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Ros2 lynx sim #414

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merged 19 commits into from
Sep 20, 2024
Merged

Ros2 lynx sim #414

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ccb1a43
Merge branch 'ros2-devel' into ros2-lynx-sim
rafal-gorecki Aug 30, 2024
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rafal-gorecki Aug 30, 2024
e11b9ea
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rafal-gorecki Sep 3, 2024
1d8a416
Merge branch 'ros2-lynx-devel' into ros2-lynx-sim
rafal-gorecki Sep 4, 2024
973ea36
Save work
rafal-gorecki Sep 5, 2024
25102d1
Working loading arguments from robot_configuration YAML (#413)
rafal-gorecki Sep 17, 2024
a15858e
Merge branch 'ros2-devel' into ros2-lynx-sim
rafal-gorecki Sep 17, 2024
9c37f48
Merge branch 'ros2-lynx-devel' into ros2-lynx-sim
rafal-gorecki Sep 17, 2024
4904c3f
Update panther_gazebo/config/configuration.yaml
rafal-gorecki Sep 17, 2024
0fd544a
Update readme
rafal-gorecki Sep 17, 2024
c626efa
Merge branch 'ros2-lynx-devel' into ros2-lynx-sim
rafal-gorecki Sep 17, 2024
511214e
Add add_world_transform arg
rafal-gorecki Sep 17, 2024
2e481d0
Remove yaml with arg
rafal-gorecki Sep 18, 2024
6487785
Clean up changes
rafal-gorecki Sep 18, 2024
c1321bf
docs update
rafal-gorecki Sep 18, 2024
441a9fe
Z arg set to 0.0
rafal-gorecki Sep 18, 2024
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rafal-gorecki Sep 18, 2024
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rafal-gorecki Sep 19, 2024
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Readme
rafal-gorecki Sep 19, 2024
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6 changes: 3 additions & 3 deletions README.md
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Expand Up @@ -101,17 +101,17 @@ Launch arguments are largely common to both simulation and physical robot. Howev
| 🤖🖥️ | `localization_mode` | Specifies the localization mode: <br/>- 'relative' `odometry/filtered` data is relative to the initial position and orientation. <br/>- 'enu' `odometry/filtered` data is relative to initial position and ENU (East North Up) orientation. <br/> ***string:*** `relative` (choices: `relative`, `enu`) |
| 🤖🖥️ | `namespace` | Add namespace to all launched nodes. <br/> ***string:*** `env(ROBOT_NAMESPACE)` |
| 🤖🖥️ | `publish_robot_state` | Whether to publish the default Panther robot description. <br/> ***bool:*** `True` |
| 🖥️ | `robots` | The list of the robots spawned in the simulation e.g. `robots:='robot1={x: 1.0, y: -2.0}; robot2={x: 1.0, y: -4.0}'` <br/> ***string:*** `''` |
| 🖥️ | `robot_model` | Specify robot model type. <br/> ***string:*** `env(ROBOT_MODEL)` if not specified `panther` (choices: `lynx`, `panther`) |
| 🤖🖥️ | `safety_bt_project_path` | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`PantherSafetyBT.btproj`](./panther_manager/behavior_trees/PantherSafetyBT.btproj) |
| 🤖🖥️ | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts_config.yaml`](./panther_manager/config/shutdown_hosts_config.yaml) |
| 🤖🖥️ | `use_ekf` | Enable or disable EKF. <br/> ***bool:*** `True` |
| 🤖🖥️ | `use_sim` | Whether simulation is used. <br/> ***bool:*** `False` |
| 🤖🖥️ | `user_led_animations_file` | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''` |
| 🤖🖥️ | `wheel_config_path` | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config) |
| 🤖🖥️ | `wheel_type` | Type of wheel. If you choose a value from the preset options ('WH01', 'WH02', 'WH04'), you can ignore the 'wheel_config_path' and 'controller_config_path' parameters. For custom wheels, please define these parameters to point to files that accurately describe the custom wheels. <br/> ***string:*** `WH01` (choices: `WH01`, `WH02`, `WH04`, `custom`) |
| 🤖🖥️ | `wheel_type` | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`) |
| 🖥️ | `x` | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0` |
| 🖥️ | `y` | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0` |
| 🖥️ | `z` | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.2` |
| 🖥️ | `z` | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0` |
| 🖥️ | `roll` | Initial robot 'roll' orientation. <br/> ***float:*** `0.0` |
| 🖥️ | `pitch` | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0` |
| 🖥️ | `yaw` | Initial robot 'yaw' orientation. <br/> ***float:*** `0.0` |
Expand Down
1 change: 1 addition & 0 deletions lynx_description/config/WH05.yaml
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Expand Up @@ -7,3 +7,4 @@ inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 }
inertia_y_offset: 0.0
mesh_package: lynx_description
folder_path: meshes/WH05
mecanum: False
11 changes: 5 additions & 6 deletions lynx_description/launch/load_urdf.launch.py
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Expand Up @@ -66,7 +66,7 @@ def generate_launch_description():
),
)

wheel_type = LaunchConfiguration("wheel_type") # wheel_type is used by controller_config_path
wheel_type = LaunchConfiguration("wheel_type")
controller_config_path = LaunchConfiguration("controller_config_path")
declare_controller_config_path_arg = DeclareLaunchArgument(
"controller_config_path",
Expand Down Expand Up @@ -99,6 +99,7 @@ def generate_launch_description():
choices=["True", "true", "False", "false"],
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
declare_wheel_config_path_arg = DeclareLaunchArgument(
"wheel_config_path",
default_value=PathJoinSubstitution(
Expand All @@ -115,15 +116,13 @@ def generate_launch_description():
),
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
declare_wheel_type_arg = DeclareLaunchArgument(
"wheel_type",
default_value="WH05",
description=(
"Type of wheel. If you choose a value from the preset options ('WH05'), you can "
"ignore the 'wheel_config_path' and 'controller_config_path' parameters. "
"For custom wheels, please define these parameters to point to files that "
"accurately describe the custom wheels."
"Specify the wheel type. If the selected wheel type is not 'custom', "
"the 'wheel_config_path' and 'controller_config_path' arguments will be "
"automatically adjusted and can be omitted."
),
choices=["WH05", "custom"],
)
Expand Down
3 changes: 3 additions & 0 deletions lynx_description/urdf/gazebo.urdf.xacro
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Expand Up @@ -42,6 +42,9 @@
<parameters>${config_file}</parameters>
<ros>
<namespace>${namespace}</namespace>
<remapping>gz_ros2_control/e_stop:=hardware/e_stop</remapping>
<remapping>gz_ros2_control/e_stop_reset:=hardware/e_stop_reset</remapping>
<remapping>gz_ros2_control/e_stop_trigger:=hardware/e_stop_trigger</remapping>
<remapping>imu_broadcaster/imu:=imu/data</remapping>
<remapping>drive_controller/cmd_vel_unstamped:=cmd_vel</remapping>
<remapping>drive_controller/odom:=odometry/wheels</remapping>
Expand Down
5 changes: 3 additions & 2 deletions lynx_description/urdf/lynx_macro.urdf.xacro
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Expand Up @@ -57,7 +57,8 @@
<ros2_control name="${ns}lynx_system" type="system">
<hardware>
<xacro:if value="${use_sim}">
<plugin>ign_ros2_control/IgnitionSystem</plugin>
<plugin>panther_gazebo/GzPantherSystem</plugin>
<param name="e_stop_initial_state">true</param>
</xacro:if>

<xacro:unless value="$(arg use_sim)">
Expand Down Expand Up @@ -139,7 +140,7 @@
</xacro:if>
</ros2_control>

<xacro:unless value="$(arg use_sim)">
<xacro:unless value="${use_sim}">
<ros2_control name="${ns}imu" type="sensor">
<hardware>
<plugin>panther_hardware_interfaces/PantherImuSensor</plugin>
Expand Down
14 changes: 9 additions & 5 deletions panther_bringup/launch/bringup.launch.py
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Expand Up @@ -14,6 +14,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import os

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
from launch.conditions import IfCondition, UnlessCondition
Expand All @@ -24,7 +26,7 @@
PathJoinSubstitution,
)
from launch_ros.substitutions import FindPackageShare
from panther_utils.welcomeMsg import welcomeMsg
from panther_utils.messages import welcome_msg


def generate_launch_description():
Expand All @@ -51,9 +53,11 @@ def generate_launch_description():
choices=["True", "true", "False", "false"],
)

serial_no = EnvironmentVariable(name="PANTHER_SERIAL_NO", default_value="----")
panther_version = EnvironmentVariable(name="PANTHER_ROBOT_VERSION", default_value="1.0")
welcome_msg = welcomeMsg(serial_no, panther_version)
robot_model = os.environ.get("ROBOT_MODEL", default="PTH")
robot_model = "lynx" if robot_model == "LNX" else "panther"
robot_serial_no = EnvironmentVariable(name="ROBOT_SERIAL_NO", default_value="----")
robot_version = EnvironmentVariable(name="ROBOT_VERSION", default_value="1.0")
welcome_info = welcome_msg(robot_model, robot_serial_no, robot_version)

controller_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
Expand Down Expand Up @@ -129,7 +133,7 @@ def generate_launch_description():
declare_disable_manager_arg,
declare_namespace_arg,
declare_use_ekf_arg,
welcome_msg,
welcome_info,
controller_launch,
system_monitor_launch,
delayed_action,
Expand Down
31 changes: 20 additions & 11 deletions panther_controller/launch/controller.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,9 +58,7 @@ def generate_launch_description():
),
)

