Use Arguments in launch files and enable their reuse. #76

destogl · 2021-04-07T13:50:34Z

Also add parameters for starting FakeSystem to demonstrate its functionality.
Add documentation about this Example and integrate into control.ros.org.

bmagyar

happy with the changes once there's some examples

…e for starting examples.

olivier-stasse · 2021-05-28T15:06:02Z

@destogl Do you need help on this pull request ?
I guess when it will be pushed this will invalidate/have a strong impact on other PRs.

* Fix wrong macro in rrbot_system_multi_interface.urdf * First correction to README.md (forward_command_controller_position) * Bump ros2 CI actions to 2 for setup-ros Co-authored-by: Olivier Stasse <[email protected]>

destogl · 2021-06-09T10:47:18Z

@olivier-stasse would also like to get review from you.

destogl · 2021-06-09T10:48:05Z

Again some ros2 issues on the CI...

codecov-commenter · 2021-06-09T10:50:57Z

Codecov Report

Merging #76 (0d10b4b) into master (f5e163d) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff            @@
##           master     #76     +/-   ##
========================================
  Coverage    0.00%   0.00%             
========================================
  Files          30       3     -27     
  Lines        2830     294   -2536     
========================================
+ Misses       2830     294   -2536

Flag	Coverage Δ
unittests	`0.00% <ø> (ø)`

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...l_demo_hardware/src/rrbot_system_position_only.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
...demo_hardware/src/rrbot_system_multi_interface.cpp
...l_demo_hardware/src/rrbot_system_position_only.cpp
.../ros2_control_demo_hardware/src/diffbot_system.cpp
... and 23 more

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olivier-stasse · 2021-06-09T11:02:34Z

@olivier-stasse would also like to get review from you.

Dear @destogl I was just reporting the constraints from the interface: it was saying that one reviewer with write access should validate the PR.

You, @bmagyar and @Karsten1987 are doing an incredible job, I was just trying to avoid having PR piling up without proper grounds.

Thanks again for your time and dedication.

olivier-stasse · 2021-06-09T12:44:27Z

Again some ros2 issues on the CI...

So we have to wait that the package number is updated (I checked the number of the package required and indeed it does not correspond) ? Or is it a transient situation with the buildfarm ?

jordan-palacios

Demos work fine for me aside for a few minor details.

Current Example enumeration goes like this: 1 -> 1 -> 2 -> 10 :D

README.md

jordan-palacios · 2021-06-09T13:47:47Z

README.md

+    The two illegal controllers demonstrate how hardware interface declines faulty claims to access joint command interfaces.
+
+
+### Example 10: "Differential drive mobile robot"


For this demo the default rviz configuration file did not set up correctly the fixed frame (I'm guessing it's odom) nor did it showed the Robot Model.

After fixing this and sending the velocity command the demo runs fine.

One thing I noticed is the velocity being correctly updated in the /joint_states while the wheel positions is fixed to zero.

header: stamp: sec: 1623246367 nanosec: 753984445 frame_id: '' name: - right_wheel_joint - left_wheel_joint position: - 0.0 - 0.0 velocity: - 50.0 - 43.33333333333333 effort: - .nan - .nan

Thanks @jordan-palacios I will try to propose a fix by tomorrow morning.

mahaarbo

I've made some minor comments on the documentation, hope you don't mind!

README.md

doc/index.rst

Karsten1987

I mentioned it inline, but I'd consider moving the description for a specific robot in their own README and link it from the top-level

README.md

ros2_control_demo_bringup/CMakeLists.txt

ros2_control_demo_description/CMakeLists.txt

olivier-stasse · 2021-06-10T21:57:52Z

PR #104 adresses the reviews. Thanks to all.

Co-authored-by: Jordan Palacios <[email protected]>

destogl · 2021-06-11T09:41:10Z

Dear @destogl I was just reporting the constraints from the interface: it was saying that one reviewer with write access should validate the PR.

This setup ensured the quality of packages in general. Nevertheless, we value every review because this guarantees more eyes and even higher quality and sensibility of an implementation :)

README.md

Co-authored-by: mahaarbo <[email protected]> Co-authored-by: Karsten Knese <[email protected]>

* Implement classical differential wheel robot. * Add rviz configuration file. Co-authored-by: Olivier Stasse <[email protected]> Co-authored-by: Denis Štogl <[email protected]>

Co-authored-by: mahaarbo <[email protected]>

destogl · 2021-06-11T10:05:57Z

Thank you all for the input! Especially to:

@jordan-palacios - for being detailed in testing
@mahaarbo - for reading the README carefully
@olivier-stasse - for the support to quickly resolve major issues.

It's really great to be a part of such a community :)

olivier-stasse · 2021-06-14T04:56:33Z

Dear @destogl and all,
Do you think that it will be possible to merge this PR in master or is there other things to do ?
Issue #75 could be solved in a different PR. This one is already really big. I believe that add-rrbot- corrections is already acting like a devel branch.

Karsten1987

I agree with Olivier. Let's get this one in and follow up with other smaller increments in case it's still not fully accurate.

bmagyar · 2021-06-14T15:20:33Z

Phew, this was quite a marathon to review! :D merging...

destogl · 2021-06-14T20:32:42Z

@Karsten1987 @bmagyar thanks for final approvals!

