ROS - HowardWhile/2023_note GitHub Wiki

ROS

關於URDF的座標系統

image-20231030111627423

image-20231030111635486

r6bot

這是ros2 controller demo的6軸機器人

 ros2 launch ros2_control_demo_example_7 view_r6bot.launch.py

joint並沒有參考特定的DH參數排列

image-20231030162140304

UR

這是大家都愛用的**Universal_Robots_ROS2_Description**

sudo apt install ros-humble-ur-description
ros2 launch ur_description view_ur.launch.py ur_type:=ur5

joint參考M-DH排列

image-20231030163534896

FANAC

fanuc_description感覺有點粗糙我要再找找比較有公信力的urdf來源

image-20231030170156854

KUKA

尋找其他機器人的描述檔

可以前往ros2的入口網站 ROS Index 使用關鍵字description搜尋。舉例來說想要找FANUC機器人的描述檔可以透過關鍵字。

+description +FANUC

ros社群約定使用description作為機器人的描述檔package的名稱

怎麼將solidwork的零件用rviz顯示?

https://github.com/HowardWhile/urdf_demo

URDF

mass properties

http://wiki.ros.org/urdf/XML/link

關於模型質量的各種參數<origin> <mass> <inertia>要如何取得呢?

我這邊透過solidwork來評估。

點選評估->物質特性

image-20231004111858114

ROS系統採用KMS製所以記得到這邊設定

image-20231004112413125

將質量填入<mass>

將質量中心填入<origin>

將慣性矩填入<inertia>

http://wiki.ros.org/urdf/XML/link

inertia This link's moments of inertia...

https://zh.wikipedia.org/zh-tw/%E8%BD%89%E5%8B%95%E6%85%A3%E9%87%8F

轉動慣量 (Moment of inertia) 在古典力學中，轉動慣量又稱慣性矩，通常以I表示...

效果

image-20231004154810058

image-20231004154853635

image-20231004154930908

與UR型的比較
sudo apt install ros-humble-ur-description
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

image-20231004155328252

image-20231004155421328

image-20231004155504928

ros2 and ethercat

要建立ec0902的ethercat控制器可以這樣子做。

建立工作空間

透過RosTeamWs的工具初始化名為ws_ethercat的工作空間

setup-ros-workspace ~/workspace/ws_ethercat humble

安裝 ethercat_driver_ros2

參考ethercat_driver_ros2安裝 https://icube-robotics.github.io/ethercat_driver_ros2/quickstart/installation.html

要注意的是這邊用到的目錄是~/workspace/ws_ethercat/src

建立ec0902的控制器模板

為了在ROS 2控制架構中控制 EtherCAT 設備，需要實現相關的 controller 和 hardware。在這個過程中，必須創建描述 (description)、啟動 (bringup)，以及控制 (controller) 相關的元件。在 hardware 方面，可以使用 ethercat_driver_ros2 中提供的典型 ethercat_generic_slave。因此，需要建立以下三個 package 以實現所需的控制功能：

  • 描述 (description) package
  • 啟動 (bringup) package
  • 控制 (controller) package

這邊使用 RosTeamWs 來初始化模板。所以要先參考RosTeamWs配置環境

建立 description, controller, bringup package

_ws_ethercat
rosds
mkdir ec0902
cd ec0902
create-new-package ec0902_description "delta R2-EC0902 - description"
create-new-package ec0902_bringup "delta R2-EC0902 - bringup"
create-new-package ec0902_controller "delta R2-EC0902 - controller"

關於配置選擇

What type of package you want to create?
1) standard
2) metapackage
3) subpackage
#? 1

Who will maintain the package you want to create? Please provide the info:
1) user input
2) global git: HowardWhile <[email protected]>
#? 1

How do you want to licence your package? 
#? 10

Please choose your package build type:
1) ament_cmake
2) ament_python
3) cmake
#? 1

Do you want to setup/update repository with the new package configuration? [yes no]
#? no
使用setup-robot-description初始化description

setup-robot-description <my_cool_robot_name>

_ws_ethercat
rosd
cd src/ec0902/ec0902_description/
setup-robot-description r2_ec0902
cb ec0902_description
使用ros2_control_setup-controller-package初始化controller

ros2_control_setup-controller-package <my_controller_file_name>

_ws_ethercat
rosd
cd src/ec0902/ec0902_controller/
ros2_control_setup-controller-package ec0902_controller

