ros-controls · destogl · Feb 23, 2023 · Feb 19, 2023 · Feb 19, 2023 · Feb 19, 2023
diff --git a/README.md b/README.md
@@ -92,7 +92,7 @@ The robot is basically a box moving according to differential drive kinematics.
 The example shows how to implement robot hardware with separate communication to each actuator.
 
 
-##### Example 8
+##### Example 8: Using transmissions
 *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with an exposed transmission interface
 
 
@@ -268,142 +268,3 @@ Available launch file options:
 ### Example 1-Sim: "Industrial Robots with only one interface" (Gazebo simulation)
 
 - **TBA**
-
-
-
-
-## Controllers and moving hardware
-
-To move the robot you should load and start controllers.
-The `JointStateBroadcaster` is used to publish the joint states to ROS topics.
-Direct joint commands are sent to this robot via the `ForwardCommandController` and `JointTrajectoryController`.
-The sections below describe their usage.
-Check the [Results](##result) section on how to ensure that things went well.
-
-**NOTE**: Before doing any action with controllers check their state using command:
-```
-ros2 control list_controllers
-```
-
-
-### JointStateBroadcaster
-
-Open another terminal and load, configure and start `joint_state_broadcaster`:
-```
-ros2 control set_controller_state joint_state_broadcaster start
-```
-Check if controller is loaded properly:
-```
-ros2 control list_controllers
-```
-You should get the response:
-```
-joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-```
-
-Now you should also see the *RRbot* represented correctly in `RViz`.
-
-
-### Using ForwardCommandController
-
-1. If you want to test hardware with `ForwardCommandController` first load a controller (not always needed):
-   ```
-   ros2 control load_controller forward_position_controller
-   ```
-   Check if the controller is loaded properly:
-   ```
-   ros2 control list_controllers
-   ```
-
-2. Then configure it:
-   ```
-   ros2 control set_controller_state forward_position_controller configure
-   ```
-   Check if the controller is loaded properly:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get the response:
-   ```
-   forward_position_controller[forward_command_controller/ForwardCommandController] inactive
-   ```
-
-3. Now start the controller:
-   ```
-   ros2 control switch_controllers --start forward_position_controller
-   ```
-   Check if controllers are activated:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get `active` in the response:
-   ```
-   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-   forward_position_controller[forward_command_controller/ForwardCommandController] active
-   ```
-
-4. Send a command to the controller, either:
-
-   a. Manually using ros2 cli interface:
-   ```
-   ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data:
-   - 0.5
-   - 0.5"
-   ```
-   B. Or you can start a demo node which sends two goals every 5 seconds in a loop:
-   ```
-   ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
-   ```
-   You can adjust the goals in [rrbot_forward_position_publisher.yaml](ros2_control_demo_bringup/config/rrbot_forward_position_publisher.yaml).
-
-### Using JointTrajectoryController
-
-1. If you want to test hardware with `JointTrajectoryController` first load and configure a controller (not always needed):
-   ```
-   ros2 control load_controller position_trajectory_controller --set-state configure
-   ```
-   Check if the controller is loaded and configured properly:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get the response:
-   ```
-   position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] inactive
-   ```
-
-2. Now start the controller (and stop other running contorller):
-   ```
-   ros2 control switch_controllers --stop forward_position_controller --start position_trajectory_controller
-   ```
-   Check if controllers are activated:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get `active` in the response:
-   ```
-   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-   position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active
-   ```
-
-3. Send a command to the controller using demo node which sends four goals every 6 seconds in a loop:
-   ```
-   ros2 launch ros2_control_demo_bringup test_joint_trajectory_controller.launch.py
-   ```
-   You can adjust the goals in [rrbot_joint_trajectory_publisher.yaml](ros2_control_demo_bringup/config/rrbot_joint_trajectory_publisher.yaml).
-
-## Result
-
-1. Independently from the controller you should see how the example's output changes.
-   Look for the following lines
-   ```
-   [RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 0!
-   [RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 1!
-   ```
-
-2. If you echo the `/joint_states` or `/dynamic_joint_states` topics you should also get similar values.
-   ```
-   ros2 topic echo /joint_states
-   ros2 topic echo /dynamic_joint_states
-   ```
-
-3. You should also see the *RRbot* moving in `RViz`.
diff --git a/doc/index.rst b/doc/index.rst
diff --git a/example_1/README.rst b/example_1/README.rst
@@ -69,7 +69,7 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
    .. code-block:: shell
 
-    ros2 topic pub /position_commands std_msgs/msg/Float64MultiArray "data:
+    ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "data:
     - 0.5
     - 0.5"
 
@@ -87,6 +87,100 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
     [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 0!
     [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 1!
 