Karsten1987 · 2021-06-15T20:06:28Z

@destogl did you ever test the gazebo demo of this PR?
I get a segfault when trying to launch the gazebo rrbot on OSX as well as Linux:

[gzserver-1] [Err] [Model.cc:1137] Exception occured in the Load function of plugin with name[gazebo_ros2_control] and filename[libgazebo_ros2_control.so]. This plugin will not run.
[ros2_control_node-3] [INFO] [1623786805.821751090] [RRBotSystemPositionOnlyHardware]: 0.0 seconds left...
[ros2_control_node-3] [INFO] [1623786805.821794391] [RRBotSystemPositionOnlyHardware]: System Successfully started!
[ERROR] [gzserver-1]: process has died [pid 32476, exit code -11, cmd 'gzserver       --verbose                                                                -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so   -s libgazebo_ros_force_system.so       '].
[gzserver-1]

I guess that's really on me though, I should have tested it correctly before approving.

olivier-stasse · 2021-06-16T06:43:47Z

@Karsten1987 @destogl my bad too.

I have a fix for starting Gazebo here olivier-stasse@4712995

I will try to test the controller probably having in mind the fixes in PR #103 .

destogl requested a review from bmagyar April 17, 2021 06:39

bmagyar reviewed Apr 17, 2021

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destogl force-pushed the add-rrbot-corrections branch from 25d9d6f to 2883667 Compare April 17, 2021 20:32

destogl mentioned this pull request Apr 28, 2021

refactor demo_robot description folder in its own package #86

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destogl added 4 commits May 28, 2021 11:40

Add correction to rrbot launch using arguments and reuse the main fil…

e6398af

…e for starting examples.

Rename config package name

bd426cb

Reorder packages and start docs. Not tested yet.

69ecef9

Update lauch and description files to updated structure

5f58183

destogl added 2 commits May 28, 2021 18:00

Move all files

30f3f94

Corrected launch of position_only example

a550d90

destogl force-pushed the add-rrbot-corrections branch from 1ec974c to a550d90 Compare May 28, 2021 22:26

This was referenced Jun 7, 2021

Updated README and Gazebo example #103

Closed

Fix file path in rrbot_system_multi_interface.urdf.xacro #96

Closed

olivier-stasse mentioned this pull request Jun 8, 2021

Added GPIO parsing and test ros-controls/ros2_control#436

Merged

olivier-stasse mentioned this pull request Jun 9, 2021

Make multiple_interfaces works on branch add-rrbot-corrections. #101

Merged

destogl added 2 commits June 9, 2021 12:09

Update readme and test rrbot examples.

0836718

Add also DiffBot working

da81d3e

destogl requested review from Karsten1987, jordan-palacios and v-lopez June 9, 2021 10:43

jordan-palacios reviewed Jun 9, 2021

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olivier-stasse mentioned this pull request Jun 9, 2021

Add rrbot corrections following review of @jordan-palacios #104

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mahaarbo reviewed Jun 10, 2021

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Karsten1987 reviewed Jun 10, 2021

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Update README.md

8f696d4

Co-authored-by: Jordan Palacios <[email protected]>

destogl mentioned this pull request Jun 11, 2021

Move documentation to .rst files #105

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destogl commented Jun 11, 2021

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destogl and others added 3 commits June 11, 2021 11:48

Apply suggestions from code review

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Co-authored-by: mahaarbo <[email protected]> Co-authored-by: Karsten Knese <[email protected]>

Add rrbot corrections following review of @jordan-palacios (#104)

572bfc9

* Implement classical differential wheel robot. * Add rviz configuration file. Co-authored-by: Olivier Stasse <[email protected]> Co-authored-by: Denis Štogl <[email protected]>

Update README.md

0d10b4b

Co-authored-by: mahaarbo <[email protected]>

destogl linked an issue Jun 11, 2021 that may be closed by this pull request

refactor demo_robot description folder in its own package #86

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olivier-stasse approved these changes Jun 11, 2021

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destogl mentioned this pull request Jun 12, 2021

[rviz2-3] Warning: Invalid frame ID "link1" passed to canTransform argument source_frame #107

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Karsten1987 approved these changes Jun 14, 2021

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bmagyar approved these changes Jun 14, 2021

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bmagyar merged commit 4888549 into master Jun 14, 2021

destogl deleted the add-rrbot-corrections branch June 14, 2021 20:32

Karsten1987 mentioned this pull request Jun 17, 2021

make descriptions their own packages #113

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christophfroehlich mentioned this pull request Mar 17, 2023

Multiple interfaces demo not updated #95

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Use Arguments in launch files and enable their reuse. #76

Use Arguments in launch files and enable their reuse. #76

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olivier-stasse commented Jun 16, 2021

		The two illegal controllers demonstrate how hardware interface declines faulty claims to access joint command interfaces.


		### Example 10: "Differential drive mobile robot"

Use Arguments in launch files and enable their reuse. #76

Use Arguments in launch files and enable their reuse. #76

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