Added tutorial for Gazebo joint controller plugin #2263

yaswanth1701 · 2023-12-11T21:40:06Z

🎉 New feature

Summary

Added a tutorial for Gazebo's joint controller plugin.

Test it

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if the library has them)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: yaswanth <[email protected]>

Signed-off-by: Yaswanth <[email protected]>

ahcorde

Hi @yaswanth1701, thank you for writting the tutorial and contribute!

Two main things to review too:

Please review the text, there are some phrase that I don't fully understand
Images/gifs are located in your personal repository, for example: https:/yaswanth1701/gz-sim/assets/92177410/5a8b81b2-c96a-44ce-9f15-57e64f2b869b. You should be able to locate these images in this folder https:/gazebosim/gz-sim/tree/ee108441a2821d787fc917a705d01abb4a7d7843/tutorials/files

ahcorde · 2023-12-12T08:48:52Z

tutorials/joint_controller.md

+
+\page jointcontrollers Joint Controllers


Suggested change

\page jointcontrollers Joint Controllers

\page jointcontrollers Joint Controllers

ahcorde · 2023-12-12T08:50:01Z

tutorials/joint_controller.md

+
+This mode let's the user explicitly set the values of PID gains and also bounds for velocity. 
+
+Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.


Suggested change

Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.

**Note**: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.

ahcorde · 2023-12-12T08:50:35Z

tutorials/joint_controller.md

+
+Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
+
+Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).


Suggested change

Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).

Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/7.0/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).

ahcorde · 2023-12-12T08:52:15Z

tutorials/joint_controller.md

+
+Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).
+
+In both the modes commanded velocity(cmd_vel) can be published or subscribed at the topic: `/model/<model_name>/joint/<joint_name>/cmd_vel` by default.


redoo this phrase

ahcorde · 2023-12-12T08:52:30Z

tutorials/joint_controller.md

+
+Let's see an example for both modes using a simple model having only one joint.
+
+For controlling joints one would require adding the Gazebo's joint controller plugin to the existing <model_name>.sdf file.


Suggested change

For controlling joints one would require adding the Gazebo's joint controller plugin to the existing <model_name>.sdf file.

For controlling joints one would require adding the Gazebo's joint controller plugin to the existing `<model_name>.sdf` file.

ahcorde · 2023-12-12T08:58:47Z

tutorials/joint_controller.md

+
+1) Launching gazebo simulation.
+
+```xml


Suggested change

```xml

```bash

ahcorde · 2023-12-12T08:58:56Z

tutorials/joint_controller.md

+1) Launching gazebo simulation.
+
+```xml
+gz sim example2.sdf


Suggested change

gz sim example2.sdf

gz sim -v 4 -r example2.sdf

ahcorde · 2023-12-12T08:59:14Z

tutorials/joint_controller.md

+
+
+<p align="center">


Suggested change

<p align="center">

<p align="center">

ahcorde · 2023-12-12T08:59:41Z

tutorials/joint_controller.md

+<img src="https:/yaswanth1701/gz-sim/assets/92177410/5a8b81b2-c96a-44ce-9f15-57e64f2b869b" width="800" height="400">
+</p>
+
+Note: by default velocity and position control are disabled if one want to use these mode, they must specify the PID gains value according to usage.


Suggested change

Note: by default velocity and position control are disabled if one want to use these mode, they must specify the PID gains value according to usage.

**Note**: By default velocity and position control are disabled if one want to use these mode, they must specify the PID gains value according to usage.

ahcorde · 2023-12-12T08:59:50Z

tutorials/joint_controller.md

+
+4) Checking progress of commanded trajectory.
+
+```xml


Suggested change

```xml

```bash

Signed-off-by: Yaswanth <[email protected]>

yaswanth1701 · 2023-12-12T17:45:47Z

Hi @ahcorde, thanks a lot for reviewing. I have resolved the comment you gave. I am a bit confused about how to locate images and gifs to this folder https:/gazebosim/gz-sim/tree/ee108441a2821d787fc917a705d01abb4a7d7843/tutorials/files. I have added the image and gif here should I just paste the link of folder's images in joint_controller.md file?

codecov · 2023-12-13T23:21:38Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (4eb9484) 64.76% compared to head (ee2a164) 64.74%.
Report is 1 commits behind head on gz-sim7.

❗ Current head ee2a164 differs from pull request most recent head 07ab7d7. Consider uploading reports for the commit 07ab7d7 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           gz-sim7    #2263      +/-   ##
===========================================
- Coverage    64.76%   64.74%   -0.03%     
===========================================
  Files          357      357              
  Lines        29139    29141       +2     
===========================================
- Hits         18872    18866       -6     
- Misses       10267    10275       +8

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Signed-off-by: Yaswanth <[email protected]>

azeey

Looks great so far! Just a few minor comments. I only skimmed to see where we can use better doxygen syntax. Haven't read the tutorial in depth yet.

tutorials/joint_controller.md

Signed-off-by: Yaswanth <[email protected]>

Signed-off-by: yaswanth1701 <[email protected]>

Signed-off-by: Yaswanth <[email protected]>

Signed-off-by: yaswanth1701 <[email protected]>

…th1701/gz-sim into joint_controller_tutorial

yaswanth1701 · 2023-12-24T11:33:45Z

Hi @azeey , I have resolved the comment that you gave. Could you please review this further?

ahcorde

lines < 100

ahcorde · 2023-12-26T08:46:24Z

tutorials/joint_controller.md

+
+This would look almost the same as velocity mode if PID gains are tuned properly.
+
+5) Cheking Joint states.


Suggested change

5) Cheking Joint states.

