From: Walter Fetter Lages Date: Sun, 2 Jul 2023 08:57:12 +0000 (-0300) Subject: Port tatuira_bringup to Humble. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=8c42b95f239f0d185208f233d62c2104bc5a2a31;p=tatuira.git Port tatuira_bringup to Humble. --- diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt index 7ca7ed7..47876e1 100644 --- a/tatuira_bringup/CMakeLists.txt +++ b/tatuira_bringup/CMakeLists.txt @@ -1,206 +1,31 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(tatuira_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 - effort_controllers - joint_state_controller - tatuira_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) +find_package(effort_controllers REQUIRED) +find_package(joint_state_broadcaster REQUIRED) +find_package(tatuira_description 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 tatuira_bringup -# CATKIN_DEPENDS effort_controllers joint_state_controller tatuira_description -# DEPENDS system_lib +install(DIRECTORY config launch + DESTINATION share/${PROJECT_NAME} ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/tatuira_bringup.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/tatuira_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_tatuira_bringup.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +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() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/tatuira_bringup/LICENSE b/tatuira_bringup/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/tatuira_bringup/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + + 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 General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/tatuira_bringup/config/bypass.yaml b/tatuira_bringup/config/bypass.yaml index aa746e6..0683f75 100644 --- a/tatuira_bringup/config/bypass.yaml +++ b/tatuira_bringup/config/bypass.yaml @@ -1,14 +1,16 @@ right_wheel_controller: - type: effort_controllers/JointEffortController - joint: right_rim_joint + ros__parameters: + joints: [right_rim_joint] + interface_name: effort left_wheel_controller: - type: effort_controllers/JointEffortController - joint: left_rim_joint + ros__parameters: + joints: [left_rim_joint] + interface_name: effort -joint_states_publisher: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_state_broadcaster: + ros__parameters: + publish_rate: 100 + extra_joints: + - front_bearing_0_joint + - front_wheel_rim_joint diff --git a/tatuira_bringup/config/dynamics_linearizing_controller.yaml b/tatuira_bringup/config/dynamics_linearizing_controller.yaml index 7c2c7b1..a1b3e8a 100644 --- a/tatuira_bringup/config/dynamics_linearizing_controller.yaml +++ b/tatuira_bringup/config/dynamics_linearizing_controller.yaml @@ -1,22 +1,24 @@ # Watch-out: The indentation here is relevant to the semantic! -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_state_broadcaster: + ros__parameters: + type: joint_state_broadcaster/JointStateBroadcaster + publish_rate: 100 + extra_joints: + - name: front_bearing_0_joint + - name: front_wheel_rim_joint dynamics_linearizing_controller: - type: effort_controllers/DynamicsLinearizingController - joints: - - left_rim_joint - - right_rim_joint - F: [0.0, 0.452, -3.212, 0.0] - G: [0.0888, 0.0888, -0.2008, 0.2008] - wheel_separation: 0.8 - wheel_radius: [0.12319, 0.12319] - odom_frame_id: "odom" - base_frame_id: "wheel_center" - priority: 99 - time_step: 0.01 + ros__parameters: + type: effort_controllers/DynamicsLinearizingController + joints: + - left_rim_joint + - right_rim_joint + F: [0.0, 0.452, -3.212, 0.0] + G: [0.0888, 0.0888, -0.2008, 0.2008] + wheel_separation: 0.8 + wheel_radius: [0.12319, 0.12319] + odom_frame_id: "odom" + base_frame_id: "wheel_center" + priority: 99 + time_step: 0.01 diff --git a/tatuira_bringup/config/nonsmooth_backstep_controller.yaml b/tatuira_bringup/config/nonsmooth_backstep_controller.yaml index 427c8bd..0d01df9 100644 --- a/tatuira_bringup/config/nonsmooth_backstep_controller.yaml +++ b/tatuira_bringup/config/nonsmooth_backstep_controller.yaml @@ -1,24 +1,26 @@ # Watch-out: The indentation here is relevant to the semantic! -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_state_broadcaster: + ros__parameters: + type: joint_state_broadcaster/JointStateBroadcaster + publish_rate: 100 + extra_joints: + - name: front_bearing_0_joint + - name: front_wheel_rim_joint nonsmooth_backstep_controller: - type: effort_controllers/NonSmoothBackstepController - joints: - - left_rim_joint - - right_rim_joint - F: [0.0, 0.452, -3.212, 0.0] - G: [0.0888, 0.0888, -0.2008, 0.2008] - lambda: [200.0, 6.0, 6.0, 500.0, 1000.0] - gamma: [10.0, 1.0, 10.0, 50.0] - wheel_separation: 0.8 - wheel_radius: [0.12319, 0.12319] - odom_frame_id: "odom" - base_frame_id: "wheel_center" - priority: 99 - time_step: 0.01 + ros__parameters: + type: effort_controllers/NonSmoothBackstepController + joints: + - left_rim_joint + - right_rim_joint + F: [0.0, 0.452, -3.212, 0.0] + G: [0.0888, 0.0888, -0.2008, 0.2008] + lambda: [200.0, 6.0, 6.0, 500.0, 1000.0] + gamma: [10.0, 1.0, 10.0, 50.0] + wheel_separation: 0.8 + wheel_radius: [0.12319, 0.12319] + odom_frame_id: "odom" + base_frame_id: "wheel_center" + priority: 99 + time_step: 0.01 diff --git a/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml b/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml index 857263c..2eebe20 100644 --- a/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml +++ b/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml @@ -1,24 +1,26 @@ # Watch-out: The indentation here is relevant to the semantic! -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_state_broadcaster: + ros__parameters: + type: joint_state_broadcaster/JointStateBroadcaster + publish_rate: 100 + extra_joints: + - name: front_bearing_0_joint + - name: front_wheel_rim_joint nonsmooth_backstep_controller: - type: effort_controllers/NonSmoothBackstepController - joints: - - left_rim_joint - - right_rim_joint - F: [0.0, 0.452, -3.212, 0.0] - G: [0.0888, 0.0888, -0.2008, 0.2008] - lambda: [200.0, 40.0, 40.0, 500.0, 1000.0] - gamma: [10.0, 1.0, 10.0, 50.0] - wheel_separation: 0.8 - wheel_radius: [0.12319, 0.12319] - odom_frame_id: "odom" - base_frame_id: "wheel_center" - priority: 99 - time_step: 0.01 + ros__parameters: + type: effort_controllers/NonSmoothBackstepController + joints: + - left_rim_joint + - right_rim_joint + F: [0.0, 0.452, -3.212, 0.0] + G: [0.0888, 0.0888, -0.2008, 0.2008] + lambda: [200.0, 40.0, 40.0, 500.0, 1000.0] + gamma: [10.0, 1.0, 10.0, 50.0] + wheel_separation: 0.8 + wheel_radius: [0.12319, 0.12319] + odom_frame_id: "odom" + base_frame_id: "wheel_center" + priority: 99 + time_step: 0.01 diff --git a/tatuira_bringup/config/odometry_publisher.yaml b/tatuira_bringup/config/odometry_publisher.yaml index e841dba..06f0d81 100644 --- a/tatuira_bringup/config/odometry_publisher.yaml +++ b/tatuira_bringup/config/odometry_publisher.yaml @@ -1,9 +1,9 @@ # Watch-out: The indentation here is relevant to the semantic! odometry_publisher: - wheel_separation: 0.8 - wheel_radius: [0.12319, 0.12319] - odom_frame_id: "odom" - base_frame_id: "wheel_center" - publish_rate: 100 - \ No newline at end of file + ros__parameters: + wheel_separation: 0.8 + wheel_radius: [0.12319, 0.12319] + odom_frame_id: "odom" + base_frame_id: "wheel_center" + publish_rate: 100 diff --git a/tatuira_bringup/config/pid.yaml b/tatuira_bringup/config/pid.yaml index 12ce0c5..6f868c3 100644 --- a/tatuira_bringup/config/pid.yaml +++ b/tatuira_bringup/config/pid.yaml @@ -1,16 +1,19 @@ right_wheel_controller: - type: effort_controllers/JointVelocityController - joint: right_rim_joint - pid: {p: 0, i: 0, d: 0} + ros__parameters: + type: effort_controllers/JointVelocityController + joint: right_rim_joint + pid: {p: 0, i: 0, d: 0} left_wheel_controller: - type: effort_controllers/JointVelocityController - joint: left_rim_joint - pid: {p: 0, i: 0, d: 0} + ros__parameters: + type: effort_controllers/JointVelocityController + joint: left_rim_joint + pid: {p: 0, i: 0, d: 0} -joint_states_publisher: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_states_broadcaster: + ros__parameters: + type: joint_state_broadcaster/JointStateBroadcaster + publish_rate: 100 + extra_joints: + - name: front_bearing_0_joint + - name: front_wheel_rim_joint diff --git a/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml b/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml index f1af1f5..1f712ae 100644 --- a/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml +++ b/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml @@ -1,23 +1,25 @@ # Watch-out: The indentation here is relevant to the semantic! -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 100 - extra_joints: - - name: front_bearing_0_joint - - name: front_wheel_rim_joint +joint_state_broadcaster: + ros__parameters: + type: joint_state_broadcaster/JointStateBroadcaster + publish_rate: 100 + extra_joints: + - name: front_bearing_0_joint + - name: front_wheel_rim_joint twist_mrac_linearizing_controller: - type: effort_controllers/TwistMracLinearizingController - joints: - - left_rim_joint - - right_rim_joint - F: [0.0, 0.452, -3.212, 0.0] - G: [0.0888, 0.0888, -0.2008, 0.2008] - Alpha: [10.0, 10.0] - wheel_separation: 0.8 - wheel_radius: [0.12319, 0.12319] - odom_frame_id: "odom" - base_frame_id: "wheel_center" - priority: 99 - time_step: 0.01 + ros__parameters: + type: effort_controllers/TwistMracLinearizingController + joints: + - left_rim_joint + - right_rim_joint + F: [0.0, 0.452, -3.212, 0.0] + G: [0.0888, 0.0888, -0.2008, 0.2008] + Alpha: [10.0, 10.0] + wheel_separation: 0.8 + wheel_radius: [0.12319, 0.12319] + odom_frame_id: "odom" + base_frame_id: "wheel_center" + priority: 99 + time_step: 0.01 diff --git a/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch b/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch deleted file mode 100644 index 8fc37a2..0000000 --- a/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml b/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml new file mode 100644 index 0000000..579b133 --- /dev/null +++ b/tatuira_bringup/launch/adaptive_dynamics_linearizing_controller.launch.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + diff --git a/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch b/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch deleted file mode 100644 index 9ed1bb3..0000000 --- a/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml b/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml new file mode 100644 index 0000000..552cb33 --- /dev/null +++ b/tatuira_bringup/launch/adaptive_nonsmooth_backstep_controller.launch.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + diff --git a/tatuira_bringup/launch/bypass.launch b/tatuira_bringup/launch/bypass.launch deleted file mode 120000 index 0cda797..0000000 --- a/tatuira_bringup/launch/bypass.launch +++ /dev/null @@ -1 +0,0 @@ -ijc.launch \ No newline at end of file diff --git a/tatuira_bringup/launch/bypass.launch.xml b/tatuira_bringup/launch/bypass.launch.xml new file mode 100644 index 0000000..0944995 --- /dev/null +++ b/tatuira_bringup/launch/bypass.launch.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + diff --git a/tatuira_bringup/launch/dynamics_linearizing_controller.launch b/tatuira_bringup/launch/dynamics_linearizing_controller.launch deleted file mode 100644 index 2c69505..0000000 --- a/tatuira_bringup/launch/dynamics_linearizing_controller.