+   If you echo the ``/joint_states`` or ``/dynamic_joint_states`` topics you should now get similar values, namely the simulated states of the robot
+
+   .. code-block:: shell
+
+    ros2 topic echo /joint_states
+    ros2 topic echo /dynamic_joint_states
+
+6. Let's switch to a different controller, the ``Joint Trajectory Controller``.
+   Load the controller manually by
+
+   .. code-block:: shell
+
+    ros2 control load_controller position_trajectory_controller
+
+   what should return ``Successfully loaded controller position_trajectory_controller``. Check the status
+
+   .. code-block:: shell
+
+    ros2 control list_controllers
+
+   what shows you that the controller is loaded but unconfigured.
+
+   .. code-block:: shell
+
+    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
+    forward_position_controller[forward_command_controller/ForwardCommandController] active
+    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] unconfigured
+
+   Configure the controller by setting it ``inactive`` by
+
+   .. code-block:: shell
+
+    ros2 control set_controller_state position_trajectory_controller inactive
+
+   what should give ``Successfully configured position_trajectory_controller``.
+   Note that the parameters are already set in `rrbot_controllers.yaml <bringup/config/rrbot_controllers.yaml>`__
+   but the controller was not loaded from the `launch file rrbot.launch.py <bringup/launch/rrbot.launch.py>`__ before.
+
+   As an alternative, you can load the controller directly in ``inactive``-state by means of the option for ``load_controller``
+
+   .. code-block:: shell
+
+    ros2 control load_controller position_trajectory_controller --set-state inactive
+
+   You should get the result ``Successfully loaded controller position_trajectory_controller into state inactive``.
+
+   See if it loaded properly with
+
+   .. code-block:: shell
+
+    ros2 control list_controllers
+
+   what should now return
+
+   .. code-block:: shell
+
+    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
+    forward_position_controller[forward_command_controller/ForwardCommandController] active
+    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] inactive
+
+   Note that the controller is loaded but still ``inactive``. Now you can switch the controller by
+
+   .. code-block:: shell
+
+    ros2 control set_controller_state forward_position_controller inactive
+    ros2 control set_controller_state position_trajectory_controller active
+
+   or simply via this one-line command
+
+   .. code-block:: shell
+
+    ros2 control switch_controllers --activate position_trajectory_controller --deactivate forward_position_controller
+
+   Again, check via
+
+   .. code-block:: shell
+
+    ros2 control list_controllers
+
+   what should now return
+
+   .. code-block:: shell
+
+    joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
+    forward_position_controller[forward_command_controller/ForwardCommandController] inactive
+    position_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active
+
+   Send a command to the controller using demo node, which sends four goals every 6 seconds in a loop:
+
+   .. code-block:: shell
+
+    ros2 launch ros2_control_demo_example_1 test_joint_trajectory_controller.launch.py
+
+   You can adjust the goals in `rrbot_joint_trajectory_publisher <bringup/config/rrbot_joint_trajectory_publisher.yaml>`__.
 
 Files used for this demos
 #########################
@@ -99,6 +193,10 @@ Files used for this demos
   + ``ros2_control`` tag: `rrbot.ros2_control.xacro <description/ros2_control/rrbot.ros2_control.xacro>`__
 
 - RViz configuration: `rrbot.rviz <description/rviz/rrbot.rviz>`__
+- Test nodes goals configuration:
+
+  + `rrbot_forward_position_publisher <bringup/config/rrbot_forward_position_publisher.yaml>`__
+  + `rrbot_joint_trajectory_publisher <bringup/config/rrbot_joint_trajectory_publisher.yaml>`__
 
 - Hardware interface plugin: `rrbot.cpp <hardware/rrbot.cpp>`__
 
@@ -107,3 +205,4 @@ Controllers from this demo
 ##########################
 - ``Joint State Broadcaster`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html>`__
 - ``Forward Command Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/forward_command_controller/doc/userdoc.html>`__
+- ``Joint Trajectory Controller`` (`ros2_controllers repository <https://github.com/ros-controls/ros2_controllers>`__): `doc <https://control.ros.org/master/doc/ros2_controllers/joint_trajectory_controller/doc/userdoc.html>`__
diff --git a/...fig/rrbot_joint_trajectory_publisher.yaml → ...fig/rrbot_joint_trajectory_publisher.yaml b/...fig/rrbot_joint_trajectory_publisher.yaml → ...fig/rrbot_joint_trajectory_publisher.yaml