[NASA Space ROS Sim Summer Sprint Challenge] Add ROS2<>Trick bridge with canadarm2 demo #42

xfiderek · 2024-09-05T19:25:17Z

Feature description

NASA Space ROS Sim Summer Sprint Challenge

Team lead freelance username: xfiderek
Submission title: Improving fidelity of SSRMS demo with Trick

This issue is related to the submission to NASA Space ROS Sim Summer Sprint Challenge

Improving fidelity of SSRMS demo with Trick

I plan to submit a project that features an end-to-end demo of canadarm2 (SSRMS) modelled using Trick and connected to moveit2 via authored ROS2<>Trick bridge. The demo includes the following:

ros_trick_bridge - A ROS2 package allowing spawning & controlling trick simulations from ROS2 launch. It also sends /clock messages from trick to ROS2.
trick_ros2_control - A ROS2 Control plugin that enables communication between ros2_control-enabled robots and trick
SIM_trick_canadarm - A trick simulation of canadarm demo running at 100Hz. The simulation calculates forward dynamics with Articulated Body Algorithm, with friction model that takes into account Stribeck effect
Demo-related packages with moveit configurations, visualization, launch files and additional
Dockerfiles and compose file launching an end to end canadarm demo

Both ros_trick_bridge and trick_ros2_control can be easily imported into any project that wants to leverage connection between trick and ROS2. Any type of data can be exchanged between two systems in the provided framework.

Architecture of the bridge:

Screenshot of demo environment from RVIZ:

Screenshot from Trick view GUI:

Please check the README.md in the linked PR for further details

Implementation considerations

Please check the README.md in the linked PR for architecture, design choices and further details

The text was updated successfully, but these errors were encountered:

…k] (space-ros#42).

…ck] (space-ros#42).

Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe

…os#42).

…). Adds a ROS2 package with ROS2 Control Hardware Plugin that allows to use Trick as Hardware System. It works similarly to gazebo_ros2_control.

…os#42). Adds Trick simulation of SSRMS, calculating forward dynamics of the arm. It features friction model taking into account Stribeck effect. It uses RBDL as a backend library to solve forward dynamics equations.

…ce-ros#42). canadarm_wrench_publisher package demonstrates how to use trick bridge into any ros2 node. It is also used in the end-to-end demo.

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

…os#42).

…pace-ros#42).

).

…). Adds a ROS2 package with ROS2 Control Hardware Plugin that allows to use Trick as Hardware System. It works similarly to gazebo_ros2_control.

…os#42). Adds Trick simulation of SSRMS, calculating forward dynamics of the arm. It features friction model taking into account Stribeck effect. It uses RBDL as a backend library to solve forward dynamics equations.

…ce-ros#42). canadarm_wrench_publisher package demonstrates how to use trick bridge into any ros2 node. It is also used in the end-to-end demo.

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

).

).

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo. It includes moveit2_docker_deps folder with dependent files taken from spaceros docker repo. Large portion of the dockerfile could be simplified in the future, when moveit2 stack gets introduced into spaceros.

).

).

).

).

Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe

…os#42).

…). Adds a ROS2 package with ROS2 Control Hardware Plugin that allows to use Trick as Hardware System. It works similarly to gazebo_ros2_control.

…os#42). Adds Trick simulation of SSRMS, calculating forward dynamics of the arm. It features friction model taking into account Stribeck effect. It uses RBDL as a backend library to solve forward dynamics equations.

…ce-ros#42). canadarm_wrench_publisher package demonstrates how to use trick bridge in any ros2 node. It is also used in the end-to-end demo.

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

…os#42).

…pace-ros#42).

