.015" rpy="0.0 0.0 ${radians(12.5)}" side="fl" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${prefix}body_link" xyz="0.0926 -0.05 0.015" rpy="0.0 0.0 ${radians(-12.5)}" side="fr" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${prefix}body_link" xyz="-0.0926 0.05 0.0115" rpy="0.0 0.0 ${radians(167.5)}" side="rl" tf_prefix="${tf_prefix}" />
<xacro:range_sensor.vl53lox parent="${prefix}body_link" xyz="-0.0926 -0.05 0.0115" rpy="0.0 0.0 ${radians(192.5)}" side="rr" tf_prefix="${tf_prefix}" />

</xacro:macro>
</robot>
18 changes: 9 additions & 9 deletions rosbot_description/urdf/components/vl53lox.urdf.xacro
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Expand Up @@ -4,29 +4,29 @@
<xacro:macro name="vl53lox" params="parent xyz rpy side tf_prefix">

<xacro:if value="${tf_prefix == 'None'}">
<xacro:property name="tf_prefix_ext" value="" />
<xacro:property name="prefix" value="" />
</xacro:if>
<xacro:unless value="${tf_prefix == 'None'}">
<xacro:property name="tf_prefix_ext" value="${tf_prefix}_" />
<xacro:property name="prefix" value="${tf_prefix}_" />
</xacro:unless>

<joint name="${parent.rstrip('_link')}_${tf_prefix_ext}${side}_range_joint" type="fixed">
<joint name="${parent.rstrip('_link')}_${prefix}${side}_range_joint" type="fixed">
<origin xyz="${xyz}" rpy="${rpy}" />
<parent link="${parent}" />
<child link="${tf_prefix_ext}${side}_range" />
<child link="${prefix}${side}_range" />
</joint>

<link name="${tf_prefix_ext}${side}_range" />
<link name="${prefix}${side}_range" />

<!-- an IR sensor or a sonar are not implemented yet
https://github.com/gazebosim/gz-sensors/issues/19 -->
<xacro:if value="${simulation_engine == 'ignition-gazebo'}">
<gazebo reference="${tf_prefix_ext}${side}_range">
<sensor name="${tf_prefix_ext}${side}_range" type='gpu_lidar'>
<gazebo reference="${prefix}${side}_range">
<sensor name="${prefix}${side}_range" type='gpu_lidar'>

<topic>/range/${side}</topic>
<frame_id>${tf_prefix_ext}${side}_range</frame_id>
<ignition_frame_id>${tf_prefix_ext}${side}_range</ignition_frame_id>
<frame_id>${prefix}${side}_range</frame_id>
<ignition_frame_id>${prefix}${side}_range</ignition_frame_id>

<update_rate>5.0</update_rate>
<ray>
Expand Down
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