Ignition ros2 control

.github/workflows/ci.yaml

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+name: Ignition ros2 control CI
+
+on:
+ pull_request:
+ push:
+ branches: [ master ]
+
+jobs:
+ build:
+ runs-on: ubuntu-latest
+ 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/
+ 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 -
+ IGN_DEPS="libignition-gazebo5-dev libignition-plugin-dev libignition-utils1-cli-dev"
+ 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 \
+ $IGN_DEPS
+ cd /home/ros2_ws/src/
+ rosdep init
+ rosdep update
+ rosdep install --from-paths ./ -i -y --rosdistro foxy \
+ --ignore-src --skip-keys "ignition-gazebo5"
+ - 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

Dockerfile/Dockerfile

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+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:/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

Dockerfile/entrypoint.sh

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+#!/bin/sh
+
+. /opt/ros/foxy/setup.sh
+. /home/ros2_ws/install/setup.sh
+exec "$@"

README.md

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 # 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://ros-controls.github.io/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:
+
+ - [ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation.html)
+ - [Ignition Edifice](https://ignitionrobotics.org/docs/edifice)
+
+# Usage
+
+## Video + Pictures
+
+![](img/ign_ros2_control.gif)
+
+## Running
+
+### Modifying or building your own
+
+```bash
+cd Docker
+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:/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:/osrf/rocker/#installation) (make sure you meet all of the [prerequisites](https:/osrf/rocker/#prerequisites)).
+
+The following command will launch Gazebo:
+
+```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="GazeboSystem" type="system">
+ <hardware>
+ <plugin>ignition_ros2_control/GazeboSystem</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::GazeboSystemInterface`, which implements a simulated `ros2_control`
+`hardware_interface::SystemInterface`. SystemInterface provides API-level access to read and command joint properties.
+
+The respective GazeboSystemInterface 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="GazeboSystem" type="system">
+ <hardware>
+ <plugin>ignition_ros2_control/GazeboSystem</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.
+
+```xml
+<gazebo>
+ <plugin name="ignition_ros2_control" filename="libignition_ros2_control.so">
+ <parameters>$(find ignition_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+ </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
+```