From be6671f4292dc2b27881b9b94244b04631bb87dc Mon Sep 17 00:00:00 2001 From: marqrazz Date: Wed, 20 Nov 2024 21:41:42 -0700 Subject: [PATCH 01/11] initial c300 port to jazzy --- .docker/Dockerfile | 18 +-- .../c300_bringup/launch/gazebo_c300.launch.py | 27 ++-- c300/c300_bringup/package.xml | 5 +- c300/c300_bringup/rviz/bringup_config.rviz | 20 +-- c300/c300_bringup/worlds/depot.sdf | 15 ++- c300/c300_description/package.xml | 2 +- .../urdf/c300.ros2_control.xacro | 8 +- .../urdf/c300_base.gazebo.xacro | 84 +++++++------ c300/c300_description/urdf/c300_base.urdf | 4 +- .../urdf/c300_base.urdf.xacro | 8 +- .../urdf/c300_transmission_macro.xacro | 28 ----- .../c300_description/urdf/hokuyo.gazebo.xacro | 115 ++++++------------ .../urdf/hokuyo_uam05lp.urdf.xacro | 4 +- c3pzero/c3pzero_bringup/COLCON_IGNORE | 0 c3pzero/c3pzero_bringup/package.xml | 4 +- c3pzero/c3pzero_description/COLCON_IGNORE | 0 c3pzero/c3pzero_description/package.xml | 1 - c3pzero/c3pzero_moveit_config/COLCON_IGNORE | 0 docker-compose.yaml | 2 +- 19 files changed, 134 insertions(+), 211 deletions(-) delete mode 100644 c300/c300_description/urdf/c300_transmission_macro.xacro create mode 100644 c3pzero/c3pzero_bringup/COLCON_IGNORE create mode 100644 c3pzero/c3pzero_description/COLCON_IGNORE create mode 100644 c3pzero/c3pzero_moveit_config/COLCON_IGNORE diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 2bd3a8c..5651c3d 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -1,13 +1,7 @@ -FROM osrf/ros:humble-desktop-full-jammy +FROM osrf/ros:jazzy-desktop-full SHELL ["/bin/bash", "-c", "-o", "pipefail"] -# Add the latest binaries for MoveIt2 -RUN echo "deb [trusted=yes] https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/ ./" \ - | tee /etc/apt/sources.list.d/moveit_moveit2_packages.list -RUN echo "yaml https://raw.githubusercontent.com/moveit/moveit2_packages/jammy-humble/local.yaml humble" \ - | tee /etc/ros/rosdep/sources.list.d/1-moveit_moveit2_packages.list - # Bring the container up to date to get the latest ROS2 humble sync # hadolint ignore=DL3008, DL3013 RUN apt-get update && apt-get upgrade -y && rosdep update \ @@ -63,16 +57,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-humble-rmw-cyclonedds-cpp \ && rm -rf /var/lib/apt/lists/* -# Upgrade binaries for Gazebo to get working RGBD camera -# hadolint ignore=DL3008 -RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" > /etc/apt/sources.list.d/gazebo-stable.list && \ - wget -q http://packages.osrfoundation.org/gazebo.key && \ - apt-key add gazebo.key && \ - apt-get update && apt-get install --no-install-recommends -y \ - libsdformat12 \ - libignition-sensors6=6.7.1-1~jammy \ - && rm -rf /var/lib/apt/lists/* - # Copy over the source code to rosdep install other dependencies. # The source code in this workspace will be mounted from the host at runtime. RUN mkdir -p /root/c3pzero_ws/src diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py index f60a613..6a3cd15 100644 --- a/c300/c300_bringup/launch/gazebo_c300.launch.py +++ b/c300/c300_bringup/launch/gazebo_c300.launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): # Simulation specific arguments declared_arguments.append( DeclareLaunchArgument( - "sim_ignition", + "sim_gazebo", default_value="true", description="Use Ignition for simulation", ) @@ -77,13 +77,13 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "use_sim_time", - default_value="True", + default_value="true", description="Use simulation (Gazebo) clock if true", ) ) # Initialize Arguments - sim_ignition = LaunchConfiguration("sim_ignition") + sim_gazebo = LaunchConfiguration("sim_gazebo") # General arguments runtime_config_package = LaunchConfiguration("runtime_config_package") description_package = LaunchConfiguration("description_package") @@ -106,8 +106,8 @@ def generate_launch_description(): [FindPackageShare(description_package), "urdf", description_file] ), " ", - "sim_ignition:=", - sim_ignition, + "sim_gazebo:=", + sim_gazebo, " ", ] ) @@ -136,12 +136,7 @@ def generate_launch_description(): joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", - parameters=[{"use_sim_time": use_sim_time}], - arguments=[ - "joint_state_broadcaster", - "--controller-manager", - "/controller_manager", - ], + arguments=["joint_state_broadcaster"], ) # Delay rviz start after `joint_state_broadcaster` @@ -182,7 +177,7 @@ def generate_launch_description(): "-Y", "0.0", ], - condition=IfCondition(sim_ignition), + condition=IfCondition(sim_gazebo), ) ignition_launch_description = IncludeLaunchDescription( @@ -194,9 +189,9 @@ def generate_launch_description(): # 0: No output, 1: Error, 2: Error and warning, 3: Error, warning, and info, 4: Error, warning, info, and debug. # -s launches Gazebo headless launch_arguments={ - "gz_args": " -r -v 3 -s /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf" + "gz_args": " -r -v 3 /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf" }.items(), - condition=IfCondition(sim_ignition), + condition=IfCondition(sim_gazebo), ) # Bridge @@ -205,8 +200,8 @@ def generate_launch_description(): executable="parameter_bridge", parameters=[{"use_sim_time": use_sim_time}], arguments=[ - "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", - "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", + "/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", ], output="screen", ) diff --git a/c300/c300_bringup/package.xml b/c300/c300_bringup/package.xml index ffdc976..136c5f3 100644 --- a/c300/c300_bringup/package.xml +++ b/c300/c300_bringup/package.xml @@ -12,7 +12,10 @@ rviz2 urg_node controller_manager - ign_ros2_control + ros2controlcli + gz_ros2_control + ros_gz_bridge + ros_gz_sim joint_state_broadcaster diff_drive_controller diff --git a/c300/c300_bringup/rviz/bringup_config.rviz b/c300/c300_bringup/rviz/bringup_config.rviz index db8d990..53f5ea0 100644 --- a/c300/c300_bringup/rviz/bringup_config.rviz +++ b/c300/c300_bringup/rviz/bringup_config.rviz @@ -8,7 +8,7 @@ Panels: - /Status1 - /LaserScan1/Topic1 Splitter Ratio: 0.5 - Tree Height: 659 + Tree Height: 733 Visualization Manager: Class: "" Displays: @@ -135,6 +135,8 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/TF Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true @@ -150,7 +152,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: odom + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -183,18 +185,18 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 1.5497963428497314 + Pitch: 0.24979758262634277 Target Frame: Value: Orbit (rviz) - Yaw: 3.13539719581604 + Yaw: 1.8553873300552368 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1043 + Height: 1016 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000100000000000001da00000381fc0200000001fb000000100044006900730070006c0061007900730100000069000003810000017800ffffff0000059a0000038100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1920 - X: 151 - Y: 1223 + QMainWindow State: 000000ff00000000fd0000000100000000000001da000003a2fc0200000001fb000000100044006900730070006c006100790073010000003b000003a2000000c700ffffff0000055a000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1850 + X: 70 + Y: 27 diff --git a/c300/c300_bringup/worlds/depot.sdf b/c300/c300_bringup/worlds/depot.sdf index 5f79437..fb27896 100644 --- a/c300/c300_bringup/worlds/depot.sdf +++ b/c300/c300_bringup/worlds/depot.sdf @@ -8,9 +8,18 @@ 0.002 1.0 - - - + + + + + + diff --git a/c300/c300_description/package.xml b/c300/c300_description/package.xml index 25ffb33..0cfc87c 100644 --- a/c300/c300_description/package.xml +++ b/c300/c300_description/package.xml @@ -9,7 +9,7 @@ ament_cmake - joint_state_publisher + joint_state_publisher_gui robot_state_publisher urg_node rviz2 diff --git a/c300/c300_description/urdf/c300.ros2_control.xacro b/c300/c300_description/urdf/c300.ros2_control.xacro index 243b0a5..69bf75d 100644 --- a/c300/c300_description/urdf/c300.ros2_control.xacro +++ b/c300/c300_description/urdf/c300.ros2_control.xacro @@ -4,15 +4,15 @@ + sim_gazebo:=false"> - - ign_ros2_control/IgnitionSystem + + gz_ros2_control/GazeboSimSystem topic_based_ros2_control/TopicBasedSystem diff --git a/c300/c300_description/urdf/c300_base.gazebo.xacro b/c300/c300_description/urdf/c300_base.gazebo.xacro index 1e93bac..0783b56 100644 --- a/c300/c300_description/urdf/c300_base.gazebo.xacro +++ b/c300/c300_description/urdf/c300_base.gazebo.xacro @@ -1,9 +1,9 @@ - + - + $(arg simulation_controllers) controller_manager @@ -11,58 +11,64 @@ /diff_drive_base_controller/odom:=/odom - + ogre2 - 100000.0 - 100000.0 - 1e+5 - 1 - 0 - 0.2 - 0.001 - true - true + + + + + 0.8 + 0.8 + 1 1 0 + + + + - 100000.0 - 100000.0 - 1e+5 - 1 - 0 - 0.2 - 0.001 - true - true + + + + + 0.8 + 0.8 + 1 1 0 + + + + - 0.1 - 0.1 - 1e+5 - 1 - 0 - 0.2 - 0.001 - true - true + + + + + 0.01 + 0.01 + + + + - 0.1 - 0.1 - 1e+5 - 1 - 0 - 0.2 - 0.001 - true - true + + + + + 0.01 + 0.01 + + + + diff --git a/c300/c300_description/urdf/c300_base.urdf b/c300/c300_description/urdf/c300_base.urdf index 7f49758..a047912 100644 --- a/c300/c300_description/urdf/c300_base.urdf +++ b/c300/c300_description/urdf/c300_base.urdf @@ -3,7 +3,7 @@ - + @@ -13,7 +13,7 @@ diff --git a/c300/c300_description/urdf/c300_base.urdf.xacro b/c300/c300_description/urdf/c300_base.urdf.xacro index 3632b77..9218ea3 100644 --- a/c300/c300_description/urdf/c300_base.urdf.xacro +++ b/c300/c300_description/urdf/c300_base.urdf.xacro @@ -4,7 +4,7 @@ @@ -12,7 +12,7 @@ - + @@ -22,9 +22,7 @@ sim_isaac="${sim_isaac}" isaac_joint_commands="${isaac_joint_commands}" isaac_joint_states="${isaac_joint_states}" - sim_ignition="${sim_ignition}"/> - - + sim_gazebo="${sim_gazebo}"/> diff --git a/c300/c300_description/urdf/c300_transmission_macro.xacro b/c300/c300_description/urdf/c300_transmission_macro.xacro deleted file mode 100644 index d67337b..0000000 --- a/c300/c300_description/urdf/c300_transmission_macro.xacro +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - 1 - - - - - - diff --git a/c300/c300_description/urdf/hokuyo.gazebo.xacro b/c300/c300_description/urdf/hokuyo.gazebo.xacro index 695c36c..c7dfffc 100644 --- a/c300/c300_description/urdf/hokuyo.gazebo.xacro +++ b/c300/c300_description/urdf/hokuyo.gazebo.xacro @@ -4,8 +4,6 @@ - - true - - 0 0 0 0 0 0 - false - ${update_rate} - - - - ${sample_size} - 1 - ${min_angle} - ${max_angle} - - - - ${min_range} - ${max_range} - 0.01 - - - gaussian - 0.0 - 0.001 - - - - - ${robot_namespace} - ~/out:=${topic} - - sensor_msgs/LaserScan - ${frame} - - - - - - - - - - ${topic} - ${frame} - ${update_rate} - false - true - - - - ${sample_size} - 1 - ${min_angle} - ${max_angle} - - - 1 - 1 - 0.0 - 0.0 - - - - ${min_range} - ${max_range} - 0.01 - - - gaussian - 0.0 - 0.001 - - - - - + + + ${topic} + ${frame} + ${update_rate} + false + true + + + + ${sample_size} + 1 + ${min_angle} + ${max_angle} + + + 1 + 1 + 0.0 + 0.0 + + + + ${min_range} + ${max_range} + 0.01 + + + gaussian + 0.0 + 0.001 + + + + diff --git a/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro b/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro index 0c635f6..44e26ce 100644 --- a/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro +++ b/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro @@ -8,9 +8,7 @@ frame="${prefix}_laser" topic="${topic}" min_angle="${min_angle}" - max_angle="${max_angle}" - sim_gazebo="false" - sim_ignition="true"/> + max_angle="${max_angle}"/> diff --git a/c3pzero/c3pzero_bringup/COLCON_IGNORE b/c3pzero/c3pzero_bringup/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/c3pzero/c3pzero_bringup/package.xml b/c3pzero/c3pzero_bringup/package.xml index 12df311..fe3e459 100644 --- a/c3pzero/c3pzero_bringup/package.xml +++ b/c3pzero/c3pzero_bringup/package.xml @@ -12,7 +12,9 @@ c300_description c300_driver depth_image_proc - ign_ros2_control + gz_ros2_control + ros_gz_bridge + ros_gz_sim gripper_controllers joint_trajectory_controller joint_state_broadcaster diff --git a/c3pzero/c3pzero_description/COLCON_IGNORE b/c3pzero/c3pzero_description/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/c3pzero/c3pzero_description/package.xml b/c3pzero/c3pzero_description/package.xml index 9dabfa8..38a9014 100644 --- a/c3pzero/c3pzero_description/package.xml +++ b/c3pzero/c3pzero_description/package.xml @@ -10,7 +10,6 @@ ament_cmake c300_description - ign_ros2_control joint_state_publisher kortex_description robot_state_publisher diff --git a/c3pzero/c3pzero_moveit_config/COLCON_IGNORE b/c3pzero/c3pzero_moveit_config/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/docker-compose.yaml b/docker-compose.yaml index 18ac8a3..a1e0f60 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -17,7 +17,7 @@ services: cpu: image: c3pzero:latest - container_name: c3pzero +# container_name: c3pzero build: context: . dockerfile: .docker/Dockerfile From a1f610a38101d472d807648228bcf16fb2f61a70 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sat, 23 Nov 2024 08:46:48 -0700 Subject: [PATCH 02/11] working nav2 mppi config --- .../config/c300_gz_controllers.yaml | 3 +- .../c300_bringup/launch/gazebo_c300.launch.py | 121 +++------ c300/c300_bringup/worlds/depot.sdf | 2 +- .../urdf/c300_base.gazebo.xacro | 60 ++++- .../urdf/c300_base.urdf.xacro | 7 + .../c300_description/urdf/hokuyo.gazebo.xacro | 10 - .../urdf/hokuyo_uam05lp.urdf.xacro | 8 + c300/c300_driver/config/f710.config.yaml | 21 +- c300/c300_driver/launch/teleop.launch.py | 4 +- .../params/nav2_params_mppi.yaml | 232 +++++++++++------- .../c3pzero_description/urdf/meshes/tote.dae | 110 +++++++++ 11 files changed, 370 insertions(+), 208 deletions(-) create mode 100644 c3pzero/c3pzero_description/urdf/meshes/tote.dae diff --git a/c300/c300_bringup/config/c300_gz_controllers.yaml b/c300/c300_bringup/config/c300_gz_controllers.yaml index aa4a0ad..905da08 100644 --- a/c300/c300_bringup/config/c300_gz_controllers.yaml +++ b/c300/c300_bringup/config/c300_gz_controllers.yaml @@ -14,7 +14,7 @@ diff_drive_base_controller: right_wheel_names: ["drivewhl_r_joint"] wheels_per_side: 1 - wheel_separation: 0.61 # outside distance between the wheels + wheel_separation: 0.6 # Shortest distance between the left and right wheels wheel_radius: 0.1715 wheel_separation_multiplier: 1.0 @@ -33,7 +33,6 @@ diff_drive_base_controller: cmd_vel_timeout: 0.5 #publish_limited_velocity: true - use_stamped_vel: false #velocity_rolling_window_size: 10 # Velocity and acceleration limits diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py index 6a3cd15..4dab527 100644 --- a/c300/c300_bringup/launch/gazebo_c300.launch.py +++ b/c300/c300_bringup/launch/gazebo_c300.launch.py @@ -1,11 +1,11 @@ # -*- coding: utf-8 -*- # Author: Marq Rasmussen -from launch import LaunchDescription +from launch import LaunchDescription, LaunchContext from launch.actions import ( DeclareLaunchArgument, - ExecuteProcess, IncludeLaunchDescription, + OpaqueFunction, RegisterEventHandler, ) from launch.event_handlers import OnProcessExit @@ -19,83 +19,42 @@ ) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare +from ament_index_python.packages import get_package_share_directory + + +def launch_gz(context: LaunchContext): + gz_world_file = get_package_share_directory("c300_bringup") + "/worlds/depot.sdf" + # -r is to run the simulation on start + # -v is the verbose level + # 0: No output, 1: Error, 2: Error and warning, 3: Error, warning, and info, 4: Error, warning, info, and debug. + sim_options = "-r -v 3" + if LaunchConfiguration("headless").perform(context) == "true": + sim_options += " -s" # -s is to only run the server (headless mode). + gz_launch_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"] + ), + launch_arguments=[("gz_args", [f"{sim_options} {gz_world_file}"])], + ) + return [gz_launch_description] def generate_launch_description(): declared_arguments = [] - # Simulation specific arguments - declared_arguments.append( - DeclareLaunchArgument( - "sim_gazebo", - default_value="true", - description="Use Ignition for simulation", - ) - ) - # General arguments - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="c300_bringup", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="c300_description", - description="Description package with robot URDF/XACRO files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_file", - default_value="c300_base.urdf", - description="URDF/XACRO description file with the robot.", - ) + DeclareLaunchArgument("rviz", default_value="true", description="Launch RViz?") ) declared_arguments.append( DeclareLaunchArgument( - "robot_name", - default_value="c300", - description="Robot name.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "diff_drive_controller", - default_value="diff_drive_base_controller", - description="Diff drive base controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "launch_rviz", default_value="true", description="Launch RViz?" - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_sim_time", - default_value="true", - description="Use simulation (Gazebo) clock if true", + "headless", default_value="true", description="Launch Gazebo headless?" ) ) # Initialize Arguments - sim_gazebo = LaunchConfiguration("sim_gazebo") - # General arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - robot_name = LaunchConfiguration("robot_name") - prefix = LaunchConfiguration("prefix") - diff_drive_controller = LaunchConfiguration("diff_drive_controller") - launch_rviz = LaunchConfiguration("launch_rviz") - use_sim_time = LaunchConfiguration("use_sim_time") + launch_rviz = LaunchConfiguration("rviz") rviz_config_file = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "rviz", "bringup_config.rviz"] + [FindPackageShare("c300_bringup"), "rviz", "bringup_config.rviz"] ) robot_description_content = Command( @@ -103,11 +62,10 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("c300_description"), "urdf", "c300_base.urdf"] ), " ", - "sim_gazebo:=", - sim_gazebo, + "sim_gazebo:=true", " ", ] ) @@ -118,7 +76,7 @@ def generate_launch_description(): output="both", parameters=[ { - "use_sim_time": use_sim_time, + "use_sim_time": True, "robot_description": robot_description_content, } ], @@ -129,6 +87,7 @@ def generate_launch_description(): executable="rviz2", name="rviz2", output="log", + parameters=[{"use_sim_time": True}], arguments=["-d", rviz_config_file], condition=IfCondition(launch_rviz), ) @@ -150,7 +109,7 @@ def generate_launch_description(): diff_drive_controller_spawner = Node( package="controller_manager", executable="spawner", - arguments=[diff_drive_controller, "-c", "/controller_manager"], + arguments=["diff_drive_base_controller", "-c", "/controller_manager"], ) ignition_spawn_entity = Node( @@ -161,7 +120,7 @@ def generate_launch_description(): "-string", robot_description_content, "-name", - robot_name, + "c300", "-allow_renaming", "true", "-x", @@ -177,31 +136,17 @@ def generate_launch_description(): "-Y", "0.0", ], - condition=IfCondition(sim_gazebo), - ) - - ignition_launch_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"] - ), - # TODO (marqrazz): fix the hardcoded path to the gazebo world - # -v is the verbose level - # 0: No output, 1: Error, 2: Error and warning, 3: Error, warning, and info, 4: Error, warning, info, and debug. - # -s launches Gazebo headless - launch_arguments={ - "gz_args": " -r -v 3 /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf" - }.items(), - condition=IfCondition(sim_gazebo), ) # Bridge gazebo_bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", - parameters=[{"use_sim_time": use_sim_time}], + parameters=[{"use_sim_time": True}], arguments=[ "/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", + "/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU", ], output="screen", ) @@ -211,7 +156,7 @@ def generate_launch_description(): joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, diff_drive_controller_spawner, - ignition_launch_description, + OpaqueFunction(function=launch_gz), ignition_spawn_entity, gazebo_bridge, ] diff --git a/c300/c300_bringup/worlds/depot.sdf b/c300/c300_bringup/worlds/depot.sdf index fb27896..09bc5cf 100644 --- a/c300/c300_bringup/worlds/depot.sdf +++ b/c300/c300_bringup/worlds/depot.sdf @@ -23,7 +23,7 @@ - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Depot + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Depot diff --git a/c300/c300_description/urdf/c300_base.gazebo.xacro b/c300/c300_description/urdf/c300_base.gazebo.xacro index 0783b56..ade0133 100644 --- a/c300/c300_description/urdf/c300_base.gazebo.xacro +++ b/c300/c300_description/urdf/c300_base.gazebo.xacro @@ -7,13 +7,67 @@ $(arg simulation_controllers) controller_manager - /diff_drive_base_controller/cmd_vel_unstamped:=/cmd_vel + /diff_drive_base_controller/cmd_vel:=/cmd_vel_nav /diff_drive_base_controller/odom:=/odom ogre2 + + + + + + imu_link + /imu + 100 + 1 + false + false + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + @@ -23,7 +77,7 @@ 0.8 0.8 - 1 1 0 + 1 1 0 @@ -37,7 +91,7 @@ 0.8 0.8 - 1 1 0 + 1 1 0 diff --git a/c300/c300_description/urdf/c300_base.urdf.xacro b/c300/c300_description/urdf/c300_base.urdf.xacro index 9218ea3..0758056 100644 --- a/c300/c300_description/urdf/c300_base.urdf.xacro +++ b/c300/c300_description/urdf/c300_base.urdf.xacro @@ -202,5 +202,12 @@ + + + + + + + diff --git a/c300/c300_description/urdf/hokuyo.gazebo.xacro b/c300/c300_description/urdf/hokuyo.gazebo.xacro index c7dfffc..add6484 100644 --- a/c300/c300_description/urdf/hokuyo.gazebo.xacro +++ b/c300/c300_description/urdf/hokuyo.gazebo.xacro @@ -12,16 +12,6 @@ max_range:=30.0 robot_namespace:=/"> - - - - - - - - ${topic} diff --git a/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro b/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro index 44e26ce..b07c14c 100644 --- a/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro +++ b/c300/c300_description/urdf/hokuyo_uam05lp.urdf.xacro @@ -17,6 +17,13 @@ + + + + + @@ -32,6 +39,7 @@ + diff --git a/c300/c300_driver/config/f710.config.yaml b/c300/c300_driver/config/f710.config.yaml index 6cafbcc..fe0c028 100644 --- a/c300/c300_driver/config/f710.config.yaml +++ b/c300/c300_driver/config/f710.config.yaml @@ -1,19 +1,22 @@ # Logitech F710 teleop_twist_joy_node: ros__parameters: - axis_linear: # Forward/Back - x: 1 + publish_stamped_twist: true + frame: base_link + axis_linear: + x: 1 # Left joy forward/back axis index + axis_angular: + yaw: 3 # Right joy left/right axis index + + # max linear and angular velocity scale_linear: x: 1.0 - scale_linear_turbo: - x: 2.0 - - axis_angular: # Twist - yaw: 3 scale_angular: yaw: 0.8 + scale_linear_turbo: + x: 2.0 scale_angular_turbo: yaw: 2.0 - enable_button: 5 # Trigger - enable_turbo_button: 4 # Button 2 aka thumb button + enable_button: 5 # Right Trigger + enable_turbo_button: 4 # Left Trigger diff --git a/c300/c300_driver/launch/teleop.launch.py b/c300/c300_driver/launch/teleop.launch.py index b1f7593..11a3609 100644 --- a/c300/c300_driver/launch/teleop.launch.py +++ b/c300/c300_driver/launch/teleop.launch.py @@ -14,7 +14,9 @@ def generate_launch_description(): return launch.LaunchDescription( [ - launch.actions.DeclareLaunchArgument("joy_vel", default_value="/cmd_vel"), + launch.actions.DeclareLaunchArgument( + "joy_vel", default_value="/cmd_vel_nav" + ), launch.actions.DeclareLaunchArgument("joy_config", default_value="f710"), launch.actions.DeclareLaunchArgument( "joy_dev", default_value="/dev/input/js0" diff --git a/c300/c300_navigation/params/nav2_params_mppi.yaml b/c300/c300_navigation/params/nav2_params_mppi.yaml index 9250103..21c893d 100644 --- a/c300/c300_navigation/params/nav2_params_mppi.yaml +++ b/c300/c300_navigation/params/nav2_params_mppi.yaml @@ -1,6 +1,7 @@ amcl: ros__parameters: use_sim_time: True + enable_stamped_cmd_vel: True alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 @@ -46,73 +47,33 @@ amcl: bt_navigator: ros__parameters: - use_sim_time: True global_frame: map robot_base_frame: base_link odom_topic: /odom - default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" bt_loop_duration: 10 default_server_timeout: 20 - enable_groot_monitoring: True - groot_zmq_publisher_port: 1666 - groot_zmq_server_port: 1667 - plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + error_code_names: + - compute_path_error_code + - follow_path_error_code controller_server: ros__parameters: - use_sim_time: True - controller_frequency: 30.0 + controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 - progress_checker_plugin: "progress_checker" + progress_checker_plugins: ["progress_checker"] goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] + use_realtime_priority: false + enable_stamped_cmd_vel: True # Progress checker parameters progress_checker: @@ -132,30 +93,25 @@ controller_server: # vx_std increase was required to make the vehicle actually drive faster # as you decrease wz_std it makes the vehile drive better in a straight line but makes it not want to turn around when given goals behind its current pose # unknown why vy_max and vy_std are set for a diff drive vehicle - time_steps: 65 + time_steps: 56 model_dt: 0.05 - batch_size: 1500 - vx_std: 0.4 - vy_std: 0.2 - wz_std: 0.3 - vx_max: 1.0 - vx_min: -0.5 - vy_max: 0.5 + batch_size: 2000 + vx_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 wz_max: 1.9 iteration_count: 1 - prune_distance: 2.5 + prune_distance: 1.7 transform_tolerance: 0.1 temperature: 0.3 gamma: 0.015 motion_model: "DiffDrive" visualize: false - reset_period: 1.0 # (only in Humble) regenerate_noises: false TrajectoryVisualizer: trajectory_step: 5 time_step: 3 - AckermannConstraints: - min_turning_r: 0.2 critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] ConstraintCritic: enabled: true @@ -176,20 +132,18 @@ controller_server: # - this causes failures when operating in a narrow workspace and would crash the vehicle by forcing it to turn around when it can't! # increased threshold_to_consider to allow vehicle to back up over short distances enabled: true - cost_power: 2 - cost_weight: 4.0 - threshold_to_consider: 2.0 + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 ObstaclesCritic: enabled: true cost_power: 1 - repulsion_weight: 1.5 + repulsion_weight: 4.0 critical_weight: 20.0 - consider_footprint: false + consider_footprint: True collision_cost: 10000.0 collision_margin_distance: 0.1 near_goal_distance: 0.5 - inflation_radius: 0.55 # (only in Humble) - cost_scaling_factor: 10.0 # (only in Humble) PathAlignCritic: enabled: true cost_power: 1 @@ -206,11 +160,10 @@ controller_server: offset_from_furthest: 5 threshold_to_consider: 1.4 PathAngleCritic: - # increased offset_from_furthest to default value to help reduce the vehicle oscillating along the path enabled: true cost_power: 1 cost_weight: 2.0 - offset_from_furthest: 20 + offset_from_furthest: 4 threshold_to_consider: 0.5 max_angle_to_furthest: 1.0 mode: 0 @@ -222,22 +175,26 @@ controller_server: local_costmap: local_costmap: ros__parameters: + footprint_padding: 0.03 update_frequency: 5.0 publish_frequency: 2.0 global_frame: odom robot_base_frame: base_link - use_sim_time: True rolling_window: True - width: 10 - height: 10 + width: 3 + height: 3 resolution: 0.05 + transform_tolerance: 0.3 # Can either use the robot_radius or footprint parameter footprint: "[ [0.17, 0.33], [0.17, -0.33], [-0.74, -0.33], [-0.74, 0.33] ]" + mark_threshold: 2 + always_send_full_costmap: True plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" + enabled: True inflation_radius: 0.75 # Adjust inflation_radius to change how close robot comes to obstacles - cost_scaling_factor: 5.0 + cost_scaling_factor: 10.0 obstacle_layer: plugin: "nav2_costmap_2d::ObstacleLayer" enabled: True @@ -271,16 +228,17 @@ local_costmap: static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True - always_send_full_costmap: True global_costmap: global_costmap: ros__parameters: + footprint_padding: 0.0 update_frequency: 1.0 publish_frequency: 1.0 global_frame: map robot_base_frame: base_link use_sim_time: True + # The following is only used as a default when no map is specified. width: 20 height: 20 rolling_window: True @@ -328,9 +286,10 @@ planner_server: ros__parameters: expected_planner_frequency: 20.0 use_sim_time: True + enable_stamped_cmd_vel: True planner_plugins: ["GridBased"] GridBased: - plugin: "nav2_navfn_planner/NavfnPlanner" + plugin: "nav2_navfn_planner::NavfnPlanner" tolerance: 0.5 use_astar: false allow_unknown: true @@ -338,6 +297,7 @@ planner_server: smoother_server: ros__parameters: use_sim_time: True + enable_stamped_cmd_vel: True smoother_plugins: ["simple_smoother"] simple_smoother: plugin: "nav2_smoother::SimpleSmoother" @@ -347,26 +307,31 @@ smoother_server: behavior_server: ros__parameters: - costmap_topic: local_costmap/costmap_raw - footprint_topic: local_costmap/published_footprint + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint cycle_frequency: 10.0 - behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_behaviors::Spin" backup: - plugin: "nav2_behaviors/BackUp" + plugin: "nav2_behaviors::BackUp" drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_behaviors::DriveOnHeading" wait: - plugin: "nav2_behaviors/Wait" - global_frame: odom + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map robot_base_frame: base_link transform_tolerance: 0.1 - use_sim_time: True simulate_ahead_time: 2.0 max_rotational_vel: 1.0 min_rotational_vel: 0.4 rotational_acc_lim: 3.2 + enable_stamped_cmd_vel: True robot_state_publisher: ros__parameters: @@ -374,9 +339,9 @@ robot_state_publisher: waypoint_follower: ros__parameters: - use_sim_time: True loop_rate: 20 stop_on_failure: false + action_server_result_timeout: 900.0 waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" @@ -389,11 +354,90 @@ velocity_smoother: smoothing_frequency: 20.0 scale_velocities: False feedback: "CLOSED_LOOP" - max_velocity: [1.0, 0.0, 0.8] # [x, y, theta] - min_velocity: [-1.0, 0.0, -0.8] # [x, y, theta] - max_accel: [1.0, 0.0, 1.0] - max_decel: [-1.0, 0.0, -1.0] + max_velocity: [1.0, 0.0, 1.0] # [x, y, theta] + min_velocity: [-1.0, 0.0, -1.0] # [x, y, theta] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] odom_topic: "odom" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] velocity_timeout: 1.0 + enable_stamped_cmd_vel: True + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + enable_stamped_cmd_vel: True + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_link" + fixed_frame: "odom" + dock_backwards: false + dock_prestaging_tolerance: 0.5 + enable_stamped_cmd_vel: True + + # Types of docks + dock_plugins: ['simple_charging_dock'] + simple_charging_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + docks: ['home_dock'] # Input your docks here + home_dock: + type: 'simple_charging_dock' + frame: map + pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 diff --git a/c3pzero/c3pzero_description/urdf/meshes/tote.dae b/c3pzero/c3pzero_description/urdf/meshes/tote.dae new file mode 100644 index 0000000..bcc9a22 --- /dev/null +++ b/c3pzero/c3pzero_description/urdf/meshes/tote.dae @@ -0,0 +1,110 @@ + + + + + Blender User + Blender 4.2.3 LTS commit date:2024-10-14, commit time:15:20, hash:0e22e4fcea03 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40309 6703 13420 40310 6675 13422 40311 6703 15671 40312 6704 13423 40313 6677 13425 40314 6704 15672 40315 6705 13426 40316 6679 13428 40317 6705 15673 40318 6706 13429 40319 6706 13431 40320 6707 15674 40321 6683 13432 40322 6707 13434 40323 6708 15675 40324 6685 13435 40325 6708 13437 40326 6709 15676 40327 6687 13438 40328 6709 13440 40329 6710 15677 40330 6689 13441 40331 6689 13443 40332 6710 15678 40333 6711 13444 40334 6691 13446 40335 6711 15679 40336 6712 13447 40337 6693 13449 40338 6712 15680 40339 6713 13450 40340 6695 13452 40341 6713 15681 40342 6697 13453 40343 2624 2231 40344 6640 13277 40345 6641 13278 40346 5625 8233 40347 6636 13273 40348 6637 13274 40349 5624 11120 40350 6648 13285 40351 6633 13271 40352 6645 13282 40353 5624 11120 40354 2623 5138 40355 977 2232 40356 978 2098 40357 6528 13061 40358 6532 13064 40359 6531 13063 40360 978 2098 40361 4125 2113 40362 4126 8115 40363 6520 13053 40364 4126 8115 40365 977 2232 40366 6524 13056 40367

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + \ No newline at end of file From 06a2209046c499f2986a04205d280d9b0e057ae8 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sat, 30 Nov 2024 10:16:44 -0700 Subject: [PATCH 03/11] simplify starting gazebo controllers --- .../c300_bringup/launch/gazebo_c300.launch.py | 25 +++++++++---------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py index 4dab527..a206e0a 100644 --- a/c300/c300_bringup/launch/gazebo_c300.launch.py +++ b/c300/c300_bringup/launch/gazebo_c300.launch.py @@ -92,26 +92,26 @@ def generate_launch_description(): condition=IfCondition(launch_rviz), ) - joint_state_broadcaster_spawner = Node( + controller_spawner = Node( package="controller_manager", executable="spawner", - arguments=["joint_state_broadcaster"], + parameters=[{"use_sim_time": True}], + arguments=[ + "diff_drive_base_controller", + "joint_state_broadcaster", + "--controller-manager", + "/controller_manager", + ], ) # Delay rviz start after `joint_state_broadcaster` - delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + delay_rviz_after_controller_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, + target_action=controller_spawner, on_exit=[rviz_node], ) ) - diff_drive_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=["diff_drive_base_controller", "-c", "/controller_manager"], - ) - ignition_spawn_entity = Node( package="ros_gz_sim", executable="create", @@ -153,9 +153,8 @@ def generate_launch_description(): nodes_to_start = [ robot_state_publisher_node, - joint_state_broadcaster_spawner, - delay_rviz_after_joint_state_broadcaster_spawner, - diff_drive_controller_spawner, + controller_spawner, + delay_rviz_after_controller_spawner, OpaqueFunction(function=launch_gz), ignition_spawn_entity, gazebo_bridge, From d4ba78787e03131571ce7900e3d9b725463c4518 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sat, 30 Nov 2024 10:18:17 -0700 Subject: [PATCH 04/11] pre-commit --- c3pzero/c3pzero_description/urdf/meshes/tote.dae | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/c3pzero/c3pzero_description/urdf/meshes/tote.dae b/c3pzero/c3pzero_description/urdf/meshes/tote.dae index bcc9a22..317ace9 100644 --- a/c3pzero/c3pzero_description/urdf/meshes/tote.dae +++ b/c3pzero/c3pzero_description/urdf/meshes/tote.dae @@ -107,4 +107,4 @@ - \ No newline at end of file + From 811386a6b420229d165f1f67d91d69da7d60e173 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sat, 30 Nov 2024 15:55:33 -0700 Subject: [PATCH 05/11] update c3pzero_description to dual arm piper --- .../c300_bringup/launch/gazebo_c300.launch.py | 2 +- .../urdf/c300.ros2_control.xacro | 6 +- .../urdf/c300_base.urdf.xacro | 6 +- c300/c300_driver/setup.py | 4 +- .../config/c3pzero_gz_controllers.yaml | 15 +- c3pzero/c3pzero_description/COLCON_IGNORE | 0 .../launch/view_urdf.launch.xml | 13 + c3pzero/c3pzero_description/package.xml | 8 +- .../c3pzero_description/rviz/robot_urdf.rviz | 404 ++++++++++++++++++ .../c3pzero_description/rviz/view_urdf.rviz | 180 -------- ...gen3.gazebo.xacro => c3pzero.gazebo.xacro} | 0 .../urdf/c3pzero.urdf.xacro | 128 ++++++ .../urdf/c3pzero_kinova_gen3.xacro | 115 ----- 13 files changed, 568 insertions(+), 313 deletions(-) delete mode 100644 c3pzero/c3pzero_description/COLCON_IGNORE create mode 100644 c3pzero/c3pzero_description/launch/view_urdf.launch.xml create mode 100644 c3pzero/c3pzero_description/rviz/robot_urdf.rviz delete mode 100644 c3pzero/c3pzero_description/rviz/view_urdf.rviz rename c3pzero/c3pzero_description/urdf/{c3pzero_kinova_gen3.gazebo.xacro => c3pzero.gazebo.xacro} (100%) create mode 100644 c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro delete mode 100644 c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.xacro diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py index a206e0a..1e5e934 100644 --- a/c300/c300_bringup/launch/gazebo_c300.launch.py +++ b/c300/c300_bringup/launch/gazebo_c300.launch.py @@ -42,7 +42,7 @@ def launch_gz(context: LaunchContext): def generate_launch_description(): declared_arguments = [] declared_arguments.append( - DeclareLaunchArgument("rviz", default_value="true", description="Launch RViz?") + DeclareLaunchArgument("rviz", default_value="false", description="Launch RViz?") ) declared_arguments.append( DeclareLaunchArgument( diff --git a/c300/c300_description/urdf/c300.ros2_control.xacro b/c300/c300_description/urdf/c300.ros2_control.xacro index 69bf75d..ec1405d 100644 --- a/c300/c300_description/urdf/c300.ros2_control.xacro +++ b/c300/c300_description/urdf/c300.ros2_control.xacro @@ -3,7 +3,7 @@ ${isaac_joint_states} true - - fake_components/GenericSystem + + mock_components/GenericSystem ${fake_sensor_commands} 0.0 diff --git a/c300/c300_description/urdf/c300_base.urdf.xacro b/c300/c300_description/urdf/c300_base.urdf.xacro index 0758056..635b76a 100644 --- a/c300/c300_description/urdf/c300_base.urdf.xacro +++ b/c300/c300_description/urdf/c300_base.urdf.xacro @@ -7,18 +7,18 @@ sim_gazebo:=false isaac_joint_commands:=/isaac_joint_commands isaac_joint_states:=/isaac_joint_states - use_fake_hardware:=false"> + mock_hardware:=false"> - + + + + + + + + + + + + diff --git a/c3pzero/c3pzero_description/package.xml b/c3pzero/c3pzero_description/package.xml index 38a9014..9429b52 100644 --- a/c3pzero/c3pzero_description/package.xml +++ b/c3pzero/c3pzero_description/package.xml @@ -3,18 +3,20 @@ c3pzero_description 1.0.0 - URDF for c3pzero mobile manipulator + URDF description for the c3pzero mobile manipulator Marq Rasmussen BSD ament_cmake c300_description - joint_state_publisher - kortex_description + joint_state_publisher_gui + launch + launch_ros robot_state_publisher realsense2_description rviz2 + urdf xacro ament_lint_auto diff --git a/c3pzero/c3pzero_description/rviz/robot_urdf.rviz b/c3pzero/c3pzero_description/rviz/robot_urdf.rviz new file mode 100644 index 0000000..5b60cb1 --- /dev/null +++ b/c3pzero/c3pzero_description/rviz/robot_urdf.rviz @@ -0,0 +1,404 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 795 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_arm_tool_0: + Alpha: 1 + Show Axes: false + Show Trail: false + left_armbase_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armgripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armleft_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armlink_6: + Alpha: 1 + Show Axes: false + Show Trail: false + left_armright_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_armtool_0: + Alpha: 1 + Show Axes: false + Show Trail: false + lr_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + platform_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_arm_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rr_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tote_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_laser: + Value: true + base_laser_mount: + Value: true + base_link: + Value: true + drivewhl_l_link: + Value: true + drivewhl_r_link: + Value: true + imu_link: + Value: true + left_arm_base_link: + Value: true + left_arm_gripper_base_link: + Value: true + left_arm_left_finger: + Value: true + left_arm_link_1: + Value: true + left_arm_link_2: + Value: true + left_arm_link_3: + Value: true + left_arm_link_4: + Value: true + left_arm_link_5: + Value: true + left_arm_link_6: + Value: true + left_arm_mount_link: + Value: true + left_arm_right_finger: + Value: true + left_arm_tool_0: + Value: true + left_armbase_link: + Value: true + left_armgripper_base_link: + Value: true + left_armleft_finger: + Value: true + left_armlink_1: + Value: true + left_armlink_2: + Value: true + left_armlink_3: + Value: true + left_armlink_4: + Value: true + left_armlink_5: + Value: true + left_armlink_6: + Value: true + left_armright_finger: + Value: true + left_armtool_0: + Value: true + lr_caster: + Value: true + platform_link: + Value: true + right_arm_mount_link: + Value: true + rr_caster: + Value: true + tote_link: + Value: true + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: false + Show Axes: true + Show Names: false + Tree: + base_link: + base_footprint: + {} + base_laser_mount: + base_laser: + {} + drivewhl_l_link: + {} + drivewhl_r_link: + {} + imu_link: + {} + lr_caster: + {} + platform_link: + left_arm_mount_link: + left_arm_base_link: + left_arm_link_1: + left_arm_link_2: + left_arm_link_3: + left_arm_link_4: + left_arm_link_5: + left_arm_link_6: + left_arm_tool_0: + left_arm_gripper_base_link: + left_arm_left_finger: + {} + left_arm_right_finger: + {} + right_arm_mount_link: + left_armbase_link: + left_armlink_1: + left_armlink_2: + left_armlink_3: + left_armlink_4: + left_armlink_5: + left_armlink_6: + left_armtool_0: + left_armgripper_base_link: + left_armleft_finger: + {} + left_armright_finger: + {} + rr_caster: + {} + tote_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 214; 214; 214 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.8022266626358032 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.24028433859348297 + Y: -0.039687931537628174 + Z: 0.40212562680244446 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.36479753255844116 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9254047870635986 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1043 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000001000000000000015a000003b1fc0200000001fb000000100044006900730070006c0061007900730100000044000003b1000000eb00ffffff0000039f000003b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Width: 1280 + X: 1280 + Y: 34 diff --git a/c3pzero/c3pzero_description/rviz/view_urdf.rviz b/c3pzero/c3pzero_description/rviz/view_urdf.rviz deleted file mode 100644 index b917904..0000000 --- a/c3pzero/c3pzero_description/rviz/view_urdf.rviz +++ /dev/null @@ -1,180 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 820 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 0.800000011920929 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drivewhl_l_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - drivewhl_r_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lidar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lr_caster: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rr_caster: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - drivewhl_l_link: - Value: true - drivewhl_r_link: - Value: true - lidar_link: - Value: true - lr_caster: - Value: true - rr_caster: - Value: true - Marker Scale: 0.5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - base_link: - base_footprint: - {} - drivewhl_l_link: - {} - drivewhl_r_link: - {} - lidar_link: - {} - lr_caster: - {} - rr_caster: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 214; 214; 214 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 1.6322333812713623 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.07150860130786896 - Y: 0.08466397970914841 - Z: -0.035206809639930725 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5197972655296326 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.6004047393798828 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1043 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000010000000000000156000003bdfc0200000001fb000000100044006900730070006c006100790073010000003b000003bd000000c700ffffff000003a4000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1280 - X: 1920 - Y: 0 diff --git a/c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.gazebo.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro similarity index 100% rename from c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.gazebo.xacro rename to c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro diff --git a/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro new file mode 100644 index 0000000..a3f7d54 --- /dev/null +++ b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro @@ -0,0 +1,128 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.xacro b/c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.xacro deleted file mode 100644 index d3ba09d..0000000 --- a/c3pzero/c3pzero_description/urdf/c3pzero_kinova_gen3.xacro +++ /dev/null @@ -1,115 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 8662603953b75bc17b64ba1d81bec6413cfe83d7 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sat, 30 Nov 2024 17:37:46 -0700 Subject: [PATCH 06/11] add wrist cameras --- c300/c300_driver/setup.py | 2 +- c3pzero/c3pzero_description/CMakeLists.txt | 23 ----- c3pzero/c3pzero_description/package.xml | 1 + .../urdf/c3pzero.gazebo.xacro | 96 ++++--------------- .../urdf/c3pzero.urdf.xacro | 85 ++++++---------- .../c3pzero_description/urdf/meshes/tote.dae | 42 ++++---- .../urdf/wrist_realsense.urdf.xacro | 47 +++++++++ 7 files changed, 117 insertions(+), 179 deletions(-) create mode 100644 c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro diff --git a/c300/c300_driver/setup.py b/c300/c300_driver/setup.py index 61a5deb..bba8cdf 100644 --- a/c300/c300_driver/setup.py +++ b/c300/c300_driver/setup.py @@ -8,7 +8,7 @@ setup( name=package_name, version="0.0.1", - packages=find_packages(exclude=['test']), + packages=find_packages(exclude=["test"]), data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), ("share/" + package_name, ["package.xml"]), diff --git a/c3pzero/c3pzero_description/CMakeLists.txt b/c3pzero/c3pzero_description/CMakeLists.txt index fbfaecf..ecf3a00 100644 --- a/c3pzero/c3pzero_description/CMakeLists.txt +++ b/c3pzero/c3pzero_description/CMakeLists.txt @@ -1,34 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(c3pzero_description) -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) install( DIRECTORY urdf launch rviz DESTINATION share/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/c3pzero/c3pzero_description/package.xml b/c3pzero/c3pzero_description/package.xml index 9429b52..a1f09d8 100644 --- a/c3pzero/c3pzero_description/package.xml +++ b/c3pzero/c3pzero_description/package.xml @@ -15,6 +15,7 @@ launch_ros robot_state_publisher realsense2_description + realsense2_gz_description rviz2 urdf xacro diff --git a/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro index 8ebd133..fd23ed7 100644 --- a/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro +++ b/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro @@ -1,80 +1,26 @@ - + - - - - 1.047 - - 640 - 480 - RGB_INT8 - - - 0.1 - 5 - - - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 -
0.5 0.5