關於配置選擇

Which license-header do you want to use? [1]
(0) None
(1) Apache-2.0
(2) Proprietary
#? 1

Insert your company or personal name (copyright): 
#? howard

Is package already configured (is in there a working controller already)? (yes/no) [no]
#? no

Do you want to setup a 'normal' or 'chainable' controller? [1]
(1) normal (single-level control)
(2) chainable
#? 1
使用setup-robot-bringup初始化bringup

setup-robot-bringup <my_cool_robot_name> <my_cool_robot_description_package_name>

_ws_ethercat
rosd
cd src/ec0902/ec0902_bringup/
setup-robot-bringup r2_ec0902 ec0902_description

設定description的內容

移除不使用的檔案

由於目標是測試EtherCAT，因此可以刪除與機器人模型3D相關的檔案以及觀看3D相關的檔案，這些對目前的測試不需要。

以下資料夾可以刪除

  • launch
  • meshes
  • rviz

同時需要編輯CMakeLists.txt將這些資料夾從install階段移除

install(
  #DIRECTORY config launch meshes rviz urdf 
  DIRECTORY config urdf #修改 
  DESTINATION share/${PROJECT_NAME}
)

以下檔案可以刪除

  • ./ec0902_description/urdf/r2_ec0902/r2_ec0902_macro.xacro
  • ./ec0902_description/urdf/common.xacro

編輯urdf.xacro

模板中URDF描述檔巨集的進入位置在 ./ec0902_description/urdf/r2_ec0902.urdf.xacro。打開後進行如下編輯：

只保留下以下這一行：

<xacro:include filename="$(find ec0902_description)/urdf/r2_ec0902/r2_ec0902_macro.ros2_control.xacro"/>

其餘部分請先移除。編輯後的文件如下所示：

<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="r2_ec0902">
    <xacro:include filename="$(find ec0902_description)/urdf/r2_ec0902/r2_ec0902_macro.ros2_control.xacro"/>
</robot>

編輯ros2_control.xacro

ref https://icube-robotics.github.io/ethercat_driver_ros2/user_guide/config_generic_slave.html

模板產生的檔案中，ros2_control.xacro (./ec0902_description/urdf/r2_ec0902/r2_ec0902_macro.ros2_control.xacro) 檔案，可以定義ros2_control要載入的插件，並配置相關的interface。這裡按照ethercat_driver_ros2建議載入 ethercat_driver/EthercatDriver 和 ethercat_generic_plugins/GenericEcSlave，並進行相應的設定。編輯後的文件如下所示：

<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
    <ros2_control name="r2_ec0902" type="system">
        <hardware>
            <plugin>ethercat_driver/EthercatDriver</plugin>
            <param name="master_id">0</param>
            <param name="control_frequency">100</param>
        </hardware>
        <gpio name="gpio_0">
            <command_interface name="p1/output"/>
            <command_interface name="p2/output"/>
            <command_interface name="p3/output"/>
            <command_interface name="p4/output"/>
            <state_interface name="p1/input"/>
            <state_interface name="p2/input"/>
            <state_interface name="p3/input"/>
            <state_interface name="p4/input"/>
            <ec_module name="R2_EC0902">
                <plugin>ethercat_generic_plugins/GenericEcSlave</plugin>
                <param name="alias">0</param>
                <param name="position">0</param>
                <param name="slave_config">$(find ec0902_description)/config/EC0902_slave_config.yaml</param>
            </ec_module>
        </gpio>
    </ros2_control>
</robot>

加入slave_config.yaml

ref https://icube-robotics.github.io/ethercat_driver_ros2/user_guide/config_generic_slave.html

