[Example 13] Multi-robot system with lifecycle management #187
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…o duplicate class.
…tem_with_external_sensor.urdf.xacro Co-authored-by: Denis Štogl <[email protected]>
…sor.cpp Co-authored-by: Denis Štogl <[email protected]>
…sor.cpp Co-authored-by: Denis Štogl <[email protected]>
…sor.cpp Co-authored-by: Denis Štogl <[email protected]>
…xternal_rrbot_force_torque_sensor.ros2_control.xacro Co-authored-by: Denis Štogl <[email protected]>
…xternal_rrbot_force_torque_sensor.ros2_control.xacro Co-authored-by: Denis Štogl <[email protected]>
…tem_with_external_sensor.urdf.xacro Co-authored-by: Denis Štogl <[email protected]>
…ntrollers.yaml Co-authored-by: Denis Štogl <[email protected]>
…tem_with_external_sensor.urdf.xacro Co-authored-by: Denis Štogl <[email protected]>
…sor.cpp Co-authored-by: Denis Štogl <[email protected]>
This reverts commit f3591bf89431a033192e7046b67b461dcc45304f.
destogl
reviewed
Jul 14, 2022
| ``` | ||
| rosdep install --from-paths src --ignore-src -r -y | ||
| apt install ros-foxy-realtime-tools ros-foxy-xacro ros-foxy-angles |
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We don't want to use apt directly, rosdep should install all dependencies automatically.
| @@ -127,9 +128,9 @@ The *RRBot* URDF files can be found in the `urdf` folder of `rrbot_description` | |||
| ros2 launch rrbot_description view_robot.launch.py | |||
| ``` | |||
| **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`. | |||
| This happens because `joint_state_publisher_gui` node need some time to start. | |||
| The `joint_state_publisher_gui` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in `Rviz`. | |||
| This happens because `joint_state_publisher_gui` node need some time to start. | |||
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This looks like unintentional change.
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Maybe we can do this note into a quote block.
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| ### Example 6: "Industrial Robots with externally connected sensor" | ||
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| - Launch file: [rrbot_system_with_external_sensor.launch.py](ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py) | ||
| - URDF: [rrbot_with_external_sensor_controllers.urdf.xacro](ros2_control_demo_bringup/config/rrbot_with_external_sensor_controllers.yaml) | ||
| - ros2_control URDF: [external_rrbot_force_torque_sensor.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro) | ||
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| - Command interfaces: | ||
| - joint1/position | ||
| - joint2/position | ||
| - State interfaces: | ||
| - joint1/position | ||
| - joint2/position | ||
| - tcp_fts_sensor/force.x | ||
| - tcp_fts_sensor/torque.z | ||
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| Available controllers: | ||
| - `forward_position_controller[forward_command_controller/ForwardCommandController]` | ||
| - `fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]` | ||
| - `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` | ||
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| Commanding the robot: see the commands below. | ||
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| Accessing Wrench data from 2D FTS: | ||
| ``` | ||
| ros2 topic echo /fts_broadcaster/wrench | ||
| ``` | ||
|
|
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This is now under "Example 4" section.
Suggested change
| ### Example 6: "Industrial Robots with externally connected sensor" | |
| - Launch file: [rrbot_system_with_external_sensor.launch.py](ros2_control_demo_bringup/launch/rrbot_system_with_external_sensor.launch.py) | |
| - URDF: [rrbot_with_external_sensor_controllers.urdf.xacro](ros2_control_demo_bringup/config/rrbot_with_external_sensor_controllers.yaml) | |
| - ros2_control URDF: [external_rrbot_force_torque_sensor.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/external_rrbot_force_torque_sensor.ros2_control.xacro) | |
| - Command interfaces: | |
| - joint1/position | |
| - joint2/position | |
| - State interfaces: | |
| - joint1/position | |
| - joint2/position | |
| - tcp_fts_sensor/force.x | |
| - tcp_fts_sensor/torque.z | |
| Available controllers: | |
| - `forward_position_controller[forward_command_controller/ForwardCommandController]` | |
| - `fts_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster]` | |
| - `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]` | |
| Commanding the robot: see the commands below. | |
| Accessing Wrench data from 2D FTS: | |
| ``` | |
| ros2 topic echo /fts_broadcaster/wrench | |
| ``` |
| @@ -652,7 +941,7 @@ Now you should also see the *RRbot* represented correctly in `RViz`. | |||
| ## Result | |||
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| 1. Independently from the controller you should see how the example's output changes. | |||
| Look for the following lines | |||
| Look for the following lines | |||
| @@ -0,0 +1,225 @@ | |||
| # Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) | |||
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Suggested change
| # Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) | |
| # Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) |
github-actions
bot
requested review from
arne48,
bmagyar,
destogl,
erickisos,
jaron-l,
peterdavidfagan and
TomoyaFujita2016
bmagyar
changed the title
erickisos
reviewed
Aug 5, 2022
| @@ -127,9 +128,9 @@ The *RRBot* URDF files can be found in the `urdf` folder of `rrbot_description` | |||
| ros2 launch rrbot_description view_robot.launch.py | |||
| ``` | |||
| **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`. | |||
| This happens because `joint_state_publisher_gui` node need some time to start. | |||
| The `joint_state_publisher_gui` provides a GUI to generate a random configuration for rrbot. It is immediately displayed in `Rviz`. | |||
| This happens because `joint_state_publisher_gui` node need some time to start. | |||
There was a problem hiding this comment.
Maybe we can do this note into a quote block.
Comment on lines
+28
to
+35
| declared_arguments = [] | ||
| declared_arguments.append( | ||
| DeclareLaunchArgument( | ||
| "slowdown", | ||
| default_value="50.0", | ||
| description="Slowdown factor of the RRbot.", | ||
| ) | ||
| ) |
There was a problem hiding this comment.
Why are we defining it and then doing the append?
Suggested change
| declared_arguments = [] | |
| declared_arguments.append( | |
| DeclareLaunchArgument( | |
| "slowdown", | |
| default_value="50.0", | |
| description="Slowdown factor of the RRbot.", | |
| ) | |
| ) | |
| declared_arguments = [ | |
| DeclareLaunchArgument( | |
| "slowdown", | |
| default_value="50.0", | |
| description="Slowdown factor of the RRbot.", | |
| ) | |
| ] |
AndyZe
reviewed
Jan 11, 2023
| @@ -508,6 +536,289 @@ Accessing Wrench data from 2D FTS: | |||
| ros2 topic echo /fts_broadcaster/wrench | |||
| ``` | |||
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| ### Example XX: "Multi-robot system with tools" | |||
There was a problem hiding this comment.
I think the title should mention "Lifecycle" somehow. Suggestion:
Suggested change
| ### Example XX: "Multi-robot system with tools" | |
| ### Example XX: "Multi-robot system with lifecycle management: adjust controllers at runtime" |
erickisos
approved these changes
Jan 13, 2023
christophfroehlich
changed the title
This was referenced Aug 5, 2023
|
This pull request is in conflict. Could you fix it @bailaC? |
|
closed in favor of #417 |
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This PR will contain the exact changes for Mutli-Robot Lifecycle example of #133 . It will have merge conflicts resolved.