Added config package
Started controller things
This commit is contained in:
parent
180bbe225f
commit
35fae6afe5
12 changed files with 257 additions and 36 deletions
0
src/ar3_config/ar3_config/__init__.py
Normal file
0
src/ar3_config/ar3_config/__init__.py
Normal file
23
src/ar3_config/config/controller_manager.yaml
Normal file
23
src/ar3_config/config/controller_manager.yaml
Normal file
|
@ -0,0 +1,23 @@
|
||||||
|
controller_manager:
|
||||||
|
ros__parameters:
|
||||||
|
update_rate: 100
|
||||||
|
|
||||||
|
joint_trajectory_controller:
|
||||||
|
type: joint_trajectory_controller/JointTrajectoryController
|
||||||
|
|
||||||
|
joint_state_broadcaster:
|
||||||
|
type: joint_state_controller/JointStateBroadcaster
|
||||||
|
|
||||||
|
joint_trajectory_controller:
|
||||||
|
ros__parameters:
|
||||||
|
command_interfaces:
|
||||||
|
- position
|
||||||
|
state_interfaces:
|
||||||
|
- position
|
||||||
|
joints:
|
||||||
|
- joint_1
|
||||||
|
- joint_2
|
||||||
|
- joint_3
|
||||||
|
- joint_4
|
||||||
|
- joint_5
|
||||||
|
- joint_6
|
63
src/ar3_config/launch/dev.launch.py
Normal file
63
src/ar3_config/launch/dev.launch.py
Normal file
|
@ -0,0 +1,63 @@
|
||||||
|
from os.path import join
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch.actions import ExecuteProcess
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_root = get_package_share_directory('ar3_config')
|
||||||
|
description_root = get_package_share_directory('ar3_description')
|
||||||
|
config_root = join(launch_root, 'config')
|
||||||
|
|
||||||
|
urdf_path = join(description_root, 'ar3.urdf')
|
||||||
|
with open(urdf_path, 'r') as f:
|
||||||
|
robot_description = {'robot_description': f.read()}
|
||||||
|
|
||||||
|
return LaunchDescription([
|
||||||
|
# RViz
|
||||||
|
Node(
|
||||||
|
package='rviz2',
|
||||||
|
executable='rviz2',
|
||||||
|
output='log',
|
||||||
|
arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
|
||||||
|
parameters=[robot_description]),
|
||||||
|
|
||||||
|
# Attatch robot to map
|
||||||
|
Node(
|
||||||
|
package='tf2_ros',
|
||||||
|
executable='static_transform_publisher',
|
||||||
|
output='screen',
|
||||||
|
arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']),
|
||||||
|
|
||||||
|
# Controller
|
||||||
|
Node(
|
||||||
|
package='controller_manager',
|
||||||
|
executable='ros2_control_node',
|
||||||
|
output='screen',
|
||||||
|
parameters=[robot_description, join(config_root, 'controller_manager.yaml')]),
|
||||||
|
|
||||||
|
# Start controllers
|
||||||
|
ExecuteProcess(
|
||||||
|
cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
|
||||||
|
shell=True,
|
||||||
|
output='screen'),
|
||||||
|
ExecuteProcess(
|
||||||
|
cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
|
||||||
|
shell=True,
|
||||||
|
output='screen'),
|
||||||
|
|
||||||
|
# Robot state publisher
|
||||||
|
Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
output='screen',
|
||||||
|
parameters=[robot_description]),
|
||||||
|
|
||||||
|
# Fake robot state publisher
|
||||||
|
Node(
|
||||||
|
package='ar3_description',
|
||||||
|
executable='state_publisher_net',
|
||||||
|
name='state_publisher_net',
|
||||||
|
emulate_tty=True,
|
||||||
|
output='screen'),
|
||||||
|
])
|
19
src/ar3_config/package.xml
Normal file
19
src/ar3_config/package.xml
Normal file
|
@ -0,0 +1,19 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>ar3_config</name>
|
||||||
|
<version>1.0.0</version>
|
||||||
|
<description>Contains configuration and launch files for the ar3</description>
|
||||||
|
<maintainer email="tmuller2017@my.fit.edu">Thomas Muller</maintainer>
|
||||||
|
