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⬅️ Backport ros2 to foxy #169

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Jul 20, 2021
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⬅️ Backport ros2 to foxy #169

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7409934
Fix Deprecation Warning (#158)
DLu Jun 10, 2021
cdec9ce
[ros2] new package ros_ign_interfaces, provide some Ignition-specif…
gezp May 18, 2021
0e41a67
Joint states tutorial (#156)
Jun 10, 2021
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6 changes: 6 additions & 0 deletions ros_ign_gazebo_demos/CMakeLists.txt
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Expand Up @@ -16,4 +16,10 @@ install(
DESTINATION share/${PROJECT_NAME}/rviz
)

install(
DIRECTORY
models/
DESTINATION share/${PROJECT_NAME}/models
)

ament_package()
12 changes: 11 additions & 1 deletion ros_ign_gazebo_demos/README.md
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Expand Up @@ -148,4 +148,14 @@ To try the demo launch:

ros2 launch ros_ign_gazebo_demos robot_description_publisher.launch.py

![](images/robot_state_publisher_demo.png)
![](images/robot_state_publisher_demo.png)

## Joint States Publisher

Publishes joint states of the robot.

To try the demo launch:

ros2 launch ros_ign_gazebo_demos joint_states.launch.py

![](images/joint_states.png)
Binary file added ros_ign_gazebo_demos/images/joint_states.png
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79 changes: 79 additions & 0 deletions ros_ign_gazebo_demos/launch/joint_states.launch.py
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@@ -0,0 +1,79 @@
import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def generate_launch_description():

# Package Directories
pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo')
pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')

# Parse robot description from xacro
robot_description_file = os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot.xacro')
robot_description_config = xacro.process_file(
robot_description_file
)
robot_description = {"robot_description": robot_description_config.toxml()}

# Robot state publisher
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='both',
parameters=[robot_description],
)

# Ignition gazebo
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
launch_arguments={'ign_args': '-r empty.sdf'}.items(),
)

# RViz
rviz = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(pkg_ros_ign_gazebo_demos, 'rviz', 'joint_states.rviz')],
)

# Spawn
spawn = Node(package='ros_ign_gazebo', executable='create',
arguments=[
'-name', 'rrbot',
'-topic', 'robot_description',
],
output='screen',
)

# Ign - ROS Bridge
bridge = Node(
package='ros_ign_bridge',
executable='parameter_bridge',
arguments=[
# Clock (IGN -> ROS2)
'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
# Joint states (IGN -> ROS2)
'/world/empty/model/rrbot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model',
],
remappings=[
('/world/empty/model/rrbot/joint_state', 'joint_states'),
],
output='screen'
)

return LaunchDescription(
[
# Nodes and Launches
gazebo,
spawn,
bridge,
robot_state_publisher,
rviz,
]
)
165 changes: 165 additions & 0 deletions ros_ign_gazebo_demos/models/rrbot.xacro
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<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="mass" value="1" /> <!-- arbitrary value for mass -->
<xacro:property name="width" value="0.1" /> <!-- Square dimensions (widthxwidth) of beams -->
<xacro:property name="height1" value="2" /> <!-- Link 1 -->
<xacro:property name="height2" value="1" /> <!-- Link 2 -->
<xacro:property name="height3" value="1" /> <!-- Link 3 -->
<xacro:property name="axel_offset" value="0.05" /> <!-- Space btw top of beam and the each joint -->

<!-- Define colors -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>

<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>

<!-- Used for fixing robot to Gazebo 'base_link' -->
<link name="world"/>

<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="link1"/>
</joint>

<!-- Base Link -->
<link name="link1">
<collision>
<origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height1}"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height1}"/>
</geometry>
<material name="orange"/>
</visual>

<inertial>
<origin xyz="0 0 ${height1/2}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>

<joint name="joint1" type="continuous">
<parent link="link1"/>
<child link="link2"/>
<origin xyz="0 ${width} ${height1 - axel_offset}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
</joint>

<!-- Middle Link -->
<link name="link2">
<collision>
<origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height2}"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height2}"/>
</geometry>
<material name="black"/>
</visual>

<inertial>
<origin xyz="0 0 ${height2/2 - axel_offset}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height2*height2)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height2*height2 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>

<joint name="joint2" type="continuous">
<parent link="link2"/>
<child link="link3"/>
<origin xyz="0 ${width} ${height2 - axel_offset*2}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.7"/>
</joint>

<!-- Top Link -->
<link name="link3">
<collision>
<origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height3}"/>
</geometry>
</collision>

<visual>
<origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
<geometry>
<box size="${width} ${width} ${height3}"/>
</geometry>
<material name="orange"/>
</visual>

<inertial>
<origin xyz="0 0 ${height3/2 - axel_offset}" rpy="0 0 0"/>
<mass value="${mass}"/>
<inertia
ixx="${mass / 12.0 * (width*width + height3*height3)}" ixy="0.0" ixz="0.0"
iyy="${mass / 12.0 * (height3*height3 + width*width)}" iyz="0.0"
izz="${mass / 12.0 * (width*width + width*width)}"/>
</inertial>
</link>

<!-- Gazebo colors and frictions -->
<!-- Link1 -->
<gazebo reference="link1">
<material>
<diffuse> 1 0.423529412 0.039215686 1</diffuse>
<ambient> 1 0.423529412 0.039215686 1</ambient>
<specular>1 0.423529412 0.039215686 1</specular>
</material>
</gazebo>

<!-- Link2 -->
<gazebo reference="link2">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>
<diffuse> 0 0 0 1</diffuse>
<ambient> 0 0 0 1</ambient>
<specular>0 0 0 1</specular>
</material>
</gazebo>

<!-- Link3 -->
<gazebo reference="link3">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>
<diffuse> 1 0.423529412 0.039215686 1</diffuse>
<ambient> 1 0.423529412 0.039215686 1</ambient>
<specular>1 0.423529412 0.039215686 1</specular>
</material>
</gazebo>

<!-- Joint states plugin -->
<gazebo>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so" name="ignition::gazebo::systems::JointStatePublisher"/>
</gazebo>

</robot>
1 change: 1 addition & 0 deletions ros_ign_gazebo_demos/package.xml
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Expand Up @@ -26,6 +26,7 @@
<exec_depend>rqt_plot</exec_depend>
<exec_depend>rqt_topic</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>xacro</exec_depend>

<export>
<build_type>ament_cmake</build_type>
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