名為 EC0902_slave_config.yaml 的配置檔放在 ./ec0902_description/config/EC0902_slave_config.yaml 的路徑下，以便在 ros2_control.xacro 檔案中的 slave_config 變數中引用。這個檔案將用於定義EtherCAT slave的SDO配置、PDO映射、Sync Manager配置等等設定。該如何配置要參考DELTA EC0902的IO模組的說明文件，同時也要參考ethercat_driver_ros2說明文件。配置完成的檔案內容如下︰

vendor_id: 0x000001DD
product_id: 0x00000902
assign_activate: 0x0300  # DC Synch register
# -------------------------------------------------------------------------
# sdo data to be transferred at drive startup
# -------------------------------------------------------------------------
sdo:  
  # DO Setting Value
  - {index: 0x6200, sub_index: 1, type: uint8, value: 255}
  - {index: 0x6200, sub_index: 2, type: uint8, value: 255}
  - {index: 0x6200, sub_index: 3, type: uint8, value: 255}
  - {index: 0x6200, sub_index: 4, type: uint8, value: 255}  
  # Active DO Enable
  - {index: 0x2001, sub_index: 1, type: uint8, value: 255}
  - {index: 0x2001, sub_index: 2, type: uint8, value: 255}
  - {index: 0x2001, sub_index: 3, type: uint8, value: 255}
  - {index: 0x2001, sub_index: 4, type: uint8, value: 255}
  # DO Error Mode Enable
  - {index: 0x6206, sub_index: 1, type: uint8, value: 0}
  - {index: 0x6206, sub_index: 2, type: uint8, value: 0}
  - {index: 0x6206, sub_index: 3, type: uint8, value: 0}
  - {index: 0x6206, sub_index: 4, type: uint8, value: 0} 
  # DO Error Mode Setting Value 
  - {index: 0x6207, sub_index: 1, type: uint8, value: 0}
  - {index: 0x6207, sub_index: 2, type: uint8, value: 0}
  - {index: 0x6207, sub_index: 3, type: uint8, value: 0}
  - {index: 0x6207, sub_index: 4, type: uint8, value: 0}

# -------------------------------------------------------------------------
# Transmit PDO mapping configuration.
# -------------------------------------------------------------------------
tpdo:  # TxPDO
  - index: 0x1a00
    channels:
        # 0x6000:01, r-r-r-, uint8, 8 bit, "Read Port0 Input CH0~7 8Bit"
        # 0x6000:02, r-r-r-, uint8, 8 bit, "Read Port0 Input CH8~15 8Bit"
        # 0x6000:03, r-r-r-, uint8, 8 bit, "Read Port1 Input CH0~7 8Bit"
        # 0x6000:04, r-r-r-, uint8, 8 bit, "Read Port1 Input CH8~15 8Bit"
      - {index: 0x6000, sub_index: 1, type: uint8, state_interface: "p1/input"}
      - {index: 0x6000, sub_index: 2, type: uint8, state_interface: "p2/input"}
      - {index: 0x6000, sub_index: 3, type: uint8, state_interface: "p3/input"}
      - {index: 0x6000, sub_index: 4, type: uint8, state_interface: "p4/input"}

# -------------------------------------------------------------------------
# Receive PDO mapping configuration.
# -------------------------------------------------------------------------
rpdo:  # RxPDO
  - index: 0x1600
    channels:
      # 0x6200:01, rwrwrw, uint8, 8 bit, "Port2 DO CH0~7 Setting Value"
      # 0x6200:02, rwrwrw, uint8, 8 bit, "Port2 DO CH8~15 Setting Value"
      # 0x6200:03, rwrwrw, uint8, 8 bit, "Port3 DO CH0~7 Setting Value"
      # 0x6200:04, rwrwrw, uint8, 8 bit, "Port3 DO CH8~15 Setting Value"
      - {index: 0x6200, sub_index: 1, type: uint8, command_interface: "p1/output"}
      - {index: 0x6200, sub_index: 2, type: uint8, command_interface: "p2/output"}
      - {index: 0x6200, sub_index: 3, type: uint8, command_interface: "p3/output"}
      - {index: 0x6200, sub_index: 4, type: uint8, command_interface: "p4/output"}

# -------------------------------------------------------------------------
# Sync Manager configuration.
# -------------------------------------------------------------------------
sm:  # Sync Manager
  - {index: 0, type: output, pdo: ~, watchdog: disable}
  - {index: 1, type: input, pdo: ~, watchdog: disable}
  - {index: 2, type: output, pdo: rpdo, watchdog: disable}
  - {index: 3, type: input, pdo: tpdo, watchdog: disable}

測試

使用bringup來launch看看。

ros2 launch ec0902_bringup r2_ec0902.launch.py

稍等約10秒鐘就可以看到ec0902的Run指示燈變成op模式(恆亮)。因為還沒有修改bringup的launch檔，會有controller_manager發出的錯誤訊息可以先忽略。

接下來透過指令顯示hardware_interfaces

ros2 control list_hardware_interfaces
command interfaces
	gpio_0/p1/output [available] [unclaimed]
	gpio_0/p2/output [available] [unclaimed]
	gpio_0/p3/output [available] [unclaimed]
	gpio_0/p4/output [available] [unclaimed]
state interfaces
	gpio_0/p1/input
	gpio_0/p2/input
	gpio_0/p3/input
	gpio_0/p4/input

就能看到ros2_control.xacro中定義的控制器接口。因為還沒有維護controller所以command interfaces會顯示 [unclaimed]

設定controller的內容

修改模板的事件接口函數內容

主要目標是修改 ec0902_controller.cpp 檔案。ControllerInterface 有定義7個事件接口：on_init, command_interface_configuration, state_interface_configuration, on_configure, on_activate, on_deactivate, update ，首先聚焦在2個事件接口，即：

  • command_interface_configuration
  • state_interface_configuration

請參考 ./ec0902_description/urdf/r2_ec0902/r2_ec0902_macro.ros2_control.xacro 中 <command_interface> 和 <state_interface> 標籤的描述，我們將按照這些描述來修改ec0902_controller.cpp的事件接口，變動後的內容如下：

controller_interface::InterfaceConfiguration Ec0902Controller::command_interface_configuration() const
{
    controller_interface::InterfaceConfiguration command_interfaces_config;
    command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;

    command_interfaces_config.names.push_back("gpio_0/p1/output");
    command_interfaces_config.names.push_back("gpio_0/p2/output");
    command_interfaces_config.names.push_back("gpio_0/p3/output");
    command_interfaces_config.names.push_back("gpio_0/p4/output");

    return command_interfaces_config;
}
controller_interface::InterfaceConfiguration Ec0902Controller::state_interface_configuration() const
{
    controller_interface::InterfaceConfiguration state_interfaces_config;
    state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;

    state_interfaces_config.names.push_back("gpio_0/p1/input");
    state_interfaces_config.names.push_back("gpio_0/p2/input");
    state_interfaces_config.names.push_back("gpio_0/p3/input");
    state_interfaces_config.names.push_back("gpio_0/p4/input");

    return state_interfaces_config;
}

gpio_0最好要參數化，單台設備沒有影響，但這種寫法在多台設備會有interface名稱重複的問題

剩餘的5個事件接口

  • on_init
  • on_configure
  • on_activate
  • on_deactivate
  • updated

可以將它們的內容清空以便進行編譯，我將模板程式修改如下︰

controller_interface::CallbackReturn Ec0902Controller::on_init()
{
    RCLCPP_INFO(get_node()->get_logger(), "on_init()");

    control_mode_.initRT(control_mode_type::FAST);
    try
    {
        param_listener_ = std::make_shared<ec0902_controller::ParamListener>(get_node());
    }
    catch (const std::exception &e)
    {
        fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what());
        return controller_interface::CallbackReturn::ERROR;
    }

    return controller_interface::CallbackReturn::SUCCESS;
}
//....
//....
//....
controller_interface::CallbackReturn Ec0902Controller::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
{
    RCLCPP_INFO(get_node()->get_logger(), "on_configure()");

    params_ = param_listener_->get_params();

    return controller_interface::CallbackReturn::SUCCESS;
}

controller_interface::CallbackReturn Ec0902Controller::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
{
  RCLCPP_INFO(get_node()->get_logger(), "on_activate()");
  return controller_interface::CallbackReturn::SUCCESS;
}

controller_interface::CallbackReturn Ec0902Controller::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
{
  RCLCPP_INFO(get_node()->get_logger(), "on_deactivate()");
  return controller_interface::CallbackReturn::SUCCESS;
}

controller_interface::return_type Ec0902Controller::update(const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
{
  RCLCPP_INFO(get_node()->get_logger(), "update()");
  return controller_interface::return_type::OK;
}

