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Add an example with a passive joint (#172)
Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 7d5ec5d) # Conflicts: # doc/index.rst
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86 changes: 86 additions & 0 deletions
86
gazebo_ros2_control_demos/launch/pendulum_example_effort.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| # Copyright 2024 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. | ||
|
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
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| from launch import LaunchDescription | ||
| from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
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| from launch_ros.actions import Node | ||
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| import xacro | ||
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| def generate_launch_description(): | ||
| gazebo = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([os.path.join( | ||
| get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), | ||
| ) | ||
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| gazebo_ros2_control_demos_path = os.path.join( | ||
| get_package_share_directory('gazebo_ros2_control_demos')) | ||
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| xacro_file = os.path.join(gazebo_ros2_control_demos_path, | ||
| 'urdf', | ||
| 'test_pendulum_effort.xacro.urdf') | ||
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| doc = xacro.parse(open(xacro_file)) | ||
| xacro.process_doc(doc) | ||
| params = {'robot_description': doc.toxml()} | ||
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| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[params] | ||
| ) | ||
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| spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', | ||
| arguments=['-topic', 'robot_description', | ||
| '-entity', 'cartpole'], | ||
| output='screen') | ||
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| load_joint_state_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
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| load_joint_trajectory_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'], | ||
| output='screen' | ||
| ) | ||
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| return LaunchDescription([ | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=spawn_entity, | ||
| on_exit=[load_joint_state_controller], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_controller, | ||
| on_exit=[load_joint_trajectory_controller], | ||
| ) | ||
| ), | ||
| gazebo, | ||
| node_robot_state_publisher, | ||
| spawn_entity, | ||
| ]) |
87 changes: 87 additions & 0 deletions
87
gazebo_ros2_control_demos/launch/pendulum_example_position.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| # Copyright 2024 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. | ||
|
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||
| import os | ||
|
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| from ament_index_python.packages import get_package_share_directory | ||
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| from launch import LaunchDescription | ||
| from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler | ||
| from launch.event_handlers import OnProcessExit | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
|
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| from launch_ros.actions import Node | ||
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| import xacro | ||
|
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|
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| def generate_launch_description(): | ||
| gazebo = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([os.path.join( | ||
| get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']), | ||
| ) | ||
|
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| gazebo_ros2_control_demos_path = os.path.join( | ||
| get_package_share_directory('gazebo_ros2_control_demos')) | ||
|
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| xacro_file = os.path.join(gazebo_ros2_control_demos_path, | ||
| 'urdf', | ||
| 'test_pendulum_position.xacro.urdf') | ||
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| doc = xacro.parse(open(xacro_file)) | ||
| xacro.process_doc(doc) | ||
| params = {'robot_description': doc.toxml()} | ||
|
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| node_robot_state_publisher = Node( | ||
| package='robot_state_publisher', | ||
| executable='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[params] | ||
| ) | ||
|
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| spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', | ||
| arguments=['-topic', 'robot_description', | ||
| '-entity', 'cartpole'], | ||
| output='screen') | ||
|
