-devel/
-logs/
+install/
+log/
build/
bin/
lib/
# Catkin custom files
CATKIN_IGNORE
+
+# Colcon custom files
+COLCON_IGNORE
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
project(twil)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+find_package(ament_cmake REQUIRED)
+ament_package()
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>twil</name>
- <version>4.1.0</version>
- <description>The twil package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>4.2.0</version>
+ <description>Twil Metapackage</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/twil</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
-
- <exec_depend>twil_bringup</exec_depend>
- <exec_depend>twil_description</exec_depend>
- <exec_depend>twil_gazebo_ros_control</exec_depend>
- <exec_depend>twil_ident</exec_depend>
+ <depend>twil_description</depend>
+ <depend>twil_bringup</depend>
+ <depend>twil_ident</depend>
+ <depend>twil_gazebo_ros_control</depend>
+ <depend>twil_2dnav</depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
- <metapackage/>
+ <build_type>ament_cmake</build_type>
</export>
</package>
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(twil_bringup)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
- controller_manager
- effort_controllers
- joint_state_controller
- twil_description
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
+# find dependencies
+find_package(ament_cmake REQUIRED)
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES twil_bringup
-# CATKIN_DEPENDS controller_manager effort_controllers joint_state_controller twil_description
-# DEPENDS system_lib
+install(PROGRAMS scripts/test_openloop.sh
+ DESTINATION lib/${PROJECT_NAME}
)
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
+install(DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/twil_bringup.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/twil_bringup_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_controller:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-dynamics_linearizing_controller:
- type: effort_controllers/DynamicsLinearizingController
- joints:
- - left_wheel_joint
- - right_wheel_joint
- F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
- G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
- odom_frame_id: "odom"
- base_frame_id: "twil_origin"
- priority: 99
- time_step: 0.01
+/dynamics_linearizing_controller:
+ ros__parameters:
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_broadcaster:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-left_wheel_joint_effort_controller:
- type: effort_controllers/JointEffortController
- joint: left_wheel_joint
+/left_wheel_joint_effort_controller:
+ ros__parameters:
+ joints: [left_wheel_joint]
+ interface_name: effort
-right_wheel_joint_effort_controller:
- type: effort_controllers/JointEffortController
- joint: right_wheel_joint
+/right_wheel_joint_effort_controller:
+ ros__parameters:
+ joints: [right_wheel_joint]
+ interface_name: effort
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_controller:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-left_wheel_joint_velocity_controller:
- type: effort_controllers/JointVelocityController
- joint: left_wheel_joint
- pid: {p: 0.0, i: 0.0, d: 0.0}
+/left_wheel_joint_velocity_controller:
+ ros__parameters:
+ joint: left_wheel_joint
+ pid: {p: 0.0, i: 0.0, d: 0.0}
+ interface_name: effort
-right_wheel_joint_velocity_controller:
- type: effort_controllers/JointVelocityController
- joint: right_wheel_joint
- pid: {p: 0.0, i: 0.0, d: 0.0}
+/right_wheel_joint_velocity_controller:
+ ros__parameters:
+ joint: right_wheel_joint
+ pid: {p: 0.0, i: 0.0, d: 0.0}
+ interface_name: effort
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_controller:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-nonsmooth_backstep_controller:
- type: effort_controllers/NonSmoothBackstepController
- joints:
- - left_wheel_joint
- - right_wheel_joint
- F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
- G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
- lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
- gamma: [10.0, 1.0, 10.0, 50.0]
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
- odom_frame_id: "odom"
- base_frame_id: "twil_origin"
- priority: 99
- time_step: 0.01
+/nonsmooth_backstep_controller:
+ ros__parameters:
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_controller:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-nonsmooth_backstep_controller:
- type: effort_controllers/NonSmoothBackstepController
- joints:
- - left_wheel_joint
- - right_wheel_joint
- F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
- G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
- lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
- gamma: [10.0, 1.0, 10.0, 50.0]
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
- odom_frame_id: "odom"
- base_frame_id: "twil_origin"
- priority: 99
- time_step: 0.01
+/nonsmooth_backstep_controller:
+ ros__parameters:
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
# Watch-out: The indentation here is relevant to the semantic!
-odometry_publisher:
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
- odom_frame_id: "odom"
- base_frame_id: "twil_origin"
- publish_rate: 100
-
\ No newline at end of file
+/odometry_publisher:
+ ros__parameters:
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ publish_rate: 100
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: caster_wheel_joint
- - name: caster_base_joint
- - name: front_caster_wheel_joint
- - name: front_caster_base_joint
+/joint_state_controller:
+ ros__parameters:
+ extra_joints:
+ - caster_wheel_joint
+ - caster_base_joint
+ - front_caster_wheel_joint
+ - front_caster_base_joint
-twist_mrac_linearizing_controller:
- type: effort_controllers/TwistMracLinearizingController
- joints:
- - left_wheel_joint
- - right_wheel_joint
- F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
- G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
- Alpha: [10.0, 10.0]
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
- odom_frame_id: "odom"
- base_frame_id: "twil_origin"
- priority: 99
- time_step: 0.01
+/twist_mrac_linearizing_controller:
+ ros__parameters:
+ joints:
+ - left_wheel_joint
+ - right_wheel_joint
+ F: [0.0, 0.08444758509282763, 3.770688129256381, 0.0]
+ G: [2.6468901285322475, 2.6468901285322475, -16.084061415321404, 16.084061415321404]
+ Alpha: [10.0, 10.0]
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+ odom_frame_id: "odom"
+ base_frame_id: "twil_origin"
+ priority: 99
+ time_step: 0.01
+++ /dev/null
-<launch>
- <node name="ident" pkg="twil_ident" type="ident" output="screen">
- <remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
- </node>
-
- <include file="$(find twil_bringup)/launch/dynamics_linearizing_controller.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Adaptive Dynamics Linearizing Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <node name="ident" pkg="twil_ident" exec="ident">
+ <remap from="ident/dynamic_parameters" to="adaptive_linearizing_controller/dynamic_parameters"/>
+ </node>
+
+ <include file="$(find-pkg-share twil_bringup)/launch/dynamics_linearizing_controller.launch.xml" />
+
+</launch>
+++ /dev/null
-<launch>
-
- <node name="ident" pkg="twil_ident" type="ident" output="screen">
- <remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
- </node>
-
- <include file="$(find twil_bringup)/launch/nonsmooth_backstep_controller.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Adaptive Nonsmooth Backstepping Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+
+ <node name="ident" eec="twil_ident" type="ident">
+ <remap from="ident/dynamic_parameters" to="nonsmooth_backstep_controller/dynamic_parameters"/>
+ </node>
+
+ <include file="$(find-pkg-share twil_bringup)/launch/nonsmooth_backstep_controller.launch.xml" />
+
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller dynamics_linearizing_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Dynamics Linearizing Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/DynamicsLinearizingController dynamics_linearizing_controller"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="wam" default="false"/>
-
- <arg name="controller" default="joint_effort_controller"/>
- <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
-
- <include file="$(find twil_description)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="wam" value="$(arg wam)"/>
- </include>
-
- <rosparam file="$(arg config)" command="load"/>
-
- <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Gazebo Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+
+ <arg name="controller" default="joint_effort_controller"/>
+ <arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkg-share twil_description)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="wam" value="$(var wam)"/>
+ </include>
+
+ <include file="$(find-pkg-share twil_bringup)/launch/$(var controller).launch.xml" >
+ <arg name="config" value="$(var config)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="wam" default="false"/>
-
- <arg name="controller" default="nonsmooth_backstep_controller"/>
- <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
-
- <include file="$(find twil_bringup)/launch/gazebo.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="wam" value="$(arg wam)"/>
- <arg name="controller" value="$(arg controller)"/>
- <arg name="config" value="$(arg config)"/>
- </include>
-
- <remap from="/command" to="/$(arg controller)/command" />
-
- <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
-
- <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
-
- <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
-
- <include file="$(find twil_description)/launch/display.launch" />
-
- <rosparam file="$(find twil_bringup)/config/odometry_publisher.yaml" command="load"/>
-
- <node pkg="arc_odometry" type="odometry_publisher" name="odom_publisher" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Gazebo8 Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+
+ <arg name="controller" default="nonsmooth_backstep_controller"/>
+ <arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkgshare twil_bringup)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="wam" value="$(var wam)"/>
+ <arg name="controller" value="$(var controller)"/>
+ <arg name="config" value="$(var config)"/>
+ </include>
+
+ <remap from="/command" to="/$(arg controller)/command" />
+
+ <node name="eight_trajectory" pkg="pose2d_trajectories" exec="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
+
+ <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
+
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+
+ <include file="$(find-pkg-share twil_description)/launch/display.launch.xml" />
+
+ <rosparam file="$(find-pkg-share twil_bringup)/config/odometry_publisher.yaml" command="load"/>
+
+ <node pkg="arc_odometry" exec="odometry_publisher" name="odom_publisher" />
+
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Joint Effort Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share twil_bringup)/config/joint_effort_controller.yaml"/>
+
+ <node name="left_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t forward_command_controller/ForwardCommandController -p $(var config) left_wheel_joint_effort_controller"/>
+
+ <node name="right_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t forward_command_controller/ForwardCommandController -p $(var config) right_wheel_joint_effort_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller left_wheel_joint_velocity_controller right_wheel_joint_velocity_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Joint Velocity Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share twil_bringup)/config/joint_velocity_controller.yaml"/>
+
+ <node name="left_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/JointVelocityController -p $(var config) left_wheel_velocity_controller"/>
+
+ <node name="right_wheel_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/JointVelocityController -p $(var config) right_wheel_velocity_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Nonsmooth Backstepping Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/NonSmoothBackstepController nonsmooth_backstep_controller"/>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller twist_mrac_linearizing_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Twist MRAC Linearizing Controller Launch File
+ Copyright (C) 2014, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/TwistMracLinearizingController twist_mrac_linearizing_controller"/>
+</launch>
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>twil_bringup</name>
- <version>4.1.0</version>
- <description>The twil_bringup package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>5.0.0</version>
+ <description>Twil mobile robot bringup</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/twil_bringup</url> -->
-
-
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
-
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>controller_manager</build_depend>
- <build_depend>effort_controllers</build_depend>
- <build_depend>joint_state_controller</build_depend>
- <build_depend>twil_description</build_depend>
- <build_export_depend>controller_manager</build_export_depend>
- <build_export_depend>effort_controllers</build_export_depend>
- <build_export_depend>joint_state_controller</build_export_depend>
- <build_export_depend>twil_description</build_export_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>effort_controllers</exec_depend>
- <exec_depend>joint_state_controller</exec_depend>
+ <exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>twil_description</exec_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
#!/bin/bash
-
-rostopic pub -1 /twil/left_wheel_joint_effort_controller/command std_msgs/Float64 "0.5"
-rostopic pub -1 /twil/right_wheel_joint_effort_controller/command std_msgs/Float64 "0.5"
+ros2 topic pub -1 /left_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.5]}'
+ros2 topic pub -1 /right_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.5]}'
sleep 3
-rostopic pub -1 /twil/left_wheel_joint_effort_controller/command std_msgs/Float64 "0.0"
-rostopic pub -1 /twil/right_wheel_joint_effort_controller/command std_msgs/Float64 "0.0"
+ros2 topic pub -1 /left_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0]}'
+ros2 topic pub -1 /right_wheel_joint_effort_controller/commands std_msgs/msg/Float64MultiArray '{data: [0.0]}'
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(twil_description)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+# find dependencies
+find_package(ament_cmake REQUIRED)
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES twil_description
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
+install(DIRECTORY config launch meshes rviz xacro
+ DESTINATION share/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/twil_description.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/twil_description_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_description.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- /dev/null
+controller_manager:
+ ros__parameters:
+ update_rate: 1000
+ use_sim_time: true
--- /dev/null
+gazebo:
+ ros__parameters:
+ # This is the /clock update rate
+ publish_rate: 1000.0
+++ /dev/null
-<launch>
- <arg name="wam" default="false"/>
- <arg name="use_gui" default="false"/>
- <arg name="d435" default="false"/>
-
- <include file="$(find twil_description)/launch/twil.launch" >
- <arg name="wam" value="$(arg wam)" />
- <arg name="d435" value="$(arg d435)" />
- </include>
-
- <node pkg="tf2_ros" type="static_transform_publisher" name="twil_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" />
-
- <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_description)/rviz/display.rviz" required="true"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Description
+ RViz Launch File
+ Copyright (C) 2014..2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="wam" default="false"/>
+ <arg name="use_gui" default="false"/>
+ <arg name="d435" default="false"/>
+
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="twil_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" />
+ <node if="$(var use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
+ <include file="$(find-pkg-share twil_description)/launch/twil.launch.xml">
+ <arg name="wam" value="$(var wam)" />
+ <arg name="d435" value="$(var d435)" />
+ </include>
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_description)/rviz/display.rviz" />
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="wam" default="false"/>
- <arg name="d435" default="false"/>
- <arg name="world" default ="worlds/empty_sky.world"/>
-
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world_name" value="$(arg world)"/>
- </include>
-
- <include file="$(find twil_description)/launch/twil.launch" >
- <arg name="wam" value="$(arg wam)" />
- <arg name="d435" value="$(arg d435)" />
- </include>
-
- <node name="twil_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Description
+ Gazebo Launch File
+ Copyright (C) 2014..2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+ <arg name="d435" default="false"/>
+ <arg name="world" default ="worlds/empty_sky.world"/>
+
+ <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="$(var world)" />
+ <arg name="extra_gazebo_args" value="--ros-args --params-file $(find-pkg-share twil_description)/config/gazebo.yaml"/>
+ </include>
+
+ <include file="$(find-pkg-share twil_description)/launch/twil.launch.xml" >
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="wam" value="$(var wam)" />
+ <arg name="d435" value="$(var d435)" />
+ </include>
+
+ <node name="twil_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity twil" />
+</launch>
+++ /dev/null
-<launch>
- <arg name="wam" default="false"/>
- <arg name="d435" default="false"/>
-
- <param name="robot_description" command="$(find xacro)/xacro '$(find twil_description)/xacro/twil.urdf.xacro' wam:=$(arg wam) d435:=$(arg d435) add_plug:=true" />
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Description
+ Gazebo Launch File
+ Copyright (C) 2014..2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="use_sim_time" default="false"/>
+ <arg name="wam" default="false"/>
+ <arg name="d435" default="false"/>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+ <param name="robot_description" value="$(command 'xacro $(find-pkg-share twil_description)/xacro/twil.urdf.xacro wam:=$(var wam) d435:=$(var d435) add_plug:=true')" type="str"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>twil_description</name>
- <version>4.1.0</version>
- <description>The twil_description package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>5.0.0</version>
+ <description>Twil mobile robot description</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/twil_description</url> -->
-
+ <exec_depend>xacro</exec_depend>
+ <exec_depend>joint_state_publisher_gui</exec_depend>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
+ <gazebo_ros gazebo_model_path="${prefix}/.."/>
</export>
</package>
Panels:
- - Class: rviz/Displays
+ - Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- - /Odometry1
- - /Pose1
- Splitter Ratio: 0.5
- Tree Height: 559
- - Class: rviz/Selection
+ Splitter Ratio: 0.6764705777168274
+ Tree Height: 549
+ - Class: rviz_common/Selection
Name: Selection
- - Class: rviz/Tool Properties
+ - Class: rviz_common/Tool Properties
Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
+ - /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679
- - Class: rviz/Views
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: true
+ - Class: rviz_common/Time
+ Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Displays:
- Alpha: 0.5
Cell Size: 1
- Class: rviz/Grid
+ Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
- Class: rviz/RobotModel
+ Class: rviz_default_plugins/RobotModel
Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Show Axes: false
Show Trail: false
Value: true
+ bottom_sonar_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bottom_sonar_cover:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bottom_sonar_sensor:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
caster_base:
Alpha: 1
Show Axes: false
Show Axes: false
Show Trail: false
Value: true
+ top_sonar_box:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_sonar_cover:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_sonar_sensor:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tower:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tower_motor:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
twil_origin:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- - Angle Tolerance: 0.1
- Class: rviz/Odometry
- Color: 255; 25; 0
- Enabled: true
- Keep: 42
- Length: 1
- Name: Odometry
- Position Tolerance: 0.3
- Topic: /nonsmooth_backstep_controller/odom
- Value: true
- - Alpha: 1
- Axes Length: 1
- Axes Radius: 0.1
- Class: rviz/Pose
- Color: 85; 0; 255
+ - Class: rviz_default_plugins/TF
Enabled: true
- Head Length: 0.3
- Head Radius: 0.1
- Name: Pose
- Shaft Length: 1
- Shaft Radius: 0.05
- Shape: Arrow
- Topic: /command_stamped
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ battery:
+ Value: false
+ bottom_sonar_box:
+ Value: false
+ bottom_sonar_cover:
+ Value: false
+ bottom_sonar_sensor:
+ Value: false
+ caster_base:
+ Value: true
+ caster_support:
+ Value: false
+ caster_wheel:
+ Value: true
+ chassis:
+ Value: false
+ chassis_top:
+ Value: false
+ cpu:
+ Value: false
+ fan:
+ Value: false
+ front_caster_base:
+ Value: true
+ front_caster_support:
+ Value: false
+ front_caster_wheel:
+ Value: true
+ left_wheel:
+ Value: true
+ left_wheel_support:
+ Value: false
+ map:
+ Value: false
+ motor_driver:
+ Value: false
+ power_supply:
+ Value: false
+ right_wheel:
+ Value: true
+ right_wheel_support:
+ Value: false
+ stepper_driver:
+ Value: false
+ top_sonar_box:
+ Value: false
+ top_sonar_cover:
+ Value: false
+ top_sonar_sensor:
+ Value: false
+ tower:
+ Value: true
+ tower_motor:
+ Value: false
+ twil_origin:
+ Value: false
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: false
+ Tree:
+ map:
+ twil_origin:
+ chassis:
+ battery:
+ {}
+ caster_support:
+ caster_base:
+ caster_wheel:
+ {}
+ chassis_top:
+ {}
+ cpu:
+ {}
+ fan:
+ {}
+ front_caster_support:
+ front_caster_base:
+ front_caster_wheel:
+ {}
+ left_wheel_support:
+ left_wheel:
+ {}
+ motor_driver:
+ {}
+ power_supply:
+ {}
+ right_wheel_support:
+ right_wheel:
+ {}
+ stepper_driver:
+ {}
+ tower:
+ bottom_sonar_box:
+ bottom_sonar_cover:
+ bottom_sonar_sensor:
+ {}
+ top_sonar_box:
+ top_sonar_cover:
+ top_sonar_sensor:
+ {}
+ tower_motor:
+ {}
+ Update Interval: 0
Value: true
Enabled: true
Global Options:
Frame Rate: 30
Name: root
Tools:
- - Class: rviz/Interact
+ - Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
Single click: true
- Topic: /clicked_point
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
Value: true
Views:
Current:
- Class: rviz/Orbit
- Distance: 7.48193
+ Class: rviz_default_plugins/Orbit
+ Distance: 3.0386643409729004
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0
- Y: 0
- Z: 0
+ X: -0.10992246121168137
+ Y: -0.17255422472953796
+ Z: 0.6963587999343872
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.785398
+ Near Clip Distance: 0.009999999776482582
+ Pitch: -0.10960151255130768
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 0.785398
+ Yaw: 1.160394310951233
Saved: ~
Window Geometry:
Displays:
Height: 846
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000013c000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002c200fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="twil">
+<robot name="twil" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="d435" default="false" />
</joint>
</xacro:if>
+ <ros2_control name="GazeboSystem" type="system">
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+
+ <joint name="right_wheeljoint">
+ <command_interface name="effort">
+ <param name="min">-100</param>
+ <param name="max">100</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="left_wheel_joint">
+ <command_interface name="effort">
+ <param name="min">-100</param>
+ <param name="max">100</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+ </ros2_control>
+
<gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
- <!-- <robotNamespace>/twil</robotNamespace> -->
- <!-- Custom plugin -->
- <!--robotSimType>twil_gazebo_ros_control/TwilRobotHWSim</robotSimType-->
- <!-- Default plugin -->
- <!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> -->
- <controlPeriod>0.001</controlPeriod>
- </plugin>
+ <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find twil_description)/config/controller_manager.yaml</parameters>
+ </plugin>
</gazebo>
+
<xacro:if value="$(arg d435)">
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
<xacro:sensor_d435 parent="tower">
projects / twil.git / commitdiff