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[Example 11] Carlike Robot using Bicycle Steering Controller (backport #316) #450

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1 change: 1 addition & 0 deletions .github/workflows/ci-ros-lint.yml
Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ jobs:
ros2_control_demo_example_8
ros2_control_demo_example_9
ros2_control_demo_example_10
ros2_control_demo_example_11
ros2_control_demo_example_12
ros2_control_demo_example_14

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -60,7 +60,7 @@ The following examples are part of this demo repository:

*RRBot* with GPIO interfaces.

* Example 11: "Car-like robot using steering controller library (tba.)"
* Example 11: ["Car-like robot using steering controller library"](example_11)

* Example 12: ["Controller chaining"](example_12)

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4 changes: 3 additions & 1 deletion doc/index.rst
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Expand Up @@ -70,7 +70,8 @@ Example 9: "Gazebo Classic"
Example 10: "GPIO interfaces"
Industrial robot with GPIO interfaces

Example 11: "Car-like robot using steering controller library (tba.)"
Example 11: "CarlikeBot"
*CarlikeBot* with a bicycle steering controller

Example 12: "Controller chaining"
The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
Expand Down Expand Up @@ -270,5 +271,6 @@ Examples
Example 8: Using transmissions <../example_8/doc/userdoc.rst>
Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
Example 12: Controller chaining <../example_12/doc/userdoc.rst>
Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
76 changes: 76 additions & 0 deletions example_11/CMakeLists.txt
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cmake_minimum_required(VERSION 3.16)
project(ros2_control_demo_example_11 LANGUAGES CXX)

if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
add_compile_options(-Wall -Wextra)
endif()

# find dependencies
set(THIS_PACKAGE_INCLUDE_DEPENDS
hardware_interface
pluginlib
rclcpp
rclcpp_lifecycle
)

# find dependencies
find_package(ament_cmake REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()


## COMPILE
add_library(
ros2_control_demo_example_11
SHARED
hardware/carlikebot_system.cpp
)
target_compile_features(ros2_control_demo_example_11 PUBLIC cxx_std_17)
target_include_directories(ros2_control_demo_example_11 PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
$<INSTALL_INTERFACE:include/ros2_control_demo_example_11>
)
ament_target_dependencies(
ros2_control_demo_example_11 PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

# 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_EXAMPLE_11_BUILDING_DLL")

# Export hardware plugins
pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_11.xml)

# INSTALL
install(
DIRECTORY hardware/include/
DESTINATION include/ros2_control_demo_example_11
)
install(
DIRECTORY description/launch description/ros2_control description/urdf
DESTINATION share/ros2_control_demo_example_11
)
install(
DIRECTORY bringup/launch bringup/config
DESTINATION share/ros2_control_demo_example_11
)
install(TARGETS ros2_control_demo_example_11
EXPORT export_ros2_control_demo_example_11
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

if(BUILD_TESTING)
find_package(ament_cmake_pytest REQUIRED)

ament_add_pytest_test(example_11_urdf_xacro test/test_urdf_xacro.py)
ament_add_pytest_test(view_example_11_launch test/test_view_robot_launch.py)
endif()

## EXPORTS
ament_export_targets(export_ros2_control_demo_example_11 HAS_LIBRARY_TARGET)
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()
6 changes: 6 additions & 0 deletions example_11/README.md
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# ros2_control_demo_example_11

*CarlikeBot*, or ''Carlike Mobile Robot'', is a simple mobile base with bicycle drive.
The robot has two wheels in the front that steer the robot and two wheels in the back that power the robot forward and backwards. However, since each pair of wheels (steering and traction) are controlled by one interface, a bicycle steering model is used.

Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_11/doc/userdoc.html).
29 changes: 29 additions & 0 deletions example_11/bringup/config/carlikebot_controllers.yaml
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controller_manager:
ros__parameters:
update_rate: 10 # Hz

joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

bicycle_steering_controller:
type: bicycle_steering_controller/BicycleSteeringController


bicycle_steering_controller:
ros__parameters:
wheelbase: 0.325
front_wheel_radius: 0.05
rear_wheel_radius: 0.05
front_steering: true
reference_timeout: 2.0
rear_wheels_names: ['virtual_rear_wheel_joint']
front_wheels_names: ['virtual_front_wheel_joint']
open_loop: false
velocity_rolling_window_size: 10
base_frame_id: base_link
odom_frame_id: odom
enable_odom_tf: true
twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
position_feedback: false
use_stamped_vel: true
151 changes: 151 additions & 0 deletions example_11/bringup/launch/carlikebot.launch.py
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# Copyright 2020 ros2_control Development Team
#
# 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, UnlessCondition
from launch.event_handlers import OnProcessExit
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Declare arguments
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"gui",
default_value="true",
description="Start RViz2 automatically with this launch file.",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"remap_odometry_tf",
default_value="false",
description="Remap odometry TF from the steering controller to the TF tree.",
)
)

# Initialize Arguments
gui = LaunchConfiguration("gui")
remap_odometry_tf = LaunchConfiguration("remap_odometry_tf")

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("ros2_control_demo_example_11"), "urdf", "carlikebot.urdf.xacro"]
),
]
)
robot_description = {"robot_description": robot_description_content}

robot_controllers = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_example_11"),
"config",
"carlikebot_controllers.yaml",
]
)
rviz_config_file = PathJoinSubstitution(
[
FindPackageShare("ros2_control_demo_description"),
"carlikebot/rviz",
"carlikebot.rviz",
]
)

# the steering controller libraries by default publish odometry on a separate topic than /tf
control_node_remapped = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("~/robot_description", "/robot_description"),
("/bicycle_steering_controller/tf_odometry", "/tf"),
],
condition=IfCondition(remap_odometry_tf),
)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_controllers],
output="both",
remappings=[
("~/robot_description", "/robot_description"),
],
condition=UnlessCondition(remap_odometry_tf),
)
robot_state_pub_bicycle_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
remappings=[
("~/robot_description", "/robot_description"),
],
)
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config_file],
condition=IfCondition(gui),
)

joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)

robot_bicycle_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["bicycle_steering_controller", "--controller-manager", "/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_bicycle_controller_spawner],
)
)

nodes = [
control_node,
control_node_remapped,
robot_state_pub_bicycle_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)
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