NASA_Challenge_[@xfiderek]_[Improving fidelity of SSRMS demo with Trick] #41
Conversation
xfiderek
changed the title
xfiderek
force-pushed
the
spaceros_comp
branch
11 times, most recently
from
f6b4ef7
to
7d565ea
Compare
|
Info for reviewers: I have an alternative version where instead of cloning space_robots demo as a dependency I have a long dockerfile which includes almost a 100% copy-paste of space robots demo. However, I would personally prefer to keep it as-is if that is ok with you since 1) this avoid unneccessary code duplicationm 2) you already fired the CI :) and. 3) that code will become obstolete as soon as we start pushing moveit2 stack to the registry. When we introduce standalone moveit2 image pushed to the registry, then I can certainly rework this demo if needed. |
xfiderek
force-pushed
the
spaceros_comp
branch
from
7d565ea
to
7e6f050
Compare
|
Hi, i think CI failed because I was building images with Edit: looking into CI workflow definition it seems that you are running build.sh file from the root folder of the repo, which I think is the reason why my build and build of PR#45 fail. Would not it make sense to first cd to the subfolder containing build.sh and execute it from there? |
xfiderek
force-pushed
the
spaceros_comp
branch
from
7e6f050
to
165bd53
Compare
Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe
…). 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.
mkhansenbot
force-pushed
the
spaceros_comp
branch
from
165bd53
to
4e69a45
Compare
|
@xfiderek - I just changed the build workflow to cd into the folder first, then rebased your branch |
Improving fidelity of SSRMS demo with Trick
Team lead freelance username: xfiderek
Submission title: Improving fidelity of SSRMS demo with Trick
Resolves: #42
This PR 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:
Both
ros_trick_bridgeandtrick_ros2_controlcan 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.Please check README.md for further details
Architecture of the bridge:
Screenshot from RVIZ:
Screenshot from Trick View GUI: