added mecanum

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Nov 13, 2023 · ad2ef7c · ad2ef7c
1 parent 0d82f27
commit ad2ef7c
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Showing 4 changed files with 23 additions and 25 deletions.
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -2,12 +2,19 @@ repositories:
   rosbot_hardware_interfaces:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
-    version: main
+    version: add-namespace
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
     version:  ros2
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
-    version: main
+    version: add-namespace
+  # Waiting for backporting to the humble version
+  # https://github.com/ros-controls/ros2_controllers/pull/726 and
+  # https://github.com/ros-controls/ros2_controllers/pull/831
+  ros2_controllers:
+    type: git
+    url: https://github.com/delihus/ros2_controllers
+    version: humble-backport
diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml
@@ -1,4 +1,4 @@
-controller_manager:
+/**/controller_manager:
   ros__parameters:
     use_sim_time: false
     update_rate: 20 # Hz
@@ -12,7 +12,7 @@ controller_manager:
 
 # Separate controller manager used for simulation - only difference is
 # the use_sim_time parameter (it is the easiest way to do it with ign ros2 control)
-simulation_controller_manager:
+/**/simulation_controller_manager:
   ros__parameters:
     use_sim_time: true
     update_rate: 20 # Hz
@@ -24,16 +24,18 @@ simulation_controller_manager:
     imu_broadcaster:
       type: imu_sensor_broadcaster/IMUSensorBroadcaster
 
-imu_broadcaster:
+/**/imu_broadcaster:
   ros__parameters:
-    sensor_name: "imu"
-    frame_id: "imu_link"
+    sensor_name: imu
+     # All transforms are overwritten in launch file due to the namespace argument
+    # frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
     static_covariance_angular_velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0e-3] # Values based on diff_drive
     static_covariance_linear_acceleration: [6.4e-2, 0.0, 0.0, 2.2e-2, 0.0, 0.0, 0.0, 0.0, 0.0] # Values based on diff_drive
 
-rosbot_base_controller:
+/**/rosbot_base_controller:
   ros__parameters:
+    tf_frame_prefix_enable: True
     front_left_wheel_name: fl_wheel_joint
     front_right_wheel_name: fr_wheel_joint
     rear_left_wheel_name: rl_wheel_joint

diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -136,19 +136,7 @@ def generate_launch_description():
             {"frame_id": LaunchConfiguration("imu_frame", default=[namespace, "_imu_link"])},
             {
                 "tf_frame_prefix": LaunchConfiguration(
-                    "diff_drive_tf_frame_prefix", default=[namespace]
-                )
-            },
-            {
-                "left_wheel_names": LaunchConfiguration(
-                    "left_wheels_joints",
-                    default=["[", namespace, "_fl_wheel_joint,", namespace, "_rl_wheel_joint]"],
-                )
-            },
-            {
-                "right_wheel_names": LaunchConfiguration(
-                    "right_wheels_joints",
-                    default=["[", namespace, "_fr_wheel_joint,", namespace, "_rr_wheel_joint]"],
+                    "rosbot_base_tf_frame_prefix", default=[namespace]
                 )
             },
         ],

diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -68,6 +68,7 @@
                 fr_wheel_joint,
                 fl_wheel_joint
           </param>
+          <param name="tf_prefix">${tf_prefix_ext}</param>
         </xacro:unless>
 
         <xacro:if value="$(arg use_sim)">
@@ -81,22 +82,22 @@
       </hardware>
 
        <!-- Namespaces have not been implemented in microros jet -->
-      <joint name="fl_wheel_joint">
+      <joint name="${tf_prefix_ext}fl_wheel_joint">
         <command_interface name="velocity" />
         <state_interface name="position" />
         <state_interface name="velocity" />
       </joint>
-      <joint name="fr_wheel_joint">
+      <joint name="${tf_prefix_ext}fr_wheel_joint">
         <command_interface name="velocity" />
         <state_interface name="position" />
         <state_interface name="velocity" />
       </joint>
-      <joint name="rl_wheel_joint">
+      <joint name="${tf_prefix_ext}rl_wheel_joint">
         <command_interface name="velocity" />
         <state_interface name="position" />
         <state_interface name="velocity" />
       </joint>
-      <joint name="rr_wheel_joint">
+      <joint name="${tf_prefix_ext}rr_wheel_joint">
         <command_interface name="velocity" />
         <state_interface name="position" />
         <state_interface name="velocity" />