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Cleaned up code, added new macros and properties
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@BartlomiejK2
BartlomiejK2 committed Sep 16, 2024
1 parent ddd5b83 commit bee690e
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Showing 15 changed files with 127 additions and 80 deletions.
16 changes: 0 additions & 16 deletions src/meldog_simple_description/description/actuator/actuator_macros.urdf.xacro
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9 changes: 9 additions & 0 deletions src/meldog_simple_description/description/joints/joint_macros.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_macros">

<xacro:macro name ="joint_macro" params="lower upper">
<limit lower="${lower}" upper="${upper}" effort="${joint_max_torque}" velocity="${joint_max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</xacro:macro>

</robot>
20 changes: 20 additions & 0 deletions src/meldog_simple_description/description/joints/joint_properties.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_properties">

<!-- Limits for joints (lower and upper position): -->
<xacro:property name="H_lower_limit" value="-${PI/2}"/>
<xacro:property name="H_upper_limit" value="${PI/2}"/>
<xacro:property name="T_lower_limit" value="-${PI}"/>
<xacro:property name="T_upper_limit" value="${PI}"/>
<xacro:property name="S_lower_limit" value="-${5*PI/6}"/>
<xacro:property name="S_upper_limit" value="${5*PI/6}"/>

<!-- Limits for joints (velocity, torque)-->
<xacro:property name="joint_max_velocity" value="20.2"/>
<xacro:property name="joint_max_torque" value="30"/>

<!-- Joint properties -->
<xacro:property name="joint_damping" value="0.0"/>
<xacro:property name="joint_friction" value="0.0"/>

</robot>
0 ...ription/meldog_links/feet/feet.urdf.xacro → ...on/description/links/feet/feet.urdf.xacro
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0 ...scription/meldog_links/hip/hip.urdf.xacro → ...tion/description/links/hip/hip.urdf.xacro
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0 ...ption/meldog_links/shank/shank.urdf.xacro → .../description/links/shank/shank.urdf.xacro
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0 ...ption/meldog_links/thigh/thigh.urdf.xacro → .../description/links/thigh/thigh.urdf.xacro
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0 ...ption/meldog_links/trunk/trunk.urdf.xacro → .../description/links/trunk/trunk.urdf.xacro
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45 changes: 23 additions & 22 deletions src/meldog_simple_description/description/meldog_core.urdf.xacro
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Expand Up @@ -4,53 +4,54 @@
<!-- PI -->
<xacro:property name="PI" value="3.1415926535897"/>

<!-- Actuator macros -->
<xacro:include filename="actuator/actuator_macros.urdf.xacro"/>
<!-- Joint properties and macros: -->
<xacro:include filename="joints/joint_properties.urdf.xacro"/>
<xacro:include filename="joints/joint_macros.urdf.xacro"/>

<!-- LINKS: -->
<!-- Base link spawns in x= 0.0 y = 0.0 z = 0.0 -->
<link name="base_link"></link>

<!-- Trunk link -->
<xacro:include filename="meldog_links/trunk/trunk.urdf.xacro"/>
<xacro:include filename="links/trunk/trunk.urdf.xacro"/>

<!-- Hip links -->
<xacro:include filename="meldog_links/hip/hip.urdf.xacro"/>
<xacro:include filename="links/hip/hip.urdf.xacro"/>
<xacro:hip_link position="front_left"/>
<xacro:hip_link position="front_right"/>
<xacro:hip_link position="back_left"/>
<xacro:hip_link position="back_right"/>

<!-- Thigh links -->
<xacro:include filename="meldog_links/thigh/thigh.urdf.xacro"/>
<xacro:include filename="links/thigh/thigh.urdf.xacro"/>
<xacro:thigh_link position="front_left"/>
<xacro:thigh_link position="front_right"/>
<xacro:thigh_link position="back_left"/>
<xacro:thigh_link position="back_right"/>


<!-- Shank links -->
<xacro:include filename="meldog_links/shank/shank.urdf.xacro"/>
<xacro:include filename="links/shank/shank.urdf.xacro"/>
<xacro:shank_link position="front_left"/>
<xacro:shank_link position="front_right"/>
<xacro:shank_link position="back_left"/>
<xacro:shank_link position="back_right"/>


<!-- Feet links (frames in the end of shank) -->
<xacro:include filename="meldog_links/feet/feet.urdf.xacro"/>
<xacro:include filename="links/feet/feet.urdf.xacro"/>
<xacro:feet_link position="front_left"/>
<xacro:feet_link position="front_right"/>
<xacro:feet_link position="back_left"/>
<xacro:feet_link position="back_right"/>

<!-- JOINTS: -->
<!-- JOINTS: -->

<!-- Base to Trunk joint -->
<joint name="BT_joint" type="fixed">
<parent link="base_link"/>
<child link="trunk_link"/>
<!--Origin defines translation child frame relative to parent frame. Translation is performed in parent frame.-->
<origin xyz="0 0 1.0" rpy="0 0 0"/> <!--testing-->
<origin xyz="0 0 1.0" rpy="0 0 0"/>
</joint>


Expand All @@ -60,7 +61,7 @@
<parent link="trunk_link"/>
<child link="hip_front_left_link"/>
<axis xyz="1.0 0.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
<xacro:joint_macro lower ="${H_lower_limit}" upper = "${H_upper_limit}"/>
</joint>

<!-- Trunk to Hip front right joint -->
Expand All @@ -69,7 +70,7 @@
<parent link="trunk_link"/>
<child link="hip_front_right_link"/>
<axis xyz="-1.0 0.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
<xacro:joint_macro lower ="${H_lower_limit}" upper = "${H_upper_limit}"/>
</joint>

<!-- Trunk to Hip back left joint -->
Expand All @@ -78,7 +79,7 @@
<parent link="trunk_link"/>
<child link="hip_back_left_link"/>
<axis xyz="-1.0 0.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
<xacro:joint_macro lower ="${H_lower_limit}" upper = "${H_upper_limit}"/>
</joint>

<!-- Trunk to Hip back right joint -->
Expand All @@ -87,7 +88,7 @@
<parent link="trunk_link"/>
<child link="hip_back_right_link"/>
<axis xyz="1.0 0.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI/2}" upper = "${PI/2}"/>
<xacro:joint_macro lower ="${H_lower_limit}" upper = "${H_upper_limit}"/>
</joint>


Expand All @@ -97,7 +98,7 @@
<parent link="hip_front_left_link"/>
<child link="thigh_front_left_link"/>
<axis xyz="0.0 -1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI}" upper = "${PI}"/>
<xacro:joint_macro lower ="${T_lower_limit}" upper = "${T_upper_limit}"/>
</joint>

<!-- Hip front right to Thigh front right -->
Expand All @@ -106,7 +107,7 @@
<parent link="hip_front_right_link"/>
<child link="thigh_front_right_link"/>
<axis xyz="0.0 -1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI}" upper = "${PI}"/>
<xacro:joint_macro lower ="${T_lower_limit}" upper = "${T_upper_limit}"/>
</joint>

<!-- Hip back left to Thigh back left -->
Expand All @@ -115,7 +116,7 @@
<parent link="hip_back_left_link"/>
<child link="thigh_back_left_link"/>
<axis xyz="0.0 1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI}" upper = "${PI}"/>
<xacro:joint_macro lower ="${T_lower_limit}" upper = "${T_upper_limit}"/>
</joint>

<!-- Hip back right to Thigh back right -->
Expand All @@ -124,7 +125,7 @@
<parent link="hip_back_right_link"/>
<child link="thigh_back_right_link"/>
<axis xyz="0.0 1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${PI}" upper = "${PI}"/>
<xacro:joint_macro lower ="${T_lower_limit}" upper = "${T_upper_limit}"/>
</joint>