- - - - 554.25469 - 554.25469 - 320.5 - 240.5 - 0 - - - 554.25469 - 554.25469 - 320.5 - 240.5 - 0 - 0 - - - - gaussian - 0 - 0.00 - - - - 0.1 - 5 - - - wrist_mounted_camera_color_optical_frame - - wrist_mounted_camera_color_frame - 1 - 6 - false - rgbd_camera - false - - - segmentation - - instance - 1.047 - - 640 - 480 - - - 0.1 - 5 - - - 6 - + + + + + + ${simulation_controllers} + controller_manager + + + ogre2 + + + diff --git a/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro index a3f7d54..16d288b 100644 --- a/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro +++ b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro @@ -11,7 +11,7 @@ - + @@ -26,81 +26,54 @@ isaac_joint_states="/isaac_joint_states" mock_hardware="false"/> - - - - - + + + + + - - - - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + @@ -119,10 +92,10 @@ - - - - + + + + diff --git a/c3pzero/c3pzero_description/urdf/meshes/tote.dae b/c3pzero/c3pzero_description/urdf/meshes/tote.dae index 317ace9..54d7ab9 100644 --- a/c3pzero/c3pzero_description/urdf/meshes/tote.dae +++ b/c3pzero/c3pzero_description/urdf/meshes/tote.dae @@ -3,10 +3,10 @@ Blender User - Blender 4.2.3 LTS commit date:2024-10-14, commit time:15:20, hash:0e22e4fcea03 + Blender 4.3.0 commit date:2024-11-19, commit time:08:52, hash:2b18cad88b13 - 2024-11-05T18:38:07 - 2024-11-05T18:38:07 + 2024-11-30T17:11:24 + 2024-11-30T17:11:24 Z_UP @@ -42,7 +42,7 @@ - 0.2816098 -0.2 0.2202937 0.2845417 -0.1998708 0.2202937 0.2845417 -0.1998708 0.2194584 0.2816098 -0.2 0.2194584 0.287112 -0.1995329 0.2202937 0.287112 -0.1995329 0.2194584 0.2899303 -0.1986777 0.2202937 0.2899304 -0.1986781 0.2194584 0.2924025 -0.1974762 0.2202937 0.2924023 -0.1974768 0.2194584 0.2942591 -0.1962749 0.2202937 0.2949125 -0.1957018 0.2194586 0.2962514 -0.1942858 0.2202937 0.2956898 -0.1949211 0.2194589 0.2811783 -0.1869883 0.2009956 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2179 4263 27861 2153 4262 27862 1505 3095 27863 2013 4265 27864 1504 13949 27865 2178 4261 27866 2185 4267 27867 2184 14142 27868 2183 4268 27869 2188 4270 27870 2187 14143 27871 2186 4271 27872 2190 4273 27873 2193 14144 27874 2192 4274 27875 2197 4276 27876 2196 14145 27877 2195 4277 27878 2199 4281 27879 2011 14146 27880 1511 4282 27881 2182 4285 27882 2183 14147 27883 2020 4286 27884 2188 4288 27885 2189 14148 27886 2014 4289 27887 2148 4291 27888 2200 14149 27889 2198 4292 27890 2159 4298 27891 2186 14150 27892 2187 4299 27893 2187 4302 27894 2188 14151 27895 2149 4303 27896 2194 4307 27897 2195 14152 27898 2173 4308 27899 2152 4311 27900 2197 14153 27901 2194 4312 27902 2205 4314 27903 2191 14154 27904 2192 4315 27905 2203 4317 27906 2207 14155 27907 2175 4318 27908 2193 4324 27909 2190 14156 27910 2208 4325 27911 2192 4328 27912 2193 14157 27913 2177 4329 27914 2207 4331 27915 2210 14158 27916 2209 4332 27917 2184 4334 27918 2180 14159 27919 1505 4335 27920 2189 4337 27921 2186 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11206 3479 5714 11207 3482 5715 11208 3483 5716 11209 3481 5717 11210 3484 5718 11211 3485 5719 11212 3483 5720 11213 3486 5721 11214 3487 5722 11215 3485 5723 11216 3488 5724 11217 3489 5725 11218 3487 5726 11219 3490 5727 11220 3491 5728 11221 3489 5729 11222 3492 5730 11223 3465 5731 11224 3491 5732 11225 3485 5733 11226 3405 5734 11227 3406 5735 11228 3487 5736 11229 3407 5737 11230 3405 5738 11231 3489 5739 11232 3493 5740 11233 3407 5741 11234 3491 5742 11235 3494 5743 11236 3493 5744 11237 3465 5745 11238 3410 5746 11239 3494 5747 11240 3469 5748 11241 3413 5749 11242 3409 5750 11243 3466 5751 11244 3409 5752 11245 3410 5753 11246 3471 5754 11247 3412 5755 11248 3413 5756 11249 3473 5757 11250 3495 5758 11251 3412 5759 11252 3475 5760 11253 3496 5761 11254 3495 5762 11255 3477 5763 11256 3415 5764 11257 3496 5765 11258 3479 5766 11259 3414 5767 11260 3415 5768 11261 3481 5769 11262 3416 5770 11263 3414 5771 11264 3483 5772 11265 3406 5773 11266 3416 5774 11267 3474 5775 11268 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 - + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - + + + + + + + + + diff --git a/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro b/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro new file mode 100644 index 0000000..6afc213 --- /dev/null +++ b/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + From 5767e4b965eabe1c26034f65f8b62aca12b45f82 Mon Sep 17 00:00:00 2001 From: marqrazz Date: Sun, 1 Dec 2024 10:04:27 -0700 Subject: [PATCH 07/11] c3pzero dual arm workin in Gazebo --- README.md | 8 +- c300/c300_bringup/CMakeLists.txt | 19 -- .../c300_bringup/launch/gazebo_c300.launch.py | 10 +- .../rviz/{bringup_config.rviz => c300.rviz} | 0 c300/c300_description/CMakeLists.txt | 20 -- .../launch/view_base_urdf.launch.py | 2 +- ...00_base.gazebo.xacro => c300.gazebo.xacro} | 14 +- c300/c300_description/urdf/c300.urdf.xacro | 26 ++ c300/c300_description/urdf/c300_base.urdf | 19 -- ...{c300_base.urdf.xacro => c300_macro.xacro} | 4 +- c3pzero.repos | 26 +- c3pzero/README.md | 71 +++-- c3pzero/c3pzero_bringup/CMakeLists.txt | 20 -- c3pzero/c3pzero_bringup/COLCON_IGNORE | 0 .../config/c3pzero_gz_controllers.yaml | 59 +++- .../config/c3pzero_isaac_controllers.yaml | 68 ++++- .../launch/gazebo_c3pzero.launch.py | 224 ++++++--------- .../{bringup_config.rviz => c3pzero.rviz} | 244 ++++++++++------ .../launch/view_robot_urdf.launch.py | 56 ---- .../c3pzero_description/rviz/robot_urdf.rviz | 264 ++++++++---------- .../urdf/c3pzero.gazebo.xacro | 26 -- .../urdf/c3pzero.urdf.xacro | 19 +- .../urdf/wrist_realsense.urdf.xacro | 4 +- c3pzero_ssh.repos | 26 +- doc/c3pzero.png | Bin 716951 -> 0 bytes doc/c3pzero_urdf.png | Bin 158615 -> 122800 bytes doc/installation.md | 42 --- doc/setup.md | 23 ++ 28 files changed, 594 insertions(+), 700 deletions(-) rename c300/c300_bringup/rviz/{bringup_config.rviz => c300.rviz} (100%) rename c300/c300_description/urdf/{c300_base.gazebo.xacro => c300.gazebo.xacro} (86%) create mode 100644 c300/c300_description/urdf/c300.urdf.xacro delete mode 100644 c300/c300_description/urdf/c300_base.urdf rename c300/c300_description/urdf/{c300_base.urdf.xacro => c300_macro.xacro} (97%) delete mode 100644 c3pzero/c3pzero_bringup/COLCON_IGNORE rename c3pzero/c3pzero_bringup/rviz/{bringup_config.rviz => c3pzero.rviz} (63%) delete mode 100644 c3pzero/c3pzero_description/launch/view_robot_urdf.launch.py delete mode 100644 c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro delete mode 100644 doc/c3pzero.png delete mode 100644 doc/installation.md create mode 100644 doc/setup.md diff --git a/README.md b/README.md index 623e14f..adacb44 100644 --- a/README.md +++ b/README.md @@ -2,9 +2,9 @@ [![Format Status](https://github.com/MarqRazz/c3pzero/actions/workflows/format.yaml/badge.svg)](https://github.com/MarqRazz/c3pzero/actions/workflows/format.yaml) -Description: This is a ROS 2 package for the C3pzero robot which consists of a Permobile C300 diff drive base and Kinova Gen3 manipulator. This Package support the physical hardware, Ignition Gazebo and Nvidia Isaac simulation. +Description: This is a ROS 2 package for the c3pzero robot which consists of a Permobile C300 diff drive base and dual arm manipulators. This Package support the physical hardware, Gazebo and Nvidia Isaac simulation. - + @@ -12,8 +12,8 @@ https://github.com/MarqRazz/c3pzero/assets/25058794/35301ba1-e443-44ff-b6ba-0fab ## Documentation -- [Installation](doc/installation.md) +- [Setup](doc/setup.md) - [User Guide](doc/user.md) - [Developers Guide](doc/developer.md) -- [c3pzero Simulation hand hardware Bringup Guide](c3pzero_bringup/README.md) +- [c3pzero Mobile Manipulator Guide](c3pzero/README.md) - [C300 Mobile Base Guide](c300/README.md) diff --git a/c300/c300_bringup/CMakeLists.txt b/c300/c300_bringup/CMakeLists.txt index 7732805..e51fba1 100644 --- a/c300/c300_bringup/CMakeLists.txt +++ b/c300/c300_bringup/CMakeLists.txt @@ -1,21 +1,6 @@ cmake_minimum_required(VERSION 3.5) project(c300_bringup) -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies find_package(ament_cmake REQUIRED) install( @@ -23,9 +8,5 @@ install( DESTINATION share/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() ament_package() diff --git a/c300/c300_bringup/launch/gazebo_c300.launch.py b/c300/c300_bringup/launch/gazebo_c300.launch.py index 1e5e934..9954d64 100644 --- a/c300/c300_bringup/launch/gazebo_c300.launch.py +++ b/c300/c300_bringup/launch/gazebo_c300.launch.py @@ -54,7 +54,7 @@ def generate_launch_description(): launch_rviz = LaunchConfiguration("rviz") rviz_config_file = PathJoinSubstitution( - [FindPackageShare("c300_bringup"), "rviz", "bringup_config.rviz"] + [FindPackageShare("c300_bringup"), "rviz", "c300.rviz"] ) robot_description_content = Command( @@ -62,7 +62,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("c300_description"), "urdf", "c300_base.urdf"] + [FindPackageShare("c300_description"), "urdf", "c300.urdf.xacro"] ), " ", "sim_gazebo:=true", @@ -104,7 +104,7 @@ def generate_launch_description(): ], ) - # Delay rviz start after `joint_state_broadcaster` + # Delay rviz start after `controller_spawner` delay_rviz_after_controller_spawner = RegisterEventHandler( event_handler=OnProcessExit( target_action=controller_spawner, @@ -112,7 +112,7 @@ def generate_launch_description(): ) ) - ignition_spawn_entity = Node( + gazebo_spawn_entity = Node( package="ros_gz_sim", executable="create", output="screen", @@ -156,7 +156,7 @@ def generate_launch_description(): controller_spawner, delay_rviz_after_controller_spawner, OpaqueFunction(function=launch_gz), - ignition_spawn_entity, + gazebo_spawn_entity, gazebo_bridge, ] diff --git a/c300/c300_bringup/rviz/bringup_config.rviz b/c300/c300_bringup/rviz/c300.rviz similarity index 100% rename from c300/c300_bringup/rviz/bringup_config.rviz rename to c300/c300_bringup/rviz/c300.rviz diff --git a/c300/c300_description/CMakeLists.txt b/c300/c300_description/CMakeLists.txt index 0174aaa..21c5a4f 100644 --- a/c300/c300_description/CMakeLists.txt +++ b/c300/c300_description/CMakeLists.txt @@ -1,21 +1,6 @@ cmake_minimum_required(VERSION 3.5) project(c300_description) -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies find_package(ament_cmake REQUIRED) install( @@ -23,9 +8,4 @@ install( DESTINATION share/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/c300/c300_description/launch/view_base_urdf.launch.py b/c300/c300_description/launch/view_base_urdf.launch.py index 5fb3364..2e0687a 100644 --- a/c300/c300_description/launch/view_base_urdf.launch.py +++ b/c300/c300_description/launch/view_base_urdf.launch.py @@ -15,7 +15,7 @@ def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare( package="c300_description" ).find("c300_description") - default_model_path = os.path.join(pkg_share, "urdf/c300_base.urdf") + default_model_path = os.path.join(pkg_share, "urdf/c300.urdf.xacro") default_rviz_config_path = os.path.join(pkg_share, "rviz/view_urdf.rviz") robot_state_publisher_node = launch_ros.actions.Node( diff --git a/c300/c300_description/urdf/c300_base.gazebo.xacro b/c300/c300_description/urdf/c300.gazebo.xacro similarity index 86% rename from c300/c300_description/urdf/c300_base.gazebo.xacro rename to c300/c300_description/urdf/c300.gazebo.xacro index ade0133..702a652 100644 --- a/c300/c300_description/urdf/c300_base.gazebo.xacro +++ b/c300/c300_description/urdf/c300.gazebo.xacro @@ -1,10 +1,17 @@ - + + + + - - $(arg simulation_controllers) + ${simulation_controllers} controller_manager /diff_drive_base_controller/cmd_vel:=/cmd_vel_nav @@ -125,4 +132,5 @@ + diff --git a/c300/c300_description/urdf/c300.urdf.xacro b/c300/c300_description/urdf/c300.urdf.xacro new file mode 100644 index 0000000..fc8d72b --- /dev/null +++ b/c300/c300_description/urdf/c300.urdf.xacro @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/c300/c300_description/urdf/c300_base.urdf b/c300/c300_description/urdf/c300_base.urdf deleted file mode 100644 index a047912..0000000 --- a/c300/c300_description/urdf/c300_base.urdf +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/c300/c300_description/urdf/c300_base.urdf.xacro b/c300/c300_description/urdf/c300_macro.xacro similarity index 97% rename from c300/c300_description/urdf/c300_base.urdf.xacro rename to c300/c300_description/urdf/c300_macro.xacro index 635b76a..85b7d9f 100644 --- a/c300/c300_description/urdf/c300_base.urdf.xacro +++ b/c300/c300_description/urdf/c300_macro.xacro @@ -15,7 +15,7 @@ - + - - diff --git a/c3pzero.repos b/c3pzero.repos index 448dc08..aa55da1 100644 --- a/c3pzero.repos +++ b/c3pzero.repos @@ -1,25 +1,9 @@ repositories: - topic_based_ros2_control: + piper_ros2: type: git - url: https://github.com/PickNikRobotics/topic_based_ros2_control.git - version: main - ros2_kortex: - type: git - url: https://github.com/Kinovarobotics/ros2_kortex.git - version: main - ros2_controllers: + url: https://github.com/MarqRazz/piper_ros2.git + version: jazzy + realsense2_gz_description: type: git - url: https://github.com/MarqRazz/ros2_controllers.git - version: fix_diff_drive_odom - realsense-ros: - type: git - url: https://github.com/MarqRazz/realsense-ros.git - version: ros2-development - ros2_robotiq_gripper: - type: git - url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git + url: https://github.com/locusrobotics/realsense2_gz_description.git version: main - serial: - type: git - url: https://github.com/tylerjw/serial.git - version: ros2 diff --git a/c3pzero/README.md b/c3pzero/README.md index eea28a6..052fd81 100644 --- a/c3pzero/README.md +++ b/c3pzero/README.md @@ -1,74 +1,83 @@ -# c3pzero Mobile Robot +# c3pzero Mobile Manipulator -## To view the robots URDF in Rviz you can use the following launch file: +### To view the robots URDF in Rviz you can use the following launch file: ``` bash -ros2 launch c3pzero_description view_robot_urdf.launch.py +ros2 launch c3pzero_description view_urdf.launch.xml ``` -## To start the `c3pzero` mobile robot in Gazebo run the following command: +### To start the `c3pzero` mobile robot in Gazebo run the following command: ``` bash -ros2 launch c3pzero_bringup gazebo_c3pzero.launch.py launch _rviz:=false +ros2 launch c3pzero_bringup gazebo_c3pzero.launch.py headless:=false rviz:=true ``` -## To start the `c3pzero` mobile robot in Isaac run the following commands: -From the `c3pzero_description/usd` folder on the host start the robot in Isaac Sim -``` bash -./python.sh isaac_c3pzero.py -``` -Inside the `c3pzero` Docker container start the robot controllers -``` bash -ros2 launch c3pzero_bringup gazebo_c3pzero.launch.py launch _rviz:=false -``` - -## To start MoveIt to control the simulated robot run the following command: +### To start MoveIt to control the simulated robot run the following command: ``` bash ros2 launch c3pzero_moveit_config move_group.launch.py ``` -## To test out the controllers in simulation you can run the following commands: +### To test out the controllers in simulation you can run the following commands: -- Arm home pose +- Example arm pose +``` bash +ros2 topic pub /right_arm_jtc/joint_trajectory trajectory_msgs/JointTrajectory "{ + joint_names: [right_arm_joint_1, right_arm_joint_2, right_arm_joint_3, right_arm_joint_4, right_arm_joint_5, right_arm_joint_6, ], + points: [ + { positions: [-0.2, 0.85, -0.75, 0.0, 0.5, 0.0], time_from_start: { sec: 1 } }, + ] +}" -1 +``` ``` bash -ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ - joint_names: [gen3_joint_1, gen3_joint_2, gen3_joint_3, gen3_joint_4, gen3_joint_5, gen3_joint_6, gen3_joint_7], +ros2 topic pub /left_arm_jtc/joint_trajectory trajectory_msgs/JointTrajectory "{ + joint_names: [left_arm_joint_1, left_arm_joint_2, left_arm_joint_3, left_arm_joint_4, left_arm_joint_5, left_arm_joint_6, ], points: [ - { positions: [0.0, 0.26, 3.14, -2.27, 0.0, 0.96, 1.57], time_from_start: { sec: 2 } }, + { positions: [-2.0, 0.85, -1.0, 0.0, 1.2, 0.0], time_from_start: { sec: 1 } }, ] }" -1 ``` - Arm retracted pose ``` bash -ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/JointTrajectory "{ - joint_names: [gen3_joint_1, gen3_joint_2, gen3_joint_3, gen3_joint_4, gen3_joint_5, gen3_joint_6, gen3_joint_7], +ros2 topic pub /right_arm_jtc/joint_trajectory trajectory_msgs/JointTrajectory "{ + joint_names: [right_arm_joint_1, right_arm_joint_2, right_arm_joint_3, right_arm_joint_4, right_arm_joint_5, right_arm_joint_6, ], points: [ - { positions: [0.0, -0.35, 3.14, -2.54, 0.0, -0.87, 1.57], time_from_start: { sec: 2 } }, + { positions: [-0.2, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 1 } }, + ] +}" -1 +``` +``` bash +ros2 topic pub /left_arm_jtc/joint_trajectory trajectory_msgs/JointTrajectory "{ + joint_names: [left_arm_joint_1, left_arm_joint_2, left_arm_joint_3, left_arm_joint_4, left_arm_joint_5, left_arm_joint_6, ], + points: [ + { positions: [0.2, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 1 } }, ] }" -1 ``` -- GripperActionController (Open position: 0, Closed: 0.8) +- GripperActionController (Closed position: 0.0, Open: 0.38) +``` bash +ros2 action send_goal /right_arm_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {name: [gripper_joint], position: [0.03]}}" +``` ``` bash -ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.0}}" +ros2 action send_goal /left_arm_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {name: [gripper_joint], position: [0.03]}}" ``` -## To test sending commands directly to Isaac Sim you can run the following commands: +### To test sending commands directly to Isaac Sim you can run the following commands: > NOTE: sending command that are far away from the robots current pose can cause the simulation to go unstable and be thrown around in the world. - Arm home pose ``` bash ros2 topic pub /isaac_joint_commands sensor_msgs/JointState "{ - name: [gen3_joint_1, gen3_joint_2, gen3_joint_3, gen3_joint_4, gen3_joint_5, gen3_joint_6, gen3_joint_7], - position: [0.0, 0.26, 3.14, -2.27, 0.0, 0.96, 1.57] + name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7], + position: [-0.2, 0.85, -0.75, 0.0, 0.5, 0.0] }" -1 ``` - Arm retracted pose ``` bash ros2 topic pub /isaac_joint_commands sensor_msgs/JointState "{ - name: [gen3_joint_1, gen3_joint_2, gen3_joint_3, gen3_joint_4, gen3_joint_5, gen3_joint_6, gen3_joint_7], - position: [0.0, -0.35, 3.14, -2.54, 0.0, -0.87, 1.57] + name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7], + position: [-0.2, 0.85, -0.75, 0.0, 0.5, 0.0] }" -1 ``` diff --git a/c3pzero/c3pzero_bringup/CMakeLists.txt b/c3pzero/c3pzero_bringup/CMakeLists.txt index fe2bf49..1541f34 100644 --- a/c3pzero/c3pzero_bringup/CMakeLists.txt +++ b/c3pzero/c3pzero_bringup/CMakeLists.txt @@ -1,21 +1,6 @@ cmake_minimum_required(VERSION 3.5) project(c3pzero_bringup) -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++17 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies find_package(ament_cmake REQUIRED) install( @@ -23,9 +8,4 @@ install( DESTINATION share/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/c3pzero/c3pzero_bringup/COLCON_IGNORE b/c3pzero/c3pzero_bringup/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/c3pzero/c3pzero_bringup/config/c3pzero_gz_controllers.yaml b/c3pzero/c3pzero_bringup/config/c3pzero_gz_controllers.yaml index 849cb72..903a9ea 100644 --- a/c3pzero/c3pzero_bringup/config/c3pzero_gz_controllers.yaml +++ b/c3pzero/c3pzero_bringup/config/c3pzero_gz_controllers.yaml @@ -8,10 +8,16 @@ controller_manager: diff_drive_base_controller: type: diff_drive_controller/DiffDriveController - joint_trajectory_controller: + right_arm_jtc: type: joint_trajectory_controller/JointTrajectoryController - gripper_controller: + left_arm_jtc: + type: joint_trajectory_controller/JointTrajectoryController + + right_arm_gripper_controller: + type: parallel_gripper_action_controller/GripperActionController + + left_arm_gripper_controller: type: parallel_gripper_action_controller/GripperActionController diff_drive_base_controller: @@ -63,16 +69,15 @@ diff_drive_base_controller: angular.z.max_jerk: 0.0 angular.z.min_jerk: 0.0 -joint_trajectory_controller: +right_arm_jtc: ros__parameters: joints: - - gen3_joint_1 - - gen3_joint_2 - - gen3_joint_3 - - gen3_joint_4 - - gen3_joint_5 - - gen3_joint_6 - - gen3_joint_7 + - right_arm_joint_1 + - right_arm_joint_2 + - right_arm_joint_3 + - right_arm_joint_4 + - right_arm_joint_5 + - right_arm_joint_6 command_interfaces: - position state_interfaces: @@ -85,11 +90,41 @@ joint_trajectory_controller: stopped_velocity_tolerance: 0.0 goal_time: 0.0 -gripper_controller: +left_arm_jtc: + ros__parameters: + joints: + - left_arm_joint_1 + - left_arm_joint_2 + - left_arm_joint_3 + - left_arm_joint_4 + - left_arm_joint_5 + - left_arm_joint_6 + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 + +right_arm_gripper_controller: + ros__parameters: + action_monitor_rate: 20.0 + allow_stalling: false + goal_tolerance: 0.01 + joint: right_arm_gripper_joint + stall_timeout: 1.0 + stall_velocity_threshold: 0.001 + +left_arm_gripper_controller: ros__parameters: action_monitor_rate: 20.0 allow_stalling: false goal_tolerance: 0.01 - joint: gripper_joint + joint: left_arm_gripper_joint stall_timeout: 1.0 stall_velocity_threshold: 0.001 diff --git a/c3pzero/c3pzero_bringup/config/c3pzero_isaac_controllers.yaml b/c3pzero/c3pzero_bringup/config/c3pzero_isaac_controllers.yaml index a16ebe1..cf8e712 100644 --- a/c3pzero/c3pzero_bringup/config/c3pzero_isaac_controllers.yaml +++ b/c3pzero/c3pzero_bringup/config/c3pzero_isaac_controllers.yaml @@ -8,11 +8,17 @@ controller_manager: diff_drive_base_controller: type: diff_drive_controller/DiffDriveController - joint_trajectory_controller: + right_arm_jtc: type: joint_trajectory_controller/JointTrajectoryController - robotiq_gripper_controller: - type: position_controllers/GripperActionController + left_arm_jtc: + type: joint_trajectory_controller/JointTrajectoryController + + right_arm_gripper_controller: + type: parallel_gripper_action_controller/GripperActionController + + left_arm_gripper_controller: + type: parallel_gripper_action_controller/GripperActionController diff_drive_base_controller: ros__parameters: @@ -63,16 +69,15 @@ diff_drive_base_controller: angular.z.max_jerk: 0.0 angular.z.min_jerk: 0.0 -joint_trajectory_controller: +right_arm_jtc: ros__parameters: joints: - - gen3_joint_1 - - gen3_joint_2 - - gen3_joint_3 - - gen3_joint_4 - - gen3_joint_5 - - gen3_joint_6 - - gen3_joint_7 + - right_arm_joint_1 + - right_arm_joint_2 + - right_arm_joint_3 + - right_arm_joint_4 + - right_arm_joint_5 + - right_arm_joint_6 command_interfaces: - position state_interfaces: @@ -85,8 +90,41 @@ joint_trajectory_controller: stopped_velocity_tolerance: 0.0 goal_time: 0.0 -robotiq_gripper_controller: +left_arm_jtc: ros__parameters: - default: true - joint: gen3_robotiq_85_left_knuckle_joint - interface_name: position + joints: + - left_arm_joint_1 + - left_arm_joint_2 + - left_arm_joint_3 + - left_arm_joint_4 + - left_arm_joint_5 + - left_arm_joint_6 + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 + +right_arm_gripper_controller: + ros__parameters: + action_monitor_rate: 20.0 + allow_stalling: false + goal_tolerance: 0.01 + joint: right_arm_gripper_joint + stall_timeout: 1.0 + stall_velocity_threshold: 0.001 + +left_arm_gripper_controller: + ros__parameters: + action_monitor_rate: 20.0 + allow_stalling: false + goal_tolerance: 0.01 + joint: left_arm_gripper_joint + stall_timeout: 1.0 + stall_velocity_threshold: 0.001 diff --git a/c3pzero/c3pzero_bringup/launch/gazebo_c3pzero.launch.py b/c3pzero/c3pzero_bringup/launch/gazebo_c3pzero.launch.py index 05833d1..9b96a21 100644 --- a/c3pzero/c3pzero_bringup/launch/gazebo_c3pzero.launch.py +++ b/c3pzero/c3pzero_bringup/launch/gazebo_c3pzero.launch.py @@ -1,11 +1,11 @@ # -*- coding: utf-8 -*- # Author: Marq Rasmussen -import shlex -from launch import LaunchDescription +from launch import LaunchDescription, LaunchContext from launch.actions import ( DeclareLaunchArgument, IncludeLaunchDescription, + OpaqueFunction, RegisterEventHandler, ) from launch.event_handlers import OnProcessExit @@ -19,98 +19,42 @@ ) from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare +from ament_index_python.packages import get_package_share_directory + + +def launch_gz(context: LaunchContext): + gz_world_file = get_package_share_directory("c300_bringup") + "/worlds/depot.sdf" + # -r is to run the simulation on start + # -v is the verbose level + # 0: No output, 1: Error, 2: Error and warning, 3: Error, warning, and info, 4: Error, warning, info, and debug. + sim_options = "-r -v 3" + if LaunchConfiguration("headless").perform(context) == "true": + sim_options += " -s" # -s is to only run the server (headless mode). + gz_launch_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"] + ), + launch_arguments=[("gz_args", [f"{sim_options} {gz_world_file}"])], + ) + return [gz_launch_description] def generate_launch_description(): declared_arguments = [] - # Simulation specific arguments - declared_arguments.append( - DeclareLaunchArgument( - "sim_ignition", - default_value="True", - description="Use Ignition Gazebo for simulation", - ) - ) - # General arguments - declared_arguments.append( - DeclareLaunchArgument( - "runtime_config_package", - default_value="c3pzero_bringup", - description='Package with the controller\'s configuration in "config" folder. \ - Usually the argument is not set, it enables use of a custom setup.', - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "description_package", - default_value="c3pzero_description", - description="Description package with robot URDF/XACRO files. Usually the argument \ - is not set, it enables use of a custom description.", - ) - ) declared_arguments.append( - DeclareLaunchArgument( - "description_file", - default_value="c3pzero_kinova_gen3.xacro", - description="URDF/XACRO description file with the robot.