wheel_type = LaunchConfiguration(
"wheel_type"
) # wheel_type must be before controller_config_path
wheel_type = LaunchConfiguration("wheel_type")
controller_config_path = LaunchConfiguration("controller_config_path")
declare_controller_config_path_arg = DeclareLaunchArgument(
"controller_config_path",
Expand Down Expand Up @@ -96,14 +94,25 @@ def generate_launch_description():
choices=["True", "true", "False", "false"],
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
robot_model = LaunchConfiguration("robot_model")
robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
declare_robot_model_arg = DeclareLaunchArgument(
"robot_model",
default_value=robot_model_dict[robot_model_env],
description="Specify robot model",
choices=["lynx", "panther"],
)

use_sim = LaunchConfiguration("use_sim")
declare_use_sim_arg = DeclareLaunchArgument(
"use_sim",
default_value="False",
description="Whether simulation is used",
choices=["True", "true", "False", "false"],
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
declare_wheel_config_path_arg = DeclareLaunchArgument(
"wheel_config_path",
default_value=PathJoinSubstitution(
Expand All @@ -120,17 +129,16 @@ def generate_launch_description():
),
)

use_sim = LaunchConfiguration("use_sim")
default_wheel_type = {"lynx": "WH05", "panther": "WH01"}
declare_wheel_type_arg = DeclareLaunchArgument(
"wheel_type",
default_value="WH01",
default_value=PythonExpression([f"{default_wheel_type}['", robot_model, "']"]),
description=(
"Type of wheel. If you choose a value from the preset options ('WH01', 'WH02',"
" 'WH04'), you can ignore the 'wheel_config_path' and 'controller_config_path'"
" parameters. For custom wheels, please define these parameters to point to files that"
" accurately describe the custom wheels."
"Specify the wheel type. If the selected wheel type is not 'custom', "
"the 'wheel_config_path' and 'controller_config_path' arguments will be "
"automatically adjusted and can be omitted."
),
choices=["WH01", "WH02", "WH04", "custom"],
choices=["WH01", "WH02", "WH04", "WH05", "custom"],
)

# Get URDF via xacro
Expand Down Expand Up @@ -271,6 +279,7 @@ def generate_launch_description():

actions = [
declare_battery_config_path_arg,
declare_robot_model_arg, # robot_model must be before wheel_type
declare_wheel_type_arg, # wheel_type must be before controller_config_path
declare_components_config_path_arg,
declare_controller_config_path_arg,
Expand Down
11 changes: 5 additions & 6 deletions panther_description/launch/load_urdf.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ def generate_launch_description():
),
)

wheel_type = LaunchConfiguration("wheel_type") # wheel_type is used by controller_config_path
wheel_type = LaunchConfiguration("wheel_type")
controller_config_path = LaunchConfiguration("controller_config_path")
declare_controller_config_path_arg = DeclareLaunchArgument(
"controller_config_path",
Expand Down Expand Up @@ -98,6 +98,7 @@ def generate_launch_description():
choices=["True", "true", "False", "false"],
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
declare_wheel_config_path_arg = DeclareLaunchArgument(
"wheel_config_path",
default_value=PathJoinSubstitution(
Expand All @@ -114,15 +115,13 @@ def generate_launch_description():
),
)

wheel_config_path = LaunchConfiguration("wheel_config_path")
declare_wheel_type_arg = DeclareLaunchArgument(
"wheel_type",
default_value="WH01",
description=(
"Type of wheel. If you choose a value from the preset options ('WH01', 'WH02',"
" 'WH04'), you can ignore the 'wheel_config_path' and 'controller_config_path'"
" parameters. For custom wheels, please define these parameters to point to files that"
" accurately describe the custom wheels."
"Specify the wheel type. If the selected wheel type is not 'custom', "
"the 'wheel_config_path' and 'controller_config_path' arguments will be "
"automatically adjusted and can be omitted."
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),
choices=["WH01", "WH02", "WH04", "custom"],
)
Expand Down
4 changes: 2 additions & 2 deletions panther_description/urdf/panther_macro.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@
<param name="e_stop_initial_state">true</param>
</xacro:if>

<xacro:unless value="$(arg use_sim)">
<xacro:unless value="${use_sim}">
<plugin>panther_hardware_interfaces/PantherSystem</plugin>

<param name="panther_version">${panther_version}</param>
Expand Down Expand Up @@ -143,7 +143,7 @@
</xacro:if>
</ros2_control>

<xacro:unless value="$(arg use_sim)">
<xacro:unless value="${use_sim}">
<ros2_control name="${ns}imu" type="sensor">
<hardware>
<plugin>panther_hardware_interfaces/PantherImuSensor</plugin>
Expand Down
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