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| load_joint_state_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_state_broadcaster'], | ||
| output='screen' | ||
| ) | ||
|
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| load_joint_trajectory_controller = ExecuteProcess( | ||
| cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', | ||
| 'joint_trajectory_controller'], | ||
| output='screen' | ||
| ) | ||
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| return LaunchDescription([ | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=spawn_entity, | ||
| on_exit=[load_joint_state_controller], | ||
| ) | ||
| ), | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_joint_state_controller, | ||
| on_exit=[load_joint_trajectory_controller], | ||
| ) | ||
| ), | ||
| gazebo, | ||
| node_robot_state_publisher, | ||
| spawn_entity, | ||
| ]) |
108 changes: 108 additions & 0 deletions
108
gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pendulum on cart"> | ||
|
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| <xacro:macro name="quadr_block" params="mass width height name"> | ||
| <link name="${name}"> | ||
| <collision> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height}"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0"/> | ||
| </collision> | ||
| <visual> | ||
| <geometry> | ||
| <box size="${width} ${width} ${height}"/> | ||
| </geometry> | ||
| <origin xyz="0 0 ${height/2}"/> | ||
| <material name="blue"> | ||
| <color rgba="0 0 .8 1"/> | ||
| </material> | ||
| </visual> | ||
| <inertial> | ||
| <origin xyz="0 0 ${height/2}" rpy="0 0 0"/> | ||
| <mass value="${mass}"/> | ||
| <inertia | ||
| ixx="${mass / 12.0 * (width*width + height*height)}" ixy="0.0" ixz="0.0" | ||
| iyy="${mass / 12.0 * (height*height + width*width)}" iyz="0.0" | ||
| izz="${mass / 12.0 * (width*width + width*width)}"/> | ||
| </inertial> | ||
| </link> | ||
| </xacro:macro> | ||
|
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| <link name="world"/> | ||
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| <link name="slideBar"> | ||
| <visual> | ||
| <geometry> | ||
| <box size="30 0.05 0.05"/> | ||
| </geometry> | ||
| <origin xyz="0 0 0"/> | ||
| <material name="green"> | ||
| <color rgba="0 0.8 .8 1"/> | ||
| </material> | ||
| </visual> | ||
| <inertial> | ||
| <mass value="100"/> | ||
| <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> | ||
| </inertial> | ||
| </link> | ||
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| <xacro:quadr_block name="cart" mass="10" width="0.5" height="0.2"/> | ||
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| <xacro:quadr_block name="pendulum" mass="1" width="0.2" height="1.0"/> | ||
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| <joint name="world_to_base" type="fixed"> | ||
| <origin rpy="0 0 0" xyz="0 0 1"/> | ||
| <parent link="world"/> | ||
| <child link="slideBar"/> | ||
| </joint> | ||
|
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| <joint name="slider_to_cart" type="prismatic"> | ||
| <axis xyz="1 0 0"/> | ||
| <origin xyz="0.0 0.0 0.0"/> | ||
| <parent link="slideBar"/> | ||
| <child link="cart"/> | ||
| <limit effort="1000.0" lower="-15" upper="15" velocity="30"/> | ||
| <dynamics damping="0.3" friction="0.0"/> | ||
| </joint> | ||
|
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| <joint name="cart_to_pendulum" type="revolute"> | ||
| <axis xyz="0 1 0"/> | ||
| <origin xyz="0.0 0.35 0.0" rpy="0 0.1 0"/> | ||
| <parent link="cart"/> | ||
| <child link="pendulum"/> | ||
| <limit effort="10000.0" lower="-100000" upper="100000" velocity="100000"/> | ||
| <dynamics damping="0.1" friction="0.0"/> | ||
| </joint> | ||
|
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| <ros2_control name="GazeboSystem" type="system"> | ||
| <hardware> | ||
| <plugin>gazebo_ros2_control/GazeboSystem</plugin> | ||
| </hardware> | ||
| <joint name="slider_to_cart"> | ||
| <command_interface name="effort"> | ||
| <param name="min">-1000</param> | ||
| <param name="max">1000</param> | ||
| </command_interface> | ||
| <state_interface name="position"> | ||
| <param name="initial_value">1.0</param> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| <state_interface name="effort"/> | ||
| </joint> | ||
| <joint name="cart_to_pendulum"> | ||
| <state_interface name="position"> | ||
| <!-- this does not work if no command interface is set --> | ||
| <!-- <param name="initial_value">1.57</param> --> | ||
| </state_interface> | ||
| <state_interface name="velocity"/> | ||
| <state_interface name="effort"/> | ||
| </joint> | ||
| </ros2_control> | ||
|
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| <gazebo> | ||
| <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> | ||
| <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_effort.yaml</parameters> | ||
| </plugin> | ||
| </gazebo> | ||
| </robot> |
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