停用編譯測試程式碼

模板./ec0902_controller/CMakeLists.txt之中BUILD_TESTING還原成預設內容，修改如下︰

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

重新規劃controller的參數

controller參數定義在這個路徑./ec0902_controller/src/ec0902_controller.yaml，模板定義的參數不一定要用我先隨意使用教學的範例替代。修改如下。

ec0902_controller:
  background:
    r: {
      type: int,
      default_value: 0,
      description: "Red color value for the background, 8-bit",
      validation: {
        bounds<>: [0, 255]
      }
    }
    g: {
      type: int,
      default_value: 0,
      description: "Green color value for the background, 8-bit",
      validation: {
        bounds<>: [0, 255]
      }
    }
    b: {
      type: int,
      default_value: 0,
      description: "Blue color value for the background, 8-bit",
      validation: {
        bounds<>: [0, 255]
      }
    }

參數的產生用到generate_parameter_library，產生參數的過程，可以參考https://github.com/PickNikRobotics/generate_parameter_library的教學，這邊就不多敘述

測試1︰載入controller

首先，請維護 ./ec0902_bringup/config/r2_ec0902_controllers.yaml 中的參數檔，並新增一個 ec0902_controller，並指定其型態為 ec0902_controller/Ec0902Controller，如下所示：

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz
    
    ec0902_controller:
      type: ec0902_controller/Ec0902Controller
    # .....

請確保型態的名稱與 ./ec0902_controller/ec0902_controller.xml 中 <class name= 標籤中描述的 ec0902_controller/Ec0902Controller 相對應。

接下來，使用 bringup 來啟動：

ros2 launch ec0902_bringup r2_ec0902.launch.py

透過指令列出controller：

ros2 control list_controllers

您將會看到目前只有模板預載的控制器：

joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
forward_position_controller[forward_command_controller/ForwardCommandController] inactive

此時，您可以透過以下指令載入剛剛完成的 ec0902_controller：

ros2 control load_controller ec0902_controller

再次透過指令列出controller：

ros2 control list_controllers

您將會看到 ec0902_controller 已經被載入，但處於 unconfigured 狀態：

joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
forward_position_controller[forward_command_controller/ForwardCommandController] inactive  
ec0902_controller   [ec0902_controller/Ec0902Controller] unconfigured

測試2︰將所寫的controller連接硬體接口

接續測試1

可以透過指令顯示descriptionpackage中定義的hardware_interfaces

ros2 control list_hardware_interfaces
command interfaces
	gpio_0/p1/output [available] [unclaimed]
	gpio_0/p2/output [available] [unclaimed]
	gpio_0/p3/output [available] [unclaimed]
	gpio_0/p4/output [available] [unclaimed]
state interfaces
	gpio_0/p1/input
	gpio_0/p2/input
	gpio_0/p3/input
	gpio_0/p4/input

可以看到command interface目前是處於**[unclaimed]**狀態

透過指令切換controller狀態

ros2 control set_controller_state ec0902_controller inactive
ros2 control set_controller_state ec0902_controller active

再次透過指令顯示hardware_interfaces

ros2 control list_hardware_interfaces
command interfaces
	gpio_0/p1/output [available] [claimed]
	gpio_0/p2/output [available] [claimed]
	gpio_0/p3/output [available] [claimed]
	gpio_0/p4/output [available] [claimed]
state interfaces
	gpio_0/p1/input
	gpio_0/p2/input
	gpio_0/p3/input
	gpio_0/p4/input