<maintainer email="farrell2017@my.fit.edu">John Farrell</maintainer>
|
||||||
|
<license>TODO: License declaration</license>
|
||||||
|
|
||||||
|
<test_depend>ament_copyright</test_depend>
|
||||||
|
<test_depend>ament_flake8</test_depend>
|
||||||
|
<test_depend>ament_pep257</test_depend>
|
||||||
|
<test_depend>python3-pytest</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_python</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
0
src/ar3_config/resource/ar3_config
Normal file
0
src/ar3_config/resource/ar3_config
Normal file
4
src/ar3_config/setup.cfg
Normal file
4
src/ar3_config/setup.cfg
Normal file
|
@ -0,0 +1,4 @@
|
||||||
|
[develop]
|
||||||
|
script-dir=$base/lib/ar3_config
|
||||||
|
[install]
|
||||||
|
install-scripts=$base/lib/ar3_config
|
28
src/ar3_config/setup.py
Normal file
28
src/ar3_config/setup.py
Normal file
|
@ -0,0 +1,28 @@
|
||||||
|
from setuptools import setup
|
||||||
|
from glob import glob
|
||||||
|
|
||||||
|
package_name = 'ar3_config'
|
||||||
|
|
||||||
|
setup(
|
||||||
|
name=package_name,
|
||||||
|
version='1.0.0',
|
||||||
|
packages=[package_name],
|
||||||
|
data_files=[
|
||||||
|
('share/ament_index/resource_index/packages',
|
||||||
|
['resource/' + package_name]),
|
||||||
|
('share/' + package_name, ['package.xml']),
|
||||||
|
('share/' + package_name + '/config', glob('config/*.yaml')),
|
||||||
|
('share/' + package_name, glob('launch/*.py')),
|
||||||
|
],
|
||||||
|
install_requires=['setuptools'],
|
||||||
|
zip_safe=True,
|
||||||
|
maintainer=['Thomas Muller', 'John Farrell'],
|
||||||
|
maintainer_email=['tmuller2017@my.fit.edu', 'farrell2017@my.fit.edu'],
|
||||||
|
description='Contains configuration and launch files for the ar3',
|
||||||
|
license='TODO: License declaration',
|
||||||
|
tests_require=['pytest'],
|
||||||
|
entry_points={
|
||||||
|
'console_scripts': [
|
||||||
|
],
|
||||||
|
},
|
||||||
|
)
|
23
src/ar3_config/test/test_copyright.py
Normal file
23
src/ar3_config/test/test_copyright.py
Normal file
|
@ -0,0 +1,23 @@
|
||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# 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 ament_copyright.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.copyright
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_copyright():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found errors'
|
25
src/ar3_config/test/test_flake8.py
Normal file
25
src/ar3_config/test/test_flake8.py
Normal file
|
@ -0,0 +1,25 @@
|
||||||
|
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# 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 ament_flake8.main import main_with_errors
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.flake8
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_flake8():
|
||||||
|
rc, errors = main_with_errors(argv=[])
|
||||||
|
assert rc == 0, \
|
||||||
|
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||||
|
'\n'.join(errors)
|
23
src/ar3_config/test/test_pep257.py
Normal file
23
src/ar3_config/test/test_pep257.py
Normal file
|
@ -0,0 +1,23 @@
|
||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# 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 ament_pep257.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.linter
|
||||||
|
@pytest.mark.pep257
|
||||||
|
def test_pep257():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found code style errors / warnings'
|
|
@ -45,43 +45,19 @@ Visualization Manager:
|
||||||
Reference Frame: <Fixed Frame>
|
Reference Frame: <Fixed Frame>
|
||||||
Value: true
|
Value: true
|
||||||
- Class: rviz_default_plugins/TF
|
- Class: rviz_default_plugins/TF
|
||||||
Enabled: true
|
Enabled: false
|
||||||
Frame Timeout: 15
