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davetcolemandavetcoleman
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Added ros_control plugin to RRBot
1 parent 26249e5 commit afd7c0d

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+189
-599
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‎rrbot_control/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(rrbot_control)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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#######################################
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## Declare ROS messages and services ##
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#######################################
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES rrbot_control
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# CATKIN_DEPENDS other_catkin_pkg
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
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## Declare a cpp library
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# add_library(rrbot_control
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# src/${PROJECT_NAME}/rrbot_control.cpp
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# )
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## Declare a cpp executable
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# add_executable(rrbot_control_node src/rrbot_control_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(rrbot_control_node rrbot_control_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(rrbot_control_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS rrbot_control rrbot_control_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_rrbot_control.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎rrbot_control/config/rrbot_ros_control.yaml

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rrbot:
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joint1_position_controller:
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type: effort_controllers/JointPositionController
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joint: joint1
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pid: {p: 100.0, i: 0.01, d: 10.0}
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joint2_position_controller:
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type: effort_controllers/JointPositionController
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joint: joint2
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pid: {p: 100.0, i: 0.01, d: 10.0}

‎rrbot_control/launch/rrbot_control.launch

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<launch>
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<!-- load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/rrbot" args="--namespace=/rrbot
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joint1_position_controller
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joint2_position_controller"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find rrbot_control)/config/rrbot_ros_control.yaml" command="load"/>
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</launch>

‎rrbot_control/package.xml

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<?xml version="1.0"?>
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<package>
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<name>rrbot_control</name>
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<version>0.0.0</version>
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<description>The rrbot_control package</description>
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<maintainer email="[email protected]">Dave Coleman</maintainer>
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<license>BSD</license>
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<url type="website">http://http://gazebosim.org/w/index.php?title=Tutorials/1.9/Using_A_URDF_In_Gazebo</url>
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<url type="bugtracker">https://github.com/osrf/gazebo_ros_demos/issues</url>
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<url type="repository">https://github.com/osrf/gazebo_ros_demos</url>
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<author email="[email protected]">Dave Coleman</author>
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<buildtool_depend>catkin</buildtool_depend>
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<run_depend>controller_manager</run_depend>
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<export>
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</export>
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</package>

‎rrbot_description/urdf/rrbot.gazebo

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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>rrbot/ros_control</robotNamespace>
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<controlPeriod>0.001</controlPeriod>
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<joint>joint1</joint>
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<joint>joint2</joint>
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<robotNamespace>/rrbot</robotNamespace>
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</plugin>
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</gazebo>
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<!--gazebo>
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<plugin name="ros_control" filename="libros_control_gazebo_plugin.so">
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<ns>rrbot/ros_control</ns>
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<robotSimType>rrbot_gazebo/RobotSimRRBot</robotSimType>
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<controlPeriod>0.001</controlPeriod>
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</plugin>
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</gazebo-->
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<!-- Link1 -->
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<gazebo reference="link1">
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<material>Gazebo/Orange</material>

‎rrbot_description/urdf/rrbot.xacro

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</inertial>
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</link>
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<!--transmission name="joint1_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="joint1_motor"/>
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<transmission name="tran1" type="transmission_interface/SimpleTransmission">
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<joint name="joint1"/>
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<actuator name="motor1" type="EffortJointInterface" />
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<mechanicalReduction>1</mechanicalReduction>
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</transmission>
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<transmission name="joint2_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="joint2_motor"/>
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<transmission name="tran2" type="transmission_interface/SimpleTransmission">
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<joint name="joint2"/>
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<actuator name="motor2" type="EffortJointInterface" />
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<mechanicalReduction>1</mechanicalReduction>
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</transmission-->
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</transmission>
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</robot>

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