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Add cart-pole demo (backport #289) #291

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Apr 26, 2024
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Add cart-pole demo (backport #289) #291

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60 changes: 49 additions & 11 deletions doc/index.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -10,12 +10,6 @@ This is a ROS 2 package for integrating the *ros2_control* controller architectu

This package provides a Gazebo-Sim system plugin which instantiates a *ros2_control* controller manager and connects it to a Gazebo model.

.. image:: img/gz_ros2_control.gif
:alt: Cart

.. image:: img/diff_drive.gif
:alt: DiffBot

Usage
======

Expand Down Expand Up @@ -217,7 +211,15 @@ The following is a basic configuration of the controllers:
gz_ros2_control_demos
==========================================

There are some examples in the *gz_ros2_control_demos* package. These examples allow to launch a cart in a 30 meter rail.
There are some examples in the *gz_ros2_control_demos* package.

Cart on rail
-----------------------------------------------------------

These examples allow to launch a cart in a 30 meter rail.

.. image:: img/gz_ros2_control.gif
:alt: Cart

You can run some of the example configurations by running the following commands:

Expand All @@ -226,8 +228,6 @@ You can run some of the example configurations by running the following commands
ros2 launch gz_ros2_control_demos cart_example_position.launch.py
ros2 launch gz_ros2_control_demos cart_example_velocity.launch.py
ros2 launch gz_ros2_control_demos cart_example_effort.launch.py
ros2 launch gz_ros2_control_demos diff_drive_example.launch.py
ros2 launch gz_ros2_control_demos tricycle_drive_example.launch.py

When the Gazebo world is launched, you can run some of the following commands to move the cart.

Expand All @@ -236,10 +236,31 @@ When the Gazebo world is launched, you can run some of the following commands to
ros2 run gz_ros2_control_demos example_position
ros2 run gz_ros2_control_demos example_velocity
ros2 run gz_ros2_control_demos example_effort

Mobile robots
-----------------------------------------------------------

.. image:: img/diff_drive.gif
:alt: DiffBot

You can run some of the mobile robots running the following commands:

.. code-block:: shell

ros2 launch gz_ros2_control_demos diff_drive_example.launch.py
ros2 launch gz_ros2_control_demos tricycle_drive_example.launch.py

When the Gazebo world is launched you can run some of the following commands to move the robots.

.. code-block:: shell

ros2 run gz_ros2_control_demos example_diff_drive
ros2 run gz_ros2_control_demos example_tricycle_drive

The following example shows parallel gripper with mimic joint:
Gripper
-----------------------------------------------------------

The following example shows a parallel gripper with a mimic joint:

.. code-block:: shell

Expand All @@ -248,7 +269,24 @@ The following example shows parallel gripper with mimic joint:

Send example commands:


.. code-block:: shell

ros2 run gz_ros2_control_demos example_gripper


Pendulum with passive joints (cart-pole)
-----------------------------------------------------------

The following example shows a cart with a pendulum arm:

.. code-block:: shell

ros2 launch gz_ros2_control_demos pendulum_example_effort.launch.py
ros2 run gz_ros2_control_demos example_effort

This uses the effort command interface for the cart's degree of freedom on the rail. To demonstrate that the physics of the passive joint of the pendulum is solved correctly even with the position command interface, run

.. code-block:: shell

ros2 launch gz_ros2_control_demos pendulum_example_position.launch.py
ros2 run gz_ros2_control_demos example_position
97 changes: 97 additions & 0 deletions gz_ros2_control_demos/launch/pendulum_example_effort.launch.py
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@@ -0,0 +1,97 @@
# 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.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"),
"urdf", "test_pendulum_effort.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=["-topic", "robot_description",
"-name", "cart", "-allow_renaming", "true"],
)

load_joint_state_broadcaster = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_state_broadcaster'],
output='screen'
)

load_joint_effort_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller',
'--set-state', 'active', 'effort_controller'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=gz_spawn_entity,
on_exit=[load_joint_state_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_broadcaster,
on_exit=[load_joint_effort_controller],
)
),
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
DeclareLaunchArgument(
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
])
97 changes: 97 additions & 0 deletions gz_ros2_control_demos/launch/pendulum_example_position.launch.py
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# 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.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("gz_ros2_control_demos"),
"urdf", "test_pendulum_position.xacro.urdf"]
),
]
)
robot_description = {"robot_description": robot_description_content}

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=["-topic", "robot_description",
"-name", "cart", "-allow_renaming", "true"],
)

load_joint_state_broadcaster = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_state_broadcaster'],
output='screen'
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_trajectory_controller'],
output='screen'
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=gz_spawn_entity,
on_exit=[load_joint_state_broadcaster],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_broadcaster,
on_exit=[load_joint_trajectory_controller],
)
),
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
DeclareLaunchArgument(
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
])
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