Ros2 lynx sim

README.md

@@ -108,7 +108,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | 🤖🖥️  | `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` (choices: `WH01`, `WH02`, `WH04`, `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`                                                                                                                                                                                                                                                                                          |

lynx_description/config/WH05.yaml

@@ -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

lynx_description/urdf/gazebo.urdf.xacro

@@ -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>

lynx_description/urdf/lynx_macro.urdf.xacro

@@ -57,10 +57,11 @@
     <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="$(arg use_sim)">
+        <xacro:unless value="${use_sim}">
           <plugin>panther_hardware_interfaces/PantherSystem</plugin>
 
           <param name="encoder_resolution">1600</param>
@@ -140,7 +141,7 @@
       </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>

panther_bringup/launch/bringup.launch.py

@@ -24,7 +24,7 @@
     PathJoinSubstitution,
 )
 from launch_ros.substitutions import FindPackageShare
-from panther_utils.welcomeMsg import welcomeMsg
+from panther_utils.messages import welcome_msg
 
 
 def generate_launch_description():
@@ -51,9 +51,10 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
+    robot_model = EnvironmentVariable("ROBOT_MODEL", default_value="panther")
     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)
+    welcome_info = welcome_msg(robot_model, serial_no, panther_version)
 
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -129,7 +130,7 @@ 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,

panther_controller/launch/controller.launch.py

@@ -125,12 +125,11 @@ def generate_launch_description():
         "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."
         ),
-        choices=["WH01", "WH02", "WH04", "custom"],
+        choices=["WH01", "WH02", "WH04", "WH05", "custom"],
     )
 
     # Get URDF via xacro

panther_description/launch/load_urdf.launch.py

@@ -119,10 +119,9 @@ def generate_launch_description():
         "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."
         ),
         choices=["WH01", "WH02", "WH04", "custom"],
     )

panther_description/urdf/panther_macro.urdf.xacro

@@ -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>
@@ -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>

panther_gazebo/config/configuration.yaml

@@ -0,0 +1,16 @@
+# The minimal configuration file with the default values.
+# namespace is optional - without this element namespace will not be provided.
+
+# namespace:
+#   robot_model: panther
+#   init_pose: [0.0, 0.0, 0.0]
+#   init_rotation: [0.0, 0.0, 0.0]
+#   configuration:
+#     wheel_type: WH01
+
+panther:
+  robot_model: panther
+  init_pose: [0.0, -2.0, 0.0]
+  init_rotation: [0.0, 0.0, 0.0]
+  configuration:
+    wheel_type: WH01

panther_gazebo/launch/simulate_robot.launch.py

@@ -19,18 +19,25 @@
 from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import (
-    EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
     PythonExpression,
 )
 from launch_ros.actions import Node, SetUseSimTime
 from launch_ros.substitutions import FindPackageShare
 from nav2_common.launch import ReplaceString
+from panther_utils.arguments import DeclareRobotArgs
 
 
 def generate_launch_description():
 
+    components_config_path = LaunchConfiguration("components_config_path")
+    gz_bridge_config_path = LaunchConfiguration("gz_bridge_config_path")
+    namespace = LaunchConfiguration("namespace")
+    robot_configuration = LaunchConfiguration("robot_configuration")
+    robot_model = LaunchConfiguration("robot_model")
+    use_ekf = LaunchConfiguration("use_ekf")
+
     declare_battery_config_path_arg = DeclareLaunchArgument(
         "battery_config_path",
         description=(
@@ -42,7 +49,6 @@ def generate_launch_description():
         ),
     )
 
-    components_config_path = LaunchConfiguration("components_config_path")
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
@@ -56,7 +62,6 @@ def generate_launch_description():
         ),
     )
 
-    gz_bridge_config_path = LaunchConfiguration("gz_bridge_config_path")
     declare_gz_bridge_config_path_arg = DeclareLaunchArgument(
         "gz_bridge_config_path",
         default_value=PathJoinSubstitution(
@@ -65,14 +70,14 @@ def generate_launch_description():
         description="Path to the parameter_bridge configuration file.",
     )
 
-    namespace = LaunchConfiguration("namespace")
-    declare_namespace_arg = DeclareLaunchArgument(
-        "namespace",
-        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
-        description="Add namespace to all launched nodes.",
+    declare_robot_configuration_arg = DeclareLaunchArgument(
+        "robot_configuration",
+        default_value=PathJoinSubstitution(
+            [FindPackageShare("panther_gazebo"), "config", "configuration.yaml"]
+        ),
+        description="Path to robot configuration YAML file.",
     )
 
-    use_ekf = LaunchConfiguration("use_ekf")
     declare_use_ekf_arg = DeclareLaunchArgument(
         "use_ekf",
         default_value="True",
@@ -89,6 +94,7 @@ def generate_launch_description():
         launch_arguments={
             "add_wheel_joints": "False",
             "namespace": namespace,
+            "robot_model": robot_model,
             "use_sim": "True",
         }.items(),
     )
@@ -187,10 +193,11 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            declare_robot_configuration_arg,
+            DeclareRobotArgs(robot_configuration),
             declare_battery_config_path_arg,
             declare_components_config_path_arg,
             declare_gz_bridge_config_path_arg,
-            declare_namespace_arg,
             declare_use_ekf_arg,
             SetUseSimTime(True),
             spawn_robot_launch,