5) Checking Joint states.

ahcorde · 2023-12-26T08:47:08Z

tutorials/joint_controller.md

@@ -0,0 +1,685 @@
+\page jointcontrollers Joint Controllers
+
+Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.


Enumerate 3 available controllers

Suggested change

Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.

Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.

tutorials/joint_controller.md

ahcorde · 2023-12-26T08:47:45Z

tutorials/joint_controller.md

+This mode lets the user control the desired joint velocity directly.
+
+2) Force mode:
+A user who wants to control joint velocity using a PID controller can use this mode.This mode lets the user explicitly set the values of PID gains and also bounds for velocity.


shorter lines < 100

ahcorde · 2023-12-26T08:48:41Z

tutorials/joint_controller.md

+```
+
+```bash
+joint {


can you indent this output ?

ahcorde · 2023-12-26T08:48:53Z

tutorials/joint_controller.md

+</div>
+
+```bash
+joint {


indent output

ahcorde · 2023-12-26T08:49:14Z

tutorials/joint_controller.md

+
+
+## 2) JointPositionController


Suggested change

## 2) JointPositionController

## 2) JointPositionController

ahcorde · 2023-12-26T08:49:36Z

tutorials/joint_controller.md

+```
+
+```bash
+joint {


indent output

ahcorde · 2023-12-26T08:50:08Z

tutorials/joint_controller.md

+
+### Example usage:
+
+Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ( [```joint_trajectory_controller.sdf```](https:/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.


Suggested change

Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ( [```joint_trajectory_controller.sdf```](https:/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.

Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ([```joint_trajectory_controller.sdf```](https:/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.

Signed-off-by: Yaswanth <[email protected]>

yaswanth1701 · 2023-12-26T17:29:00Z

Hi @ahcorde I have made the changes can you please review it further? Also, what do you mean by 'lines < 100'? I didn't get it."
@yaswanth1701, The length of lines should be lower than 100 characters

ahcorde

please check failures in CI https:/gazebosim/gz-sim/actions/runs/7330698448/job/19975369073?pr=2263

I think there are spaces at the end of the lines

Signed-off-by: yaswanth1701 <[email protected]>

Signed-off-by: Yaswanth <[email protected]>

…int_controller_tutorial

yaswanth1701 · 2024-01-03T10:26:19Z

Hi @ahcorde can I please know why the codecov/project report has failed and how I can resolve it?

ahcorde

LGTM, I will wait for another pass of @azeey

azeey

Looks great! Just a few minor comments. Thanks again for your contribution.

tutorials/joint_controller.md

Signed-off-by: Yaswanth <[email protected]>

tutorials/joint_controller.md

azeey · 2024-01-08T18:13:17Z

Looks like there's a trailing space issue.

Signed-off-by: yaswanth1701 <[email protected]>

yaswanth1701 · 2024-01-09T02:07:55Z

Thanks a lot for reviewing.

yaswanth1701 and others added 10 commits December 11, 2023 11:58

Added joint controllers tutorial .md file

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Rename joint_controller_tutorial.md to joint_controller.md

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added JointController and JointPositionController

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added gifs

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Added JointTrajectoryController

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yaswanth1701 requested a review from mabelzhang as a code owner December 11, 2023 21:40

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Add files via upload

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edited image path to file/joint_controller/...

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Merge branch 'joint_controller_tutorial' of https:/yaswan…

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Added tutorial for Gazebo joint controller plugin #2263

Added tutorial for Gazebo joint controller plugin #2263

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yaswanth1701 commented Jan 9, 2024


	\page jointcontrollers Joint Controllers
	\page jointcontrollers Joint Controllers


		This mode let's the user explicitly set the values of PID gains and also bounds for velocity.

		Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.

	Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.
	Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.


		Note: This force mode is for the user who looking to manually tune PID gains for velocity control according to a specific use case (e.g. Custom models). For general testing purposes, velocity mode will give the best results.

		Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).


		Required parameters for both modes can be found [here](https://gazebosim.org/api/gazebo/4.5/classignition_1_1gazebo_1_1systems_1_1JointController.html#:~:text=joint%20is%20actuated.-,System%20Parameters,-%3Cjoint_name%3E%20The).

		In both the modes commanded velocity(cmd_vel) can be published or subscribed at the topic: `/model/<model_name>/joint/<joint_name>/cmd_vel` by default.


		Let's see an example for both modes using a simple model having only one joint.

		For controlling joints one would require adding the Gazebo's joint controller plugin to the existing <model_name>.sdf file.

	Note: by default velocity and position control are disabled if one want to use these mode, they must specify the PID gains value according to usage.
	Note: By default velocity and position control are disabled if one want to use these mode, they must specify the PID gains value according to usage.


		This would look almost the same as velocity mode if PID gains are tuned properly.

		5) Cheking Joint states.

		@@ -0,0 +1,685 @@
		\page jointcontrollers Joint Controllers

		Gazebo provides three joint controller plugins. Let's see a detailed description of each of them and example usage to help users to select right joint controller for their usage.

+```
+```bash
+joint {

+</div>
+```bash
+joint {


		### Example usage:

		Let’s set up a new model for this example. A two-linked manipulator arm which has a total of two joints to control ( [```joint_trajectory_controller.sdf```](https:/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/joint_trajectory_controller.sdf) is the original example). Name it as `example2.sdf`.

Added tutorial for Gazebo joint controller plugin #2263

Added tutorial for Gazebo joint controller plugin #2263

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yaswanth1701 commented Dec 11, 2023

🎉 New feature

Summary

Test it

Checklist

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yaswanth1701 commented Dec 12, 2023 • edited Loading

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