).

xfiderek added the enhancement New feature or request label Sep 5, 2024

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 5, 2024

NASA_Challenge_[xfiderek]_[Improving fidelity of SSRMS demo with Tric…

112440e

…k] (space-ros#42).

xfiderek linked a pull request Sep 5, 2024 that will close this issue

NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Trick] #41

Open

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 5, 2024

NASA_Challenge_[xfiderek]_[Improving fidelity of SSRMS demo with Tric…

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…k] (space-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 5, 2024

NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Tri…

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…ck] (space-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 5, 2024

NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Tri…

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…ck] (space-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Tri…

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…ck] (space-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Tri…

34ac5d5

…ck] (space-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add ros_trick_bridge package (space-ros#42).

cfb8c3b

Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add .gitignore to ROS2 trick demo (space-r…

e280fdb

…os#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add canadarm2 moveit config for trick demo (…

d019b50

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add dockerfile to build ros_trick_bridge (s…

159963a

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add dockerfile for SSRMS moveit2 working w…

75287ed

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add docker-compose for trick demo (space-r…

bf36381

…os#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

9f78933

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

4e5fd9d

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

Add README and docs for trick demo (space-ros#42).

48eb531

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add canadarm2 moveit config for trick demo (…

d4d8acb

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add dockerfile to build ros_trick_bridge (s…

00de9d6

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add dockerfile for SSRMS moveit2 working w…

1856fd8

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add docker-compose for trick demo (space-r…

eb90487

…os#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

0f43686

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

01d3c77

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

Add README and docs for trick demo (space-ros#42).

a797a5c

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add docker-compose for trick demo (space-r…

42bd3e4

…os#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

993b95a

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

ef9058a

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 6, 2024

Add README and docs for trick demo (space-ros#42).

7d565ea

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add docker-compose for trick demo (space-r…

1144e2c

…os#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

3405cd6

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

e0e12d1

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add README and docs for trick demo (space-…

95d9c2d

…ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

afd5528

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

864fc2e

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

Add README and docs for trick demo (space-ros#42).

7e6f050

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

73b92b2

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

7f10932

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

Add README and docs for trick demo (space-ros#42).

165bd53

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

697cd85

…pace-ros#42).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

4b7e20e

).

xfiderek added a commit to xfiderek/demos that referenced this issue Sep 7, 2024

NASA_Challenge_[@xfiderek] Add README and docs for trick demo (space-…

4e177fe

…ros#42).

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add ros_trick_bridge package (space-ros#42).

99ca6c0

Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add .gitignore to ROS2 trick demo (space-r…

2eac9f3

…os#42).

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add canadarm2 moveit config for trick demo (…

90c2bf7

…space-ros#42). Adds moveit config with ros2 controllers configuration for the end to end demo.

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add dockerfile to build ros_trick_bridge (s…

d09edd6

…pace-ros#42). The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add dockerfile for SSRMS moveit2 working w…

8befaec

…ith trick (space-ros#42). Adds dockerfile with ROS part of the end-to-end demo.

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add docker-compose for trick demo (space-r…

e5ae9ae

…os#42).

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add build and run scripts for trick demo (s…

6ad3678

…pace-ros#42).

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

NASA_Challenge_[@xfiderek] Add LICENSE file for trick demo (space-ros#42

3a48e4e

).

mkhansenbot pushed a commit to xfiderek/demos that referenced this issue Sep 9, 2024

Add README and docs for trick demo (space-ros#42).

4e69a45

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[NASA Space ROS Sim Summer Sprint Challenge] Add ROS2<>Trick bridge with canadarm2 demo #42

[NASA Space ROS Sim Summer Sprint Challenge] Add ROS2<>Trick bridge with canadarm2 demo #42

xfiderek commented Sep 5, 2024 •

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[NASA Space ROS Sim Summer Sprint Challenge] Add ROS2<>Trick bridge with canadarm2 demo #42

[NASA Space ROS Sim Summer Sprint Challenge] Add ROS2<>Trick bridge with canadarm2 demo #42

Comments

xfiderek commented Sep 5, 2024 • edited Loading

Feature description

NASA Space ROS Sim Summer Sprint Challenge

Improving fidelity of SSRMS demo with Trick

Implementation considerations

xfiderek commented Sep 5, 2024 •

edited

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