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - diff --git a/tatuira_bringup/launch/dynamics_linearizing_controller.launch.xml b/tatuira_bringup/launch/dynamics_linearizing_controller.launch.xml new file mode 100644 index 0000000..7c02ff8 --- /dev/null +++ b/tatuira_bringup/launch/dynamics_linearizing_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/tatuira_bringup/launch/gazebo.launch b/tatuira_bringup/launch/gazebo.launch deleted file mode 100644 index edd60a1..0000000 --- a/tatuira_bringup/launch/gazebo.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/tatuira_bringup/launch/gazebo.launch.xml b/tatuira_bringup/launch/gazebo.launch.xml new file mode 100644 index 0000000..65345c6 --- /dev/null +++ b/tatuira_bringup/launch/gazebo.launch.xml @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tatuira_bringup/launch/gazebo8.launch b/tatuira_bringup/launch/gazebo8.launch deleted file mode 100644 index 9205996..0000000 --- a/tatuira_bringup/launch/gazebo8.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/tatuira_bringup/launch/gazebo8.launch.xml b/tatuira_bringup/launch/gazebo8.launch.xml new file mode 100644 index 0000000..dc1f7f3 --- /dev/null +++ b/tatuira_bringup/launch/gazebo8.launch.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tatuira_bringup/launch/ijc.launch b/tatuira_bringup/launch/ijc.launch deleted file mode 100644 index e7ae76c..0000000 --- a/tatuira_bringup/launch/ijc.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - diff --git a/tatuira_bringup/launch/nonsmooth_backstep_controller.launch b/tatuira_bringup/launch/nonsmooth_backstep_controller.launch deleted file mode 100644 index 6f19272..0000000 --- a/tatuira_bringup/launch/nonsmooth_backstep_controller.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - diff --git a/tatuira_bringup/launch/nonsmooth_backstep_controller.launch.xml b/tatuira_bringup/launch/nonsmooth_backstep_controller.launch.xml new file mode 100644 index 0000000..59c956a --- /dev/null +++ b/tatuira_bringup/launch/nonsmooth_backstep_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/tatuira_bringup/launch/pid.launch b/tatuira_bringup/launch/pid.launch deleted file mode 120000 index 0cda797..0000000 --- a/tatuira_bringup/launch/pid.launch +++ /dev/null @@ -1 +0,0 @@ -ijc.launch \ No newline at end of file diff --git a/tatuira_bringup/launch/pid.launch.xml b/tatuira_bringup/launch/pid.launch.xml new file mode 100644 index 0000000..55911cd --- /dev/null +++ b/tatuira_bringup/launch/pid.launch.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + diff --git a/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch b/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch deleted file mode 100644 index 97763c3..0000000 --- a/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - diff --git a/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch.xml b/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch.xml new file mode 100644 index 0000000..f0ccd2a --- /dev/null +++ b/tatuira_bringup/launch/twist_mrac_linearizing_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/tatuira_bringup/package.xml b/tatuira_bringup/package.xml index dad9605..8e2074d 100644 --- a/tatuira_bringup/package.xml +++ b/tatuira_bringup/package.xml @@ -1,69 +1,22 @@ - + + tatuira_bringup - 0.2.0 - The tatuira_bringup package - - - - + 2.0.0 + Tatuira bringup package. Walter Fetter Lages + GPL-3.0-only + ament_cmake - - - - GPLv3 - - - - - - - + effort_controllers + joint_state_broadcaster + tatuira_description - - - - - Walter Fetter Lages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - catkin - effort_controllers - joint_state_controller - tatuira_description - effort_controllers - joint_state_controller - tatuira_description - effort_controllers - joint_state_controller - tatuira_description - - - - - + ament_cmake diff --git a/tatuira_description/config/controller_manager.yaml b/tatuira_description/config/controller_manager.yaml new file mode 100644 index 0000000..c12730f --- /dev/null +++ b/tatuira_description/config/controller_manager.yaml @@ -0,0 +1,4 @@ +controller_manager: + ros__parameters: + update_rate: 1000 + use_sim_time: true diff --git a/tatuira_description/urdf/gazebo_control.xacro b/tatuira_description/urdf/gazebo_control.xacro new file mode 100644 index 0000000..36399a9 --- /dev/null +++ b/tatuira_description/urdf/gazebo_control.xacro @@ -0,0 +1,11 @@ + + + + + + robot_description + robot_state_publisher + $(find tatuira_description)/config/controller_manager.yaml + + + diff --git a/tatuira_description/urdf/ros2_control.xacro b/tatuira_description/urdf/ros2_control.xacro new file mode 100644 index 0000000..12128e5 --- /dev/null +++ b/tatuira_description/urdf/ros2_control.xacro @@ -0,0 +1,29 @@ + + + + + + gazebo_ros2_control/GazeboSystem + + + + + -3.2 + 3.2 + + + + + + + + + -3.2 + 3.2 + + + + + + + diff --git a/tatuira_description/urdf/tatuira.urdf.xacro b/tatuira_description/urdf/tatuira.urdf.xacro index f853011..f783f6d 100644 --- a/tatuira_description/urdf/tatuira.urdf.xacro +++ b/tatuira_description/urdf/tatuira.urdf.xacro @@ -70,12 +70,10 @@ - - - - 0.001 - + + + 100.0 origin_link diff --git a/tatuira_ident/CMakeLists.txt b/tatuira_ident/CMakeLists.txt index 8c56372..6d843c9 100644 --- a/tatuira_ident/CMakeLists.txt +++ b/tatuira_ident/CMakeLists.txt @@ -1,208 +1,48 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(tatuira_ident) -## 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 - roscpp -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) find_package(Eigen3 REQUIRED) - -## 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 tatuira_ident -# CATKIN_DEPENDS roscpp -# DEPENDS Eigen3 -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -# TODO: Check names of system library include directories (Eigen3) - ${EIGEN3_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/tatuira_ident.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_executable(tatuira_ident src/tatuira_ident.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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(tatuira_ident - ${catkin_LIBRARIES} -# ${Eigen3_LIBRARIES} +target_include_directories(tatuira_ident PUBLIC + $ + $ + $) +target_compile_features(tatuira_ident PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 +ament_target_dependencies( + tatuira_ident + "rclcpp" + "sensor_msgs" + "std_msgs" + "Eigen3" ) -############# -## 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 tatuira_ident - 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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) + DESTINATION lib/${PROJECT_NAME}) -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) +install(DIRECTORY config launch + DESTINATION share/${PROJECT_NAME}) -############# -## Testing ## -############# -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_ident.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +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() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/tatuira_ident/config/ident.yaml b/tatuira_ident/config/ident.yaml index 3380f6e..3983692 100644 --- a/tatuira_ident/config/ident.yaml +++ b/tatuira_ident/config/ident.yaml @@ -1,5 +1,6 @@ # Watch-out: The indentation here is relevant to the semantic! tatuira_ident: - wheel_separation: 0.322 - wheel_radius: [0.075, 0.075] + ros__parameters: + wheel_separation: 0.322 + wheel_radius: [0.075, 0.075] diff --git a/tatuira_ident/launch/gazebo.launch b/tatuira_ident/launch/gazebo.launch deleted file mode 100644 index 18eb57d..0000000 --- a/tatuira_ident/launch/gazebo.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/tatuira_ident/launch/gazebo.launch.xml b/tatuira_ident/launch/gazebo.launch.xml new file mode 100644 index 0000000..b0053dc --- /dev/null +++ b/tatuira_ident/launch/gazebo.launch.