Ignition ros2 control (#1)

* Added ignition_ros2_control Signed-off-by: ahcorde <[email protected]> * Added ignition_ros2_control demos Signed-off-by: ahcorde <[email protected]> * Added github actions Signed-off-by: ahcorde <[email protected]> * udpate github actions Signed-off-by: ahcorde <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * update github actions Signed-off-by: Alejandro Hernández <[email protected]> * Fixed warnings Signed-off-by: Alejandro Hernández <[email protected]> * Update CI Signed-off-by: Alejandro Hernández <[email protected]> * Update CI Signed-off-by: Alejandro Hernández <[email protected]> * update README.md Signed-off-by: ahcorde <[email protected]> * Fixed color in xacros Signed-off-by: ahcorde <[email protected]> * Added missed dependency Signed-off-by: ahcorde <[email protected]> * Added missed dependency Signed-off-by: ahcorde <[email protected]> * use string option instaed of topic Signed-off-by: ahcorde <[email protected]> * Added Dockerfile Signed-off-by: ahcorde <[email protected]> * Improved README.md Signed-off-by: ahcorde <[email protected]> * Removed ignition-physics dependency and other minor fixes Signed-off-by: ahcorde <[email protected]> * Added some of the feedback Signed-off-by: ahcorde <[email protected]> * Write joints on each simulation update period Signed-off-by: ahcorde <[email protected]> * Ensure that sim_joints_ always has the same number of elements as the joint_names Signed-off-by: ahcorde <[email protected]> * Join with the controller manager's executor thread on exit Signed-off-by: ahcorde <[email protected]> * Forward sdf ros remappings to loaded controllers Signed-off-by: ahcorde <[email protected]> * Update ign_ros2_control Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> * Citadel support (#4) * Citadel compatible Signed-off-by: Louise Poubel <[email protected]> * cleanup Signed-off-by: Louise Poubel <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> Co-authored-by: ahcorde <[email protected]> * Added some fixes Signed-off-by: ahcorde <[email protected]> * fixed IMU Signed-off-by: ahcorde <[email protected]> * Use std instead of boost Signed-off-by: ahcorde <[email protected]> * Fortress support from cmake (#12) Signed-off-by: Vatan Aksoy Tezer <[email protected]> * Pass ROS time instead of SYSTEM time to update function Signed-off-by: ahcorde <[email protected]> * Fixed cmake and package Signed-off-by: ahcorde <[email protected]> * added feedback Signed-off-by: ahcorde <[email protected]> * Update License Signed-off-by: ahcorde <[email protected]> * typo Signed-off-by: ahcorde <[email protected]> * Added feedback Signed-off-by: ahcorde <[email protected]> * Added feedback Signed-off-by: ahcorde <[email protected]> * CI Signed-off-by: ahcorde <[email protected]> * remove fortress from CI Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> * make linters happy Signed-off-by: ahcorde <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Vatan Aksoy Tezer <[email protected]>
ros-controls · Dec 3, 2021 · 4aa04f8 · 4aa04f8
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,57 @@
+name: Ignition ros2 control CI
+
+on:
+  pull_request:
+  push:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        version: [citadel, edifice]
+    env:
+      IGNITION_VERSION: ${{ matrix.version }}
+    container:
+      image: ubuntu:20.04
+    steps:
+    - uses: actions/checkout@v2
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        export DEBIAN_FRONTEND=noninteractive
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r ign_ros2_control /home/ros2_ws/src/
+        wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+        sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -qq -y \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros \
+          python3-colcon-common-extensions \
+          python3-rosdep \
+          build-essential
+        cd /home/ros2_ws/src/
+        rosdep init
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro foxy
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/foxy/local_setup.sh
+        colcon build --packages-up-to ignition_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/foxy/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select ignition_ros2_control ignition_ros2_control_demos
+        colcon test-result
diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile
@@ -0,0 +1,41 @@
+FROM osrf/ros:foxy-desktop
+
+# Make sure everything is up to date before building from source
+RUN apt-get update \
+  && apt-get upgrade -y \
+  && apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    wget \
+    curl \
+  && apt-get clean
+