|
Frame Timeout: 15
|
||||||
Frames:
|
Frames:
|
||||||
All Enabled: true
|
All Enabled: true
|
||||||
base_link:
|
|
||||||
Value: true
|
|
||||||
link_1:
|
|
||||||
Value: true
|
|
||||||
link_2:
|
|
||||||
Value: true
|
|
||||||
link_3:
|
|
||||||
Value: true
|
|
||||||
link_4:
|
|
||||||
Value: true
|
|
||||||
link_5:
|
|
||||||
Value: true
|
|
||||||
link_6:
|
|
||||||
Value: true
|
|
||||||
odom:
|
|
||||||
Value: true
|
|
||||||
Marker Scale: 1
|
Marker Scale: 1
|
||||||
Name: TF
|
Name: TF
|
||||||
Show Arrows: true
|
Show Arrows: true
|
||||||
Show Axes: true
|
Show Axes: true
|
||||||
Show Names: false
|
Show Names: false
|
||||||
Tree:
|
Tree:
|
||||||
odom:
|
{}
|
||||||
base_link:
|
|
||||||
link_1:
|
|
||||||
link_2:
|
|
||||||
link_3:
|
|
||||||
link_4:
|
|
||||||
link_5:
|
|
||||||
link_6:
|
|
||||||
{}
|
|
||||||
Update Interval: 0
|
Update Interval: 0
|
||||||
Value: true
|
Value: false
|
||||||
- Alpha: 1
|
- Alpha: 1
|
||||||
Class: rviz_default_plugins/RobotModel
|
Class: rviz_default_plugins/RobotModel
|
||||||
Collision Enabled: false
|
Collision Enabled: false
|
||||||
|
@ -183,25 +159,25 @@ Visualization Manager:
|
||||||
Views:
|
Views:
|
||||||
Current:
|
Current:
|
||||||
Class: rviz_default_plugins/Orbit
|
Class: rviz_default_plugins/Orbit
|
||||||
Distance: 2.0058364868164062
|
Distance: 2.843780755996704
|
||||||
Enable Stereo Rendering:
|
Enable Stereo Rendering:
|
||||||
Stereo Eye Separation: 0.05999999865889549
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
Stereo Focal Distance: 1
|
Stereo Focal Distance: 1
|
||||||
Swap Stereo Eyes: false
|
Swap Stereo Eyes: false
|
||||||
Value: false
|
Value: false
|
||||||
Focal Point:
|
Focal Point:
|
||||||
X: 0
|
X: -0.0068215844221413136
|
||||||
Y: 0
|
Y: 0.06749681383371353
|
||||||
Z: 0
|
Z: 0.3262268602848053
|
||||||
Focal Shape Fixed Size: true
|
Focal Shape Fixed Size: true
|
||||||
Focal Shape Size: 0.05000000074505806
|
Focal Shape Size: 0.05000000074505806
|
||||||
Invert Z Axis: false
|
Invert Z Axis: false
|
||||||
Name: Current View
|
Name: Current View
|
||||||
Near Clip Distance: 0.009999999776482582
|
Near Clip Distance: 0.009999999776482582
|
||||||
Pitch: 1.0453979969024658
|
Pitch: 0.4247964024543762
|
||||||
Target Frame: <Fixed Frame>
|
Target Frame: <Fixed Frame>
|
||||||
Value: Orbit (rviz)
|
Value: Orbit (rviz)
|
||||||
Yaw: 2.080399513244629
|
Yaw: 3.475400686264038
|
||||||
Saved: ~
|
Saved: ~
|
||||||
Window Geometry:
|
Window Geometry:
|
||||||
Displays:
|
Displays:
|
||||||
|
@ -217,5 +193,5 @@ Window Geometry:
|
||||||
Views:
|
Views:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
Width: 1200
|
Width: 1200
|
||||||
X: 1278
|
X: 1321
|
||||||
Y: 80
|
Y: 50
|
||||||
|
|
|
@ -358,4 +358,41 @@
|
||||||
<axis
|
<axis
|
||||||
xyz="0 0 1" />
|
xyz="0 0 1" />
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<ros2_control name="joint_trajectory_controller" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>fake_components/GenericSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
<joint name="joint_1">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
<joint name="joint_2">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
<joint name="joint_3">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
<joint name="joint_4">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
<joint name="joint_5">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
<joint name="joint_6">
|
||||||
|
<param name="initial_position">0.0</param>
|
||||||
|
<command_interface name="position" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
</robot>
|
</robot>
|
Loading…
Reference in a new issue