Merge pull request #1 from ErikParkerrr/pr-28

Pr 28
odriverobotics · Oct 13, 2024 · 7039070 · 7039070
2 parents f4c7057 + 2c3dde7
commit 7039070
Show file tree

Hide file tree

Showing 10 changed files with 297 additions and 42 deletions.
diff --git a/odrive_botwheel_explorer/config/odrive_botwheel_explorer.rviz b/odrive_botwheel_explorer/config/odrive_botwheel_explorer.rviz
@@ -0,0 +1,172 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 1112
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_frontal_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_rear_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.359799385070801
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.05434183403849602
+        Y: 0.6973574757575989
+        Z: -0.00023954140488058329
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.48539823293685913
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.0053997039794921875
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1383
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000004fcfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000004fc000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000004fc000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004fc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 0
+  Y: 28
diff --git a/odrive_botwheel_explorer/description/urdf/diffbot.ros2_control.xacro b/odrive_botwheel_explorer/description/urdf/diffbot.ros2_control.xacro
@@ -20,19 +20,19 @@
         <param name="node_id">0</param>
         <command_interface name="velocity"/>
         <command_interface name="position"/>
-        <command_interface name="torque"/>
+        <command_interface name="effort"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
-        <state_interface name="torque"/>
+        <state_interface name="effor"/>
       </joint>
       <joint name="${prefix}right_wheel_joint">
         <param name="node_id">1</param>
         <command_interface name="velocity"/>
         <command_interface name="position"/>
-        <command_interface name="torque"/>
+        <command_interface name="effort"/>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
-        <state_interface name="torque"/>
+        <state_interface name="effort"/>
       </joint>
 
     </ros2_control>

diff --git a/odrive_botwheel_explorer/description/urdf/diffbot.urdf.xacro b/odrive_botwheel_explorer/description/urdf/diffbot.urdf.xacro
@@ -4,6 +4,8 @@
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="use_mock_hardware" default="false" />
 
+  <xacro:include filename="$(find odrive_botwheel_explorer)/urdf/diffbot_materials.urdf.xacro" />
+
   <xacro:include filename="$(find odrive_botwheel_explorer)/urdf/diffbot_description.urdf.xacro" />
 
   <!-- Import Rviz colors -->

diff --git a/odrive_botwheel_explorer/description/urdf/diffbot_materials.urdf.xacro b/odrive_botwheel_explorer/description/urdf/diffbot_materials.urdf.xacro
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+
+<!-- Copied from ros2_control_demos https://github.com/ros-controls/ros2_control_demos.git -->
+
+<!--
+Copied from ROS1 example -
+https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/materials.xacro
+-->
+<robot>
+
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="yellow">
+    <color rgba="1.0 1.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+</robot>
diff --git a/odrive_botwheel_explorer/launch/botwheel_explorer.launch.py b/odrive_botwheel_explorer/launch/botwheel_explorer.launch.py
@@ -25,24 +25,24 @@
 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(
-#            "use_mock_hardware",
-#            default_value="false",
-#            description="Start robot with mock hardware mirroring command to its states.",
-#        )
-#    )
+    declared_arguments.append(
+       DeclareLaunchArgument(
+           "use_rviz",
+           default_value="false",
+           description="Start RViz2 automatically with this launch file.",
+       )
+   )
+    declared_arguments.append(
+       DeclareLaunchArgument(
+           "use_mock_hardware",
+           default_value="false",
+           description="Start robot with mock hardware mirroring command to its states.",
+       )
+   )
 
     # Initialize Arguments
-#    gui = LaunchConfiguration("gui")
-#    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    use_rviz = LaunchConfiguration("use_rviz")
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
 
     # Get URDF via xacro
     robot_description_content = Command(
@@ -52,9 +52,8 @@ def generate_launch_description():
             PathJoinSubstitution(
                 [FindPackageShare("odrive_botwheel_explorer"), "urdf", "diffbot.urdf.xacro"]
             ),
-#            " ",
-#            "use_mock_hardware:=",
-#            use_mock_hardware,
+           " ",
+           "use_mock_hardware:=", use_mock_hardware,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -66,9 +65,9 @@ def generate_launch_description():
             "diffbot_controllers.yaml",
         ]
     )
-#    rviz_config_file = PathJoinSubstitution(
-#        [FindPackageShare("ros2_control_demo_description"), "diffbot/rviz", "diffbot.rviz"]
-#    )
+    rviz_config_file = PathJoinSubstitution(
+       [FindPackageShare("odrive_botwheel_explorer"), "config", "odrive_botwheel_explorer.rviz"]
+    )
 
     control_node = Node(
         package="controller_manager",
@@ -88,14 +87,14 @@ def generate_launch_description():
             ("/botwheel_explorer/cmd_vel_unstamped", "/cmd_vel"),
         ],
     )
-#    rviz_node = Node(
-#        package="rviz2",
-#        executable="rviz2",
-#        name="rviz2",
-#        output="log",
-#        arguments=["-d", rviz_config_file],
-#        condition=IfCondition(gui),
-#    )
+    rviz_node = Node(
+       package="rviz2",
+       executable="rviz2",
+       name="rviz2",
+       output="log",
+       arguments=["-d", rviz_config_file],
+       condition=IfCondition(use_rviz),
+   )
 
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
@@ -109,13 +108,13 @@ def generate_launch_description():
         arguments=["botwheel_explorer", "--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 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(
@@ -129,7 +128,7 @@ def generate_launch_description():
         control_node,
         robot_state_pub_node,
         joint_state_broadcaster_spawner,
-        #delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_rviz_after_joint_state_broadcaster_spawner,
         delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 

diff --git a/odrive_node/CMakeLists.txt b/odrive_node/CMakeLists.txt
@@ -9,6 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(std_srvs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ControlMessage.msg"
@@ -30,6 +31,7 @@ add_executable(odrive_can_node
 
 ament_target_dependencies(odrive_can_node
   rclcpp
+  std_srvs
 )
 
 target_compile_features(odrive_can_node PRIVATE cxx_std_20)