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add - && \
+  sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' && \
+  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
+  apt-get update && apt-get install -q -y --no-install-recommends \
+    python3-colcon-ros \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    libignition-gazebo5-dev \
+    libignition-plugin-dev \
+    libignition-utils1-cli-dev \
+    && apt-get clean
+
+RUN mkdir -p /home/ros2_ws/src \
+    && cd /home/ros2_ws/src \
+    && git clone https://github.com/ignitionrobotics/ign_ros2_control/ -b ahcorde/ign_ros2_control \
+    && rosdep update \
+    && rosdep install --from-paths ./ -i -y --rosdistro foxy \
+      --ignore-src --skip-keys "ignition-gazebo5"
+
+RUN cd /home/ros2_ws/ \
+  && . /opt/ros/foxy/setup.sh \
+  && colcon build --merge-install
+
+COPY entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+CMD ros2 launch ignition_ros2_control_demos cart_example_position.launch.py
diff --git a/Dockerfile/entrypoint.sh b/Dockerfile/entrypoint.sh
@@ -0,0 +1,5 @@
+#!/bin/sh
+
+. /opt/ros/foxy/setup.sh
+. /home/ros2_ws/install/setup.sh
+exec "$@"
diff --git a/README.md b/README.md
@@ -1 +1,201 @@
 # ign_ros2_control
+
+This is a ROS 2 package for integrating the `ros2_control` controller architecture with the [Ignition Gazebo](http://ignitionrobotics.org/) simulator.
+More information about `ros2_control` can be found here: https://control.ros.org/
+
+This package provides an Ignition Gazebo system plugin which instantiates a `ros2_control` controller manager and connects it to a Gazebo model.
+
+Tested on:
+
+  - [Ignition Citadel](https://ignitionrobotics.org/docs/citadel) + [ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation.html)
+  - [Ignition Edifice](https://ignitionrobotics.org/docs/edifice) + [ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation.html)
+  - [Ignition Edifice](https://ignitionrobotics.org/docs/fortress) + [ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation.html)
+
+# Usage
+
+## Video + Pictures
+
+![](img/ign_ros2_control.gif)
+
+## Running
+
+### Modifying or building your own
+
+```bash
+cd Dockerfile
+docker build -t ignition_ros2_control .
+```
+
+### To run the demo
+
+#### Using Docker
+
+Docker allows us to run the demo without the GUI if configured properly. The following command runs the demo without the GUI:
+
+```bash
+docker run -it --rm --name ignition_ros2_control_demo --net host ignition_ros2_control ros2 launch ignition_ros2_control_demos cart_example_position.launch.py gui:=false
+```
+
+Then on your local machine, you can run the Gazebo client:
+
+```bash
+ign gazebo -g
+```
+
+#### Using Rocker
+
+To run the demo with the GUI, we are going to use [rocker](https://github.com/osrf/rocker/), which is a tool to run docker
+images with customized local support injected for things like nvidia support. Rocker also supports user id specific files for cleaner
+mounting file permissions. You can install this tool with the following [instructions](https://github.com/osrf/rocker/#installation) (make sure you meet all of the [prerequisites](https://github.com/osrf/rocker/#prerequisites)).
+
+The following command will launch Ignition:
+
+```bash
+rocker --x11 --nvidia --name ignition_ros2_control_demo ignition_ros2_control:latest
+```
+
+The following commands allow the cart to be moved along the rail:
+
+```bash
+docker exec -it ignition_ros2_control_demo bash
+source /home/ros2_ws/install/setup.bash
+ros2 run ignition_ros2_control_demos example_position
+```
+
+## Add ros2_control tag to a URDF
+
+To use `ros2_control` with your robot, you need to add some additional elements to your URDF.
+You should include the tag `<ros2_control>` to access and control the robot interfaces. We should
+include:
+
+ - a specific `<plugin>` for our robot
+ - `<joint>` tag including the robot controllers: commands and states.
+
+```xml
+<ros2_control name="IgnitionSystem" type="system">
+  <hardware>
+    <plugin>ignition_ros2_control/IgnitionSystem</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"/>
+    <state_interface name="velocity"/>
+    <state_interface name="effort"/>
+  </joint>
+</ros2_control>
+```
+
+## Add the ignition_ros2_control plugin
+
+In addition to the `ros2_control` tags, a Gazebo plugin needs to be added to your URDF that
+actually parses the `ros2_control` tags and loads the appropriate hardware interfaces and
+controller manager. By default the `ignition_ros2_control` plugin is very simple, though it is also
+extensible via an additional plugin architecture to allow power users to create their own custom
+robot hardware interfaces between `ros2_control` and Gazebo.