可以看到command interface已經切換成**[claimed]**狀態

且透過ros2 launch ec0902_bringup r2_ec0902.launch.py 的 ros2_control正在不斷執行update()。

[ros2_control_node-1] [INFO] [1694765859.679332623] [controller_manager]: Loading controller 'ec0902_controller'
[ros2_control_node-1] [INFO] [1694765859.685629874] [ec0902_controller]: on_init()
[ros2_control_node-1] [INFO] [1694765994.661626392] [controller_manager]: Configuring controller 'ec0902_controller'
[ros2_control_node-1] [INFO] [1694765994.661717183] [ec0902_controller]: on_configure()
[ros2_control_node-1] [INFO] [1694766006.776350344] [ec0902_controller]: command_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.776436644] [ec0902_controller]: state_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.779393226] [ec0902_controller]: command_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.779452984] [ec0902_controller]: command_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.779707682] [ec0902_controller]: command_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.779738733] [ec0902_controller]: state_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.779762600] [ec0902_controller]: on_activate()
[ros2_control_node-1] [INFO] [1694766006.779852106] [ec0902_controller]: command_interface_configuration()
[ros2_control_node-1] [INFO] [1694766006.789720489] [ec0902_controller]: update()
[ros2_control_node-1] [INFO] [1694766006.799726194] [ec0902_controller]: update()
[ros2_control_node-1] [INFO] [1694766006.809727896] [ec0902_controller]: update()
[ros2_control_node-1] [INFO] [1694766006.819728645] [ec0902_controller]: update()
# .......

在ros2_control架構中，controller以插件的形式運作，因此在程式中不會有main()函數，取而代之的是提供了許多controller_interface的函數接口，供ros2_controll調用。

有關ROS插件和ros2_control接口的相關資訊和教程可以參考以下連結：

設定bringup的內容

移除不使用的檔案

先移除模板中不需要的範例程式。

以下檔案可以刪除

  • ./ec0902_bringup/config/test_goal_publishers_config.yaml
  • ./ec0902_bringup/launch/test_forward_position_controller.launch.py
  • ./ec0902_bringup/launch/test_joint_trajectory_controller.launch.py

編輯launch檔

bringup的launch檔位置是./ec0902_bringup/launch/r2_ec0902.launch.py是專案約定的主要launch檔，主要運行controller_manager並且使用spawner載入ec0902_controller。

./ec0902_bringup/launch/r2_ec0902.launch.py修改後如下

from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    # ----------------------------------------------------------------
    # controller_manager initial
    # ----------------------------------------------------------------
    # Get URDF via xacro
    robot_description_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution(
                [
                    FindPackageShare("ec0902_description"),
                    "urdf",
                    "r2_ec0902.urdf.xacro",
                ]
            ),
        ]
    )

    robot_description = {"robot_description": robot_description_content}

    robot_controllers = PathJoinSubstitution(
        [FindPackageShare("ec0902_bringup"),
         "config",
         "r2_ec0902_controllers.yaml"]
    )

    control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        output="both",
        parameters=[robot_description, robot_controllers],
    )
    # ----------------------------------------------------------------
    # controller_manager spawner
    # ----------------------------------------------------------------
    ec0902_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["ec0902_controller", "-c", "/controller_manager"],
    )

    nodes = [
        control_node,
        ec0902_controller_spawner
    ]

    return LaunchDescription(nodes)

編輯參數檔

請維護 ./ec0902_bringup/config/r2_ec0902_controllers.yaml 中的參數檔，並新增一個 ec0902_controller，並指定其型態為 ec0902_controller/Ec0902Controller，模板提供的其他參數沒有使用到可以移除。

./ec0902_bringup/config/r2_ec0902_controllers.yaml 編輯後如下

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    ec0902_controller:
      type: ec0902_controller/Ec0902Controller

測試

ros2 launch ec0902_bringup r2_ec0902.launch.py

顯示controller可以看到ec0902_controller啟動後狀態直接處於active

ros2 control list_controllers
ec0902_controller   [ec0902_controller/Ec0902Controller] active

顯示硬體接口可以看到command interfaces已經處於claimed

ros2 control list_hardware_interfaces
command interfaces
	gpio_0/p1/output [available] [claimed]
	gpio_0/p2/output [available] [claimed]
	gpio_0/p3/output [available] [claimed]
	gpio_0/p4/output [available] [claimed]
state interfaces
	gpio_0/p1/input
	gpio_0/p2/input
	gpio_0/p3/input
	gpio_0/p4/input

controller的應用功能

EC0902是一個繼電器IO集成的設備，其主要功能是提供IO控制。為了實現這一功能，我們需要為控制器（controller），設計一些topic的接口，以便將IO訊號集成到ROS系統中。