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/tatuira_ident/launch/ident.launch b/tatuira_ident/launch/ident.launch deleted file mode 100644 index bdc39e6..0000000 --- a/tatuira_ident/launch/ident.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/tatuira_ident/launch/ident.launch.xml b/tatuira_ident/launch/ident.launch.xml new file mode 100644 index 0000000..274af13 --- /dev/null +++ b/tatuira_ident/launch/ident.launch.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + diff --git a/tatuira_ident/package.xml b/tatuira_ident/package.xml index cfb57a9..e210bfc 100644 --- a/tatuira_ident/package.xml +++ b/tatuira_ident/package.xml @@ -1,66 +1,23 @@ - + + tatuira_ident - 0.0.1 - The tatuira_ident package - - - - + 2.0.0 + Tatuira identification package. Walter Fetter Lages + GPL-3.0-only + ament_cmake - - - - GPLv3 - - - - - - - + rclcpp + sensor_msgs + std_msgs + Eigen3 - - - - - Walter Fetter Lages --> + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - catkin - Eigen3 - roscpp - Eigen3 - roscpp - Eigen3 - roscpp - - - - - + ament_cmake diff --git a/tatuira_ident/src/tatuira_ident.cpp b/tatuira_ident/src/tatuira_ident.cpp index c88a741..fa20502 100644 --- a/tatuira_ident/src/tatuira_ident.cpp +++ b/tatuira_ident/src/tatuira_ident.cpp @@ -1,7 +1,7 @@ /****************************************************************************** ROS tatuira_ident Package Tatuira Dynamics Model - Copyright (C) 2020 Walter Fetter Lages + Copyright (C) 2020..2023 Walter Fetter Lages 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 @@ -19,13 +19,12 @@ *******************************************************************************/ -#include +#include #include -#include -#include -#include +#include +#include class Prbs { @@ -55,7 +54,7 @@ Prbs::Prbs(unsigned int n,unsigned int seed) Prbs::~Prbs(void) { -// delete[] sh; + delete[] sh_; } Prbs::operator int(void) @@ -68,20 +67,16 @@ Prbs::operator int(void) } -class Ident +class Ident: public rclcpp::Node { public: - Ident(ros::NodeHandle node); - ~Ident(void); - void setCommand(void); + Ident(void); private: - ros::NodeHandle node_; - - ros::Subscriber jointStatesSubscriber_; - ros::Publisher dynParamPublisher_; - ros::Publisher rightWheelCommandPublisher_; - ros::Publisher leftWheelCommandPublisher_; + rclcpp::Subscription::SharedPtr jointStatesSubscriber_; + rclcpp::Publisher::SharedPtr dynParamPublisher_; + rclcpp::Publisher::SharedPtr rightWheelCommandPublisher_; + rclcpp::Publisher::SharedPtr leftWheelCommandPublisher_; const int nJoints_; @@ -94,38 +89,38 @@ class Ident std::vector prbs_; int iter_; - ros::Time lastTime_; + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Time lastTime_; std::vector wheelRadius_; double wheelBase_; - void jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates); + void setCommandCB(void); + void jointStatesCB(const sensor_msgs::msg::JointState::SharedPtr jointStates); void resetCovariance(void); }; -Ident::Ident(ros::NodeHandle node): +Ident::Ident(void): Node("tatuira_ident"), nJoints_(2),u_(nJoints_),thetaEst1_(nJoints_),thetaEst2_(nJoints_),P1_(nJoints_,nJoints_),P2_(nJoints_,nJoints_),prbs_(nJoints_),wheelRadius_(nJoints_) { - node_=node; - - ros::NodeHandle n("~"); - if(!n.getParam("wheel_separation",wheelBase_)) + try { - ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str()); - return; + declare_parameter("wheel_separation",rclcpp::PARAMETER_DOUBLE); + declare_parameter("wheel_radius",rclcpp::PARAMETER_DOUBLE_ARRAY); + wheelBase_=get_parameter("wheel_separation").get_value(); + wheelRadius_=get_parameter("wheel_radius").as_double_array(); } - - if(!n.getParam("wheel_radius",wheelRadius_)) + catch(const std::exception &e) { - ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str()); - return; + RCLCPP_ERROR_STREAM(get_logger(),"Missing parameter(s): " << e.what()); + return ; } - jointStatesSubscriber_=node_.subscribe("joint_states",1000,&Ident::jointStatesCB,this); - dynParamPublisher_=node_.advertise("dynamic_parameters",1000); - leftWheelCommandPublisher_=node_.advertise("left_wheel_command",1000); - rightWheelCommandPublisher_=node_.advertise("right_wheel_command",1000); + jointStatesSubscriber_=create_subscription("joint_states",1000,std::bind(&Ident::jointStatesCB,this,std::placeholders::_1)); + dynParamPublisher_=create_publisher("~/dynamic_parameters",1000); + leftWheelCommandPublisher_=create_publisher("~/left_wheel_command",1000); + rightWheelCommandPublisher_=create_publisher("~/right_wheel_command",1000); prbs_[0].seed(0); prbs_[1].seed(1); @@ -134,12 +129,10 @@ Ident::Ident(ros::NodeHandle node): thetaEst2_.setZero(); resetCovariance(); - lastTime_=ros::Time::now(); -} + using namespace std::chrono_literals; + timer_=rclcpp::create_timer(this,this->get_clock(),10ms,std::bind(&Ident::setCommandCB,this)); -Ident::~Ident(void) -{ - jointStatesSubscriber_.shutdown(); + lastTime_=this->get_clock()->now(); } void Ident::resetCovariance(void) @@ -151,9 +144,9 @@ void Ident::resetCovariance(void) iter_=0; } -void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates) +void Ident::jointStatesCB(const sensor_msgs::msg::JointState::SharedPtr jointStates) { - ros::Duration dt=jointStates->header.stamp-lastTime_; + rclcpp::Duration dt=rclcpp::Time(jointStates->header.stamp)-lastTime_; lastTime_=jointStates->header.stamp; Eigen::VectorXd y=-u_; //y(k+1)=(u(k+1)-u(k))/dt @@ -177,7 +170,7 @@ void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates) torque[1]=jointStates->effort[0]; // torque(k) y+=u_; - y/=dt.toSec(); + y/=dt.seconds(); Phi1[1]=torque[0]+torque[1]; Phi2[1]=torque[0]-torque[1]; @@ -192,8 +185,8 @@ void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates) thetaEst2_+=K2*(y[1]-yEst2); P2_-=K2*Phi2.transpose()*P2_; - std_msgs::Float64MultiArray dynParam; - dynParam.layout.dim.push_back(std_msgs::MultiArrayDimension()); + std_msgs::msg::Float64MultiArray dynParam; + dynParam.layout.dim.push_back(std_msgs::msg::MultiArrayDimension()); dynParam.layout.dim[0].label="K5 K6 K7 K8 P55 P66 P77 P88"; dynParam.layout.dim[0].size=nJoints_*4; dynParam.layout.dim[0].stride=1; @@ -208,35 +201,37 @@ void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates) dynParam.data.push_back(P1_(i,i)); dynParam.data.push_back(P2_(i,i)); } - dynParamPublisher_.publish(dynParam); + dynParamPublisher_->publish(dynParam); // if(iter++ > 2048) resetCovariance(); } -void Ident::setCommand(void) +void Ident::setCommandCB(void) { - std_msgs::Float64 rightCommand; - std_msgs::Float64 leftCommand; - rightCommand.data=5*prbs_[1]-2.5; - leftCommand.data=5*prbs_[0]-2.5; - rightWheelCommandPublisher_.publish(rightCommand); - leftWheelCommandPublisher_.publish(leftCommand); + std_msgs::msg::Float64MultiArray rightCommand; + rightCommand.layout.dim.push_back(std_msgs::msg::MultiArrayDimension()); + rightCommand.layout.dim[0].label="right wheel command"; + rightCommand.layout.dim[0].size=1; + rightCommand.layout.dim[0].stride=1; + rightCommand.layout.data_offset=0; + rightCommand.data.push_back(5*prbs_[1]-2.5); + + std_msgs::msg::Float64MultiArray leftCommand; + leftCommand.layout.dim.push_back(std_msgs::msg::MultiArrayDimension()); + leftCommand.layout.dim[0].label="left wheel command"; + leftCommand.layout.dim[0].size=1; + leftCommand.layout.dim[0].stride=1; + leftCommand.layout.data_offset=0; + leftCommand.data.push_back(5*prbs_[0]-2.5); + + rightWheelCommandPublisher_->publish(rightCommand); + leftWheelCommandPublisher_->publish(leftCommand); } int main(int argc,char* argv[]) { - ros::init(argc,argv,"tatuira_ident"); - ros::NodeHandle node; - - Ident ident(node); - - ros::Rate loop(100); - while(ros::ok()) - { - ident.setCommand(); - - ros::spinOnce(); - loop.sleep(); - } + rclcpp::init(argc,argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); return 0; }