+
+```xml
+<gazebo>
+    <plugin filename="libignition_ros2_control.so" name="ignition_ros2_control">
+      <robot_param>robot_description</robot_param>
+      <robot_param_node>robot_state_publisher</robot_param_node>
+      <parameters>$(find ignition_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+    </plugin>
+</gazebo>
+```
+
+The `ignition_ros2_control` `<plugin>` tag also has the following optional child elements:
+
+ - `<parameters>`: YAML file with the configuration of the controllers
+
+#### Default ignition_ros2_control Behavior
+
+By default, without a `<plugin>` tag, `ignition_ros2_control` will attempt to get all of the information it needs to interface with a ros2_control-based controller out of the URDF. This is sufficient for most cases, and good for at least getting started.
+
+The default behavior provides the following ros2_control interfaces:
+
+ - hardware_interface::JointStateInterface
+ - hardware_interface::EffortJointInterface
+ - hardware_interface::VelocityJointInterface
+
+#### Advanced: custom ignition_ros2_control Simulation Plugins
+
+The `ignition_ros2_control` Gazebo plugin also provides a pluginlib-based interface to implement custom interfaces between Gazebo and `ros2_control` for simulating more complex mechanisms (nonlinear springs, linkages, etc).
+
+These plugins must inherit the `ignition_ros2_control::IgnitionSystemInterface`, which implements a simulated `ros2_control`
+`hardware_interface::SystemInterface`. SystemInterface provides API-level access to read and command joint properties.
+
+The respective IgnitionSystemInterface sub-class is specified in a URDF model and is loaded when the
+robot model is loaded. For example, the following XML will load the default plugin:
+```xml
+<ros2_control name="IgnitionSystem" type="system">
+  <hardware>
+    <plugin>ignition_ros2_control/IgnitionSystem</plugin>
+  </hardware>
+  ...
+<ros2_control>
+<gazebo>
+  <plugin name="ignition_ros2_control" filename="libignition_ros2_control.so">
+    ...
+  </plugin>
+</gazebo>
+```
+
+#### Set up controllers
+
+Use the tag `<parameters>` inside `<plugin>` to set the YAML file with the controller configuration
+and use the tag `<controller_manager_prefix_node_name>` to set the controller manager node name.
+
+```xml
+<gazebo>
+  <plugin name="ignition_ros2_control" filename="libignition_ros2_control.so">
+    <parameters>$(find ignition_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+    <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
+  </plugin>
+<gazebo>
+```
+
+This controller publishes the state of all resources registered to a
+`hardware_interface::StateInterface` to a topic of type `sensor_msgs/msg/JointState`.
+The following is a basic configuration of the controller.
+
+```yaml
+joint_state_controller:
+  ros__parameters:
+    type: joint_state_controller/JointStateController
+```
+
+This controller creates an action called `/cart_pole_controller/follow_joint_trajectory` of type `control_msgs::action::FollowJointTrajectory`.
+
+```yaml
+cart_pole_controller:
+  ros__parameters:
+    type: joint_trajectory_controller/JointTrajectoryController
+    joints:
+       - slider_to_cart
+    write_op_modes:
+       - slider_to_cart
+```
+#### Executing the examples
+
+There are some examples in the `ignition_ros2_control_demos` package. These examples allow to launch a cart in a 30 meter rail.
+
+You can run some of the example configurations by running the following commands:
+
+```bash
+ros2 launch ignition_ros2_control_demos cart_example_position.launch.py
+ros2 launch ignition_ros2_control_demos cart_example_velocity.launch.py
+ros2 launch ignition_ros2_control_demos cart_example_effort.launch.py
+```
+
+Send example commands:
+
+When the Gazebo world is launched, you can run some of the following commands to move the cart.
+
+```bash
+ros2 run ignition_ros2_control_demos example_position
+ros2 run ignition_ros2_control_demos example_velocity
+ros2 run ignition_ros2_control_demos example_effort
+```