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "robot_name", - default_value="c3pzero", - description="Robot name.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "diff_drive_controller", - default_value="diff_drive_base_controller", - description="Diff drive base controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "jtc_controller", - default_value="joint_trajectory_controller", - description="Robot controller to start.", - ) + DeclareLaunchArgument("rviz", default_value="false", description="Launch RViz?") ) declared_arguments.append( DeclareLaunchArgument( - "robot_hand_controller", - default_value="robotiq_gripper_controller", - description="Robot hand controller to start.", - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "launch_rviz", default_value="True", description="Launch RViz?" - ) - ) - declared_arguments.append( - DeclareLaunchArgument( - "use_sim_time", - default_value="True", - description="Use simulation (Gazebo) clock if true", + "headless", default_value="true", description="Launch Gazebo headless?" ) ) # Initialize Arguments - sim_ignition = LaunchConfiguration("sim_ignition") - # General arguments - runtime_config_package = LaunchConfiguration("runtime_config_package") - description_package = LaunchConfiguration("description_package") - description_file = LaunchConfiguration("description_file") - robot_name = LaunchConfiguration("robot_name") - diff_drive_controller = LaunchConfiguration("diff_drive_controller") - robot_traj_controller = LaunchConfiguration("jtc_controller") - robot_hand_controller = LaunchConfiguration("robot_hand_controller") - launch_rviz = LaunchConfiguration("launch_rviz") - use_sim_time = LaunchConfiguration("use_sim_time") + launch_rviz = LaunchConfiguration("rviz") rviz_config_file = PathJoinSubstitution( - [FindPackageShare(runtime_config_package), "rviz", "bringup_config.rviz"] + [FindPackageShare("c3pzero_bringup"), "rviz", "c3pzero.rviz"] ) robot_description_content = Command( @@ -118,11 +62,10 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("c3pzero_description"), "urdf", "c3pzero.urdf.xacro"] ), " ", - "sim_ignition:=", - sim_ignition, + "sim_gazebo:=true", " ", ] ) @@ -133,7 +76,7 @@ def generate_launch_description(): output="both", parameters=[ { - "use_sim_time": use_sim_time, + "use_sim_time": True, "robot_description": robot_description_content, } ], @@ -148,44 +91,31 @@ def generate_launch_description(): condition=IfCondition(launch_rviz), ) - joint_state_broadcaster_spawner = Node( + controller_spawner = Node( package="controller_manager", executable="spawner", - parameters=[{"use_sim_time": use_sim_time}], + parameters=[{"use_sim_time": True}], arguments=[ + "diff_drive_base_controller", + "right_arm_jtc", + "left_arm_jtc", + "right_arm_gripper_controller", + "left_arm_gripper_controller", "joint_state_broadcaster", "--controller-manager", "/controller_manager", ], ) - # Delay rviz start after `joint_state_broadcaster` - delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler( + # Delay rviz start after `controller_spawner` + delay_rviz_after_controller_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=joint_state_broadcaster_spawner, + target_action=controller_spawner, on_exit=[rviz_node], ) ) - robot_traj_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[robot_traj_controller, "-c", "/controller_manager"], - ) - - diff_drive_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[diff_drive_controller, "-c", "/controller_manager"], - ) - - robot_hand_controller_spawner = Node( - package="controller_manager", - executable="spawner", - arguments=[robot_hand_controller, "-c", "/controller_manager"], - ) - - ignition_spawn_entity = Node( + gazebo_spawn_entity = Node( package="ros_gz_sim", executable="create", output="screen", @@ -193,7 +123,7 @@ def generate_launch_description(): "-string", robot_description_content, "-name", - robot_name, + "c3pzero", "-allow_renaming", "true", "-x", @@ -209,52 +139,57 @@ def generate_launch_description(): "-Y", "0.0", ], - condition=IfCondition(sim_ignition), - ) - - ignition_launch_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"] - ), - # TODO (marqrazz): fix the hardcoded path to the gazebo world - launch_arguments={ - "gz_args": " -r -v 3 /root/c3pzero_ws/src/c3pzero/c300/c300_bringup/worlds/depot.sdf" - }.items(), - condition=IfCondition(sim_ignition), ) # Bridge gazebo_bridge = Node( package="ros_gz_bridge", executable="parameter_bridge", - parameters=[{"use_sim_time": use_sim_time}], + parameters=[{"use_sim_time": True}], arguments=[ - "/rgbd_camera/image@sensor_msgs/msg/Image[ignition.msgs.Image", - "/rgbd_camera/depth_image@sensor_msgs/msg/Image[ignition.msgs.Image", - "/rgbd_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", - "/rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", - # "/segmentation/colored_map@sensor_msgs/msg/Image[ignition.msgs.Image", - # '/segmentation/labels_map@sensor_msgs/msg/Image@ignition.msgs.Image', - # "/segmentation/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", - "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", - "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock", + "/right_arm_wrist_camera/image@sensor_msgs/msg/Image[gz.msgs.Image", + "/right_arm_wrist_camera/depth_image@sensor_msgs/msg/Image[gz.msgs.Image", + "/right_arm_wrist_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked", + "/right_arm_wrist_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + "/left_arm_wrist_camera/image@sensor_msgs/msg/Image[gz.msgs.Image", + "/left_arm_wrist_camera/depth_image@sensor_msgs/msg/Image[gz.msgs.Image", + "/left_arm_wrist_camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked", + "/left_arm_wrist_camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + "/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock", ], remappings=[ ( - "/rgbd_camera/image", - "/wrist_mounted_camera/color/image_raw", + "/right_arm_wrist_camera/image", + "/right_arm_wrist_camera/color/image_raw", + ), + ( + "/right_arm_wrist_camera/depth_image", + "/right_arm_wrist_camera/depth/image_rect_raw", + ), + ( + "/right_arm_wrist_camera/points", + "/right_arm_wrist_camera/depth/color/points", + ), + ( + "/right_arm_wrist_camera/camera_info", + "/right_arm_wrist_camera/color/camera_info", + ), + ( + "/left_arm_wrist_camera/image", + "/left_arm_wrist_camera/color/image_raw", ), ( - "/rgbd_camera/depth_image", - "/wrist_mounted_camera/depth/image_rect_raw", + "/left_arm_wrist_camera/depth_image", + "/left_arm_wrist_camera/depth/image_rect_raw", ), ( - "/rgbd_camera/points", - "/wrist_mounted_camera/depth/color/points", + "/left_arm_wrist_camera/points", + "/left_arm_wrist_camera/depth/color/points", ), ( - "/rgbd_camera/camera_info", - "/wrist_mounted_camera/color/camera_info", + "/left_arm_wrist_camera/camera_info", + "/left_arm_wrist_camera/color/camera_info", ), ], output="screen", @@ -262,13 +197,10 @@ def generate_launch_description(): nodes_to_start = [ robot_state_publisher_node, - joint_state_broadcaster_spawner, - delay_rviz_after_joint_state_broadcaster_spawner, - diff_drive_controller_spawner, - robot_traj_controller_spawner, - robot_hand_controller_spawner, - ignition_launch_description, - ignition_spawn_entity, + controller_spawner, + delay_rviz_after_controller_spawner, + OpaqueFunction(function=launch_gz), + gazebo_spawn_entity, gazebo_bridge, ] diff --git a/c3pzero/c3pzero_bringup/rviz/bringup_config.rviz b/c3pzero/c3pzero_bringup/rviz/c3pzero.rviz similarity index 63% rename from c3pzero/c3pzero_bringup/rviz/bringup_config.rviz rename to c3pzero/c3pzero_bringup/rviz/c3pzero.rviz index 2613a1f..866eb98 100644 --- a/c3pzero/c3pzero_bringup/rviz/bringup_config.rviz +++ b/c3pzero/c3pzero_bringup/rviz/c3pzero.rviz @@ -5,8 +5,8 @@ Panels: Property Tree Widget: Expanded: - /LaserScan1/Topic1 - Splitter Ratio: 0.5 - Tree Height: 287 + Splitter Ratio: 0.36942070722579956 + Tree Height: 182 Visualization Manager: Class: "" Displays: @@ -74,160 +74,238 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - gen3_base_link: + imu_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - gen3_bracelet_link: + left_arm_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_end_effector_link: + left_arm_gripper_aux_mount: Alpha: 1 Show Axes: false Show Trail: false - gen3_forearm_link: + left_arm_gripper_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_half_arm_1_link: + left_arm_left_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_half_arm_2_link: + left_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_base_link: + left_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_left_finger_link: + left_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_left_finger_tip_link: + left_arm_link_4: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_left_inner_knuckle_link: + left_arm_link_5: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_left_knuckle_link: + left_arm_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_right_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_right_finger_link: + left_arm_tool_0: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_bracket_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_right_finger_tip_link: + lr_caster: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_right_inner_knuckle_link: + platform_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_robotiq_85_right_knuckle_link: + right_arm_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_shoulder_link: + right_arm_gripper_aux_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_gripper_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_spherical_wrist_1_link: + right_arm_left_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - gen3_spherical_wrist_2_link: + right_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - lr_caster: + right_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - platform_link: + right_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - robot_mount_link: + right_arm_link_4: Alpha: 1 Show Axes: false Show Trail: false - rr_caster: + Value: true + right_arm_link_5: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_camera_link: + right_arm_link_6: Alpha: 1 Show Axes: false Show Trail: false - wrist_camera_mount_link: + right_arm_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_right_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - wrist_mounted_camera_bottom_screw_frame: + right_arm_tool_0: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_color_frame: + right_arm_wrist_camera_bottom_screw_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_color_optical_frame: + right_arm_wrist_camera_bracket_link: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_depth_frame: + right_arm_wrist_camera_color_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_depth_optical_frame: + right_arm_wrist_camera_color_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_infra1_frame: + right_arm_wrist_camera_depth_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_infra1_optical_frame: + right_arm_wrist_camera_depth_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_infra2_frame: + right_arm_wrist_camera_infra1_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_infra2_optical_frame: + right_arm_wrist_camera_infra1_optical_frame: Alpha: 1 Show Axes: false Show Trail: false - wrist_mounted_camera_link: + right_arm_wrist_camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rr_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + storage_tote: Alpha: 1 Show Axes: false Show Trail: false @@ -242,6 +320,8 @@ Visualization Manager: Visual Enabled: true - Class: rviz_default_plugins/TF Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true @@ -255,6 +335,8 @@ Visualization Manager: Update Interval: 0 Value: false - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false @@ -290,9 +372,9 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 255 + Max Intensity: 0 Min Color: 0; 0; 0 - Min Intensity: 255 + Min Intensity: 0 Name: LaserScan Position Transformer: XYZ Selectable: true @@ -313,58 +395,46 @@ Visualization Manager: Enabled: true Far Plane Distance: 100 Image Rendering: background and overlay - Name: Camera + Name: RightWristCamera Overlay Alpha: 0.5 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /wrist_mounted_camera/color/image_raw + Value: /right_arm_wrist_camera/color/image_raw Value: true Visibility: Grid: true LaserScan: true + LeftWristCamera: false Map: true - PointCloud2: true RobotModel: true TF: true Value: true Zoom Factor: 1 - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: LeftWristCamera + Overlay Alpha: 0.5 Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last - Reliability Policy: Best Effort - Value: /wrist_mounted_camera/depth/color/points - Use Fixed Frame: true - Use rainbow: true - Value: false + Reliability Policy: Reliable + Value: /left_arm_wrist_camera/color/image_raw + Value: true + Visibility: + Grid: true + LaserScan: true + Map: true + RightWristCamera: false + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 @@ -386,35 +456,37 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 3.060922861099243 + Distance: 2.973403215408325 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.268953800201416 - Y: -0.2528364658355713 - Z: 0.9446917176246643 + X: -0.18479067087173462 + Y: -0.09187475591897964 + Z: 0.46009013056755066 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.21479758620262146 + Pitch: 0.5347971320152283 Target Frame: Value: Orbit (rviz) - Yaw: 4.300397872924805 + Yaw: 2.175384283065796 Saved: ~ Window Geometry: - Camera: - collapsed: false Displays: collapsed: false - Height: 773 + Height: 1167 Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000100000000000001e1000002affc0200000002fb000000100044006900730070006c006100790073010000003b0000015a000000c700fffffffb0000000c00430061006d006500720061010000019b0000014f0000002800ffffff000003b9000002af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Width: 1440 - X: 2134 - Y: 194 + Hide Right Dock: true + LeftWristCamera: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000003330000042dfc0200000003fb000000100044006900730070006c0061007900730100000044000000f7000000eb00fffffffb00000020005200690067006800740057007200690073007400430061006d0065007200610100000142000001940000001600fffffffb0000001e004c0065006600740057007200690073007400430061006d00650072006101000002dd000001940000001600ffffff000004460000042d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + RightWristCamera: + collapsed: false + Width: 1920 + X: 588 + Y: 141 diff --git a/c3pzero/c3pzero_description/launch/view_robot_urdf.launch.py b/c3pzero/c3pzero_description/launch/view_robot_urdf.launch.py deleted file mode 100644 index ab4313a..0000000 --- a/c3pzero/c3pzero_description/launch/view_robot_urdf.launch.py +++ /dev/null @@ -1,56 +0,0 @@ -# -*- coding: utf-8 -*- -# Copyright 2021 PickNik Inc. -# All rights reserved. -# -# Unauthorized copying of this code base via any medium is strictly prohibited. -# Proprietary and confidential. - -import launch -from launch.substitutions import Command, LaunchConfiguration -import launch_ros -import os - - -def generate_launch_description(): - pkg_share = launch_ros.substitutions.FindPackageShare( - package="c3pzero_description" - ).find("c3pzero_description") - default_model_path = os.path.join(pkg_share, "urdf/c3pzero_kinova_gen3.xacro") - default_rviz_config_path = os.path.join(pkg_share, "rviz/view_urdf.rviz") - - robot_state_publisher_node = launch_ros.actions.Node( - package="robot_state_publisher", - executable="robot_state_publisher", - parameters=[ - {"robot_description": Command(["xacro ", LaunchConfiguration("model")])} - ], - ) - joint_state_publisher_node = launch_ros.actions.Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", - ) - rviz_node = launch_ros.actions.Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="screen", - arguments=["-d", LaunchConfiguration("rvizconfig")], - ) - - return launch.LaunchDescription( - [ - launch.actions.DeclareLaunchArgument( - name="model", - default_value=default_model_path, - description="Absolute path to robot urdf file", - ), - launch.actions.DeclareLaunchArgument( - name="rvizconfig", - default_value=default_rviz_config_path, - description="Absolute path to rviz config file", - ), - robot_state_publisher_node, - joint_state_publisher_node, - rviz_node, - ] - ) diff --git a/c3pzero/c3pzero_description/rviz/robot_urdf.rviz b/c3pzero/c3pzero_description/rviz/robot_urdf.rviz index 5b60cb1..9ebceff 100644 --- a/c3pzero/c3pzero_description/rviz/robot_urdf.rviz +++ b/c3pzero/c3pzero_description/rviz/robot_urdf.rviz @@ -82,6 +82,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + left_arm_gripper_aux_mount: + Alpha: 1 + Show Axes: false + Show Trail: false left_arm_gripper_base_link: Alpha: 1 Show Axes: false @@ -134,79 +138,173 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - left_armbase_link: + left_arm_wrist_camera_bottom_screw_frame: Alpha: 1 Show Axes: false Show Trail: false - Value: true - left_armgripper_base_link: + left_arm_wrist_camera_bracket_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - left_armleft_finger: + left_arm_wrist_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + left_arm_wrist_camera_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_1: + lr_caster: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_2: + platform_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_3: + right_arm_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_4: + right_arm_gripper_aux_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_gripper_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_5: + right_arm_left_finger: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armlink_6: + right_arm_link_1: Alpha: 1 Show Axes: false Show Trail: false - left_armright_finger: + Value: true + right_arm_link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - left_armtool_0: + right_arm_link_3: Alpha: 1 Show Axes: false Show Trail: false - lr_caster: + Value: true + right_arm_link_4: Alpha: 1 Show Axes: false Show Trail: false Value: true - platform_link: + right_arm_link_5: Alpha: 1 Show Axes: false Show Trail: false Value: true + right_arm_link_6: + Alpha: 1 + Show Axes: false + Show Trail: false right_arm_mount_link: Alpha: 1 Show Axes: false Show Trail: false + right_arm_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_arm_tool_0: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_bracket_link: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + right_arm_wrist_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true rr_caster: Alpha: 1 Show Axes: false Show Trail: false Value: true - tote_link: + storage_tote: Alpha: 1 Show Axes: false Show Trail: false @@ -220,137 +318,21 @@ Visualization Manager: Value: true Visual Enabled: true - Class: rviz_default_plugins/TF - Enabled: true + Enabled: false Filter (blacklist): "" Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true - base_footprint: - Value: true - base_laser: - Value: true - base_laser_mount: - Value: true - base_link: - Value: true - drivewhl_l_link: - Value: true - drivewhl_r_link: - Value: true - imu_link: - Value: true - left_arm_base_link: - Value: true - left_arm_gripper_base_link: - Value: true - left_arm_left_finger: - Value: true - left_arm_link_1: - Value: true - left_arm_link_2: - Value: true - left_arm_link_3: - Value: true - left_arm_link_4: - Value: true - left_arm_link_5: - Value: true - left_arm_link_6: - Value: true - left_arm_mount_link: - Value: true - left_arm_right_finger: - Value: true - left_arm_tool_0: - Value: true - left_armbase_link: - Value: true - left_armgripper_base_link: - Value: true - left_armleft_finger: - Value: true - left_armlink_1: - Value: true - left_armlink_2: - Value: true - left_armlink_3: - Value: true - left_armlink_4: - Value: true - left_armlink_5: - Value: true - left_armlink_6: - Value: true - left_armright_finger: - Value: true - left_armtool_0: - Value: true - lr_caster: - Value: true - platform_link: - Value: true - right_arm_mount_link: - Value: true - rr_caster: - Value: true - tote_link: - Value: true Marker Scale: 0.30000001192092896 Name: TF Show Arrows: false Show Axes: true Show Names: false Tree: - base_link: - base_footprint: - {} - base_laser_mount: - base_laser: - {} - drivewhl_l_link: - {} - drivewhl_r_link: - {} - imu_link: - {} - lr_caster: - {} - platform_link: - left_arm_mount_link: - left_arm_base_link: - left_arm_link_1: - left_arm_link_2: - left_arm_link_3: - left_arm_link_4: - left_arm_link_5: - left_arm_link_6: - left_arm_tool_0: - left_arm_gripper_base_link: - left_arm_left_finger: - {} - left_arm_right_finger: - {} - right_arm_mount_link: - left_armbase_link: - left_armlink_1: - left_armlink_2: - left_armlink_3: - left_armlink_4: - left_armlink_5: - left_armlink_6: - left_armtool_0: - left_armgripper_base_link: - left_armleft_finger: - {} - left_armright_finger: - {} - rr_caster: - {} - tote_link: - {} + {} Update Interval: 0 - Value: true + Value: false Enabled: true Global Options: Background Color: 214; 214; 214 @@ -372,25 +354,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 1.8022266626358032 + Distance: 2.018493890762329 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.24028433859348297 - Y: -0.039687931537628174 - Z: 0.40212562680244446 + X: -0.29688960313796997 + Y: -0.038694750517606735 + Z: 0.489205926656723 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.36479753255844116 + Pitch: 0.3797975182533264 Target Frame: Value: Orbit (rviz) - Yaw: 0.9254047870635986 + Yaw: 0.7304049730300903 Saved: ~ Window Geometry: Displays: diff --git a/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro deleted file mode 100644 index fd23ed7..0000000 --- a/c3pzero/c3pzero_description/urdf/c3pzero.gazebo.xacro +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - ${simulation_controllers} - controller_manager - - - - - ogre2 - - - - diff --git a/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro index 16d288b..01bcd72 100644 --- a/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro +++ b/c3pzero/c3pzero_description/urdf/c3pzero.urdf.xacro @@ -1,21 +1,24 @@ - + + + - - - + - + + + + prefix="$(arg prefix)right_arm_" + sim_gazebo="$(arg sim_gazebo)"> @@ -69,7 +73,8 @@ + prefix="$(arg prefix)left_arm_" + sim_gazebo="$(arg sim_gazebo)"> diff --git a/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro b/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro index 6afc213..a6e609d 100644 --- a/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro +++ b/c3pzero/c3pzero_description/urdf/wrist_realsense.urdf.xacro @@ -34,12 +34,12 @@ - + - + diff --git a/c3pzero_ssh.repos b/c3pzero_ssh.repos index 2096a89..6b0e7cc 100644 --- a/c3pzero_ssh.repos +++ b/c3pzero_ssh.repos @@ -1,25 +1,9 @@ repositories: - topic_based_ros2_control: + piper_ros2: type: git - url: git@github.com:PickNikRobotics/topic_based_ros2_control.git - version: main - ros2_kortex: - type: git - url: git@github.com:Kinovarobotics/ros2_kortex.git - version: main - ros2_controllers: + url: git@github.com:MarqRazz/piper_ros2.git + version: jazzy + realsense2_gz_description: type: git - url: git@github.com:MarqRazz/ros2_controllers.git - version: 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