這邊列出存取command interfaces與state interfaces的方法，至於要實做什麼功能就看應用決定。主要修改事件接口update()

controller_interface::return_type Ec0902Controller::update(const rclcpp::Time &time, const rclcpp::Duration & /*period*/)
{
    // get data from state interface
    std::vector<int8_t> gpio_input;
    gpio_input.resize(this->state_interfaces_.size());
    for (size_t idx = 0; idx < gpio_input.size(); idx++)
        gpio_input[idx] = this->state_interfaces_[idx].get_value();

    // set data to command interface
    for (size_t idx = 0; idx < command_interfaces_.size(); idx++)
    {
        this->command_interfaces_[idx].set_value(0x55); //
    }

    RCLCPP_INFO_THROTTLE(get_node()->get_logger(), *get_node()->get_clock(), 1000,
                         "update() input: %X %X %X %X",
                         gpio_input[0],
                         gpio_input[1],
                         gpio_input[2],
                         gpio_input[3]);

    return controller_interface::return_type::OK;
}

ros2_control

controller_manager

controller_manager3個重要的node

ros2 run controller_manager ros2_control_node
ros2 run controller_manager spawner
ros2 run controller_manager unspawner

範例

https://control.ros.org/humble/doc/ros2_control_demos/doc/index.html

launch了什麼與之間的關係

https://control.ros.org/humble/doc/ros2_control_demos/doc/index.html#installation

參考Example 1: RRBot

ros2 launch ros2_control_demo_example_1 rrbot.launch.py

切換控制器forward_position_controller -> joint_trajectory_position_controller

ros2 control load_controller joint_trajectory_position_controller
ros2 control set_controller_state joint_trajectory_position_controller inactive
# ros2 control set_controller_state forward_position_controller inactive
# ros2 control set_controller_state joint_trajectory_position_controller active
ros2 control switch_controllers --activate joint_trajectory_position_controller --deactivate forward_position_controller

測試控制器joint_trajectory_position_controller

ros2 launch ros2_control_demo_example_1 test_joint_trajectory_controller.launch.py

RosTeamWS

https://rtw.stoglrobotics.de/master/index.html

可以簡化許多指令

錯誤訊息與解法

Starting >>> rqt_topic
--- stderr: rqt_topic                                                         
/home/user/.local/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< rqt_topic [1.43s]

SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.

import setuptools
print(setuptools.__version__)
sudo pip install setuptools==58.2.0

https://answers.ros.org/question/396439/setuptoolsdeprecationwarning-setuppy-install-is-deprecated-use-build-and-pip-and-other-standards-based-tools/

roscd

我需要roscd ros2的roscd到哪裡去了 https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html#setup-colcon-cd

現在變成colcon_cd了

echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc

命令 colcon_cd 允許您快速將 shell 的當前工作目錄更改為包的目錄。例如，colcon_cd <some_ros_package> 會很快將您帶到目錄 ~/ros2_install/src/some_ros_package。

根據您安裝 colcon_cd 的方式和您的工作區所在的位置，上述說明可能會有所不同，請參閱文檔以獲取更多詳細信息。要在 Linux 和 macOS 中撤消此操作，請找到系統的 shell 啟動腳本並刪除附加的 source 和 export 命令。

colcon與自動完成

sudo apt install python3-colcon-common-extensions
# source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

MoveIt2

https://www.ncnynl.com/archives/202110/4678.html https://moveit.picknik.ai/humble/doc/tutorials/tutorials.html 從原代碼編譯有夠久的

配置助手

https://zhuanlan.zhihu.com/p/567246503

運動學

台大機器人學線上課程 https://www.coursera.org/learn/robotics1/

rviz的警告訊息

Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

https://blog.csdn.net/qq_37307332/article/details/123328249

sudo nano /etc/gdm3/custom.conf
#WaylandEnable=false 移除駐節#
重開機

ros2 看程序包之中有多少執行檔

如果想看turtlesim程序包有多少個執行檔

ros2 pkg executables turtlesim
turtlesim draw_square
turtlesim mimic
turtlesim turtle_teleop_key
turtlesim turtlesim_node

turtlesim程序包可以這樣安裝

sudo apt install ros-humble-turtlesim

ros2-launch

與1代不同launch檔修改之後，必須要執行colcon build 才會生效

CMakeLists.txt要新增下列代碼才能使用packages路徑來launch

# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME})

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