Expand All @@ -134,7 +135,7 @@
<parent link="thigh_front_left_link"/>
<child link="shank_front_left_link"/>
<axis xyz="0.0 -1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
<xacro:joint_macro lower ="${S_lower_limit}" upper = "${S_upper_limit}"/>
</joint>

<!-- Thigh front right to Shank front right -->
Expand All @@ -143,7 +144,7 @@
<parent link="thigh_front_right_link"/>
<child link="shank_front_right_link"/>
<axis xyz="0.0 -1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
<xacro:joint_macro lower ="${S_lower_limit}" upper = "${S_upper_limit}"/>
</joint>

<!-- Thigh back left to Shank back left -->
Expand All @@ -152,7 +153,7 @@
<parent link="thigh_back_left_link"/>
<child link="shank_back_left_link"/>
<axis xyz="0.0 1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
<xacro:joint_macro lower ="${S_lower_limit}" upper = "${S_upper_limit}"/>
</joint>

<!-- Thigh back right to Shank back right -->
Expand All @@ -161,7 +162,7 @@
<parent link="thigh_back_right_link"/>
<child link="shank_back_right_link"/>
<axis xyz="0.0 1.0 0.0"/>
<xacro:meldog_joint_limits lower ="-${5*PI/6}" upper = "${5*PI/6}"/>
<xacro:joint_macro lower ="${S_lower_limit}" upper = "${S_upper_limit}"/>
</joint>


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14 changes: 6 additions & 8 deletions ...trol/ros2_control_joint_macros.urdf.xacro → ...hardware/joint_hardware_macros.urdf.xacro
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@@ -1,21 +1,19 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="meldog_ros2_control_joint_macros">
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="joint_hardware_macros">

<xacro:include filename="../actuator/actuator_macros.urdf.xacro"/>

<xacro:macro name="ros2_control_joint" params="joint_name upper lower">
<xacro:macro name="joint_hardware_macro" params="joint_name upper lower">
<joint name="${joint_name}_joint">
<command_interface name="position">
<param name="min">${lower}</param>
<param name="max">${upper}</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-${actuator_max_velocity}</param>
<param name="max">${actuator_max_velocity}</param>
<param name="min">-${motor_max_velocity}</param>
<param name="max">${motor_max_velocity}</param>
</command_interface>
<command_interface name="effort">
<param name="min">-${actuator_max_torque}</param>
<param name="max">${actuator_max_torque}</param>
<param name="min">-${motor_max_torque}</param>
<param name="max">${motor_max_torque}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
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14 changes: 14 additions & 0 deletions ...description/description/ros2_control/joints_hardware/joint_hardware_properties.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="joint_hardware_properties">

<!-- Actuator and motor parameters: -->
<xacro:property name="actuator_gear_ratio" value="9.97"/>
<xacro:property name="motor_max_velocity" value="${actuator_gear_ratio*20.2}"/>
<xacro:property name="motor_max_torque" value="${30.0/actuator_gear_ratio}"/>
<xacro:property name="motor_lower_limit" value="-${100}"/>
<xacro:property name="motor_upper_limit" value="${100}"/>




</robot>
31 changes: 31 additions & 0 deletions src/meldog_simple_description/description/ros2_control/ros2_control_core.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_ros2_control_core">

<!-- Joint hardware properties and macros: -->
<xacro:include filename="joints_hardware/joint_hardware_properties.urdf.xacro"/>
<xacro:include filename="joints_hardware/joint_hardware_macros.urdf.xacro"/>

<!-- Transmissions: -->
<xacro:include filename="transmission/transmission_macros.urdf.xacro"/>

<!-- Hardware interface for Gazebo: -->

<!-- Trunk to Hips joints-->
<xacro:joint_hardware_macro joint_name="FLH" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="FRH" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BLH" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BRH" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>

<!-- Hips to Thighs joints -->
<xacro:joint_hardware_macro joint_name="FLT" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="FRT" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BLT" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BRT" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>

<!-- Thighs to Shanks joints -->
<xacro:joint_hardware_macro joint_name="FLS" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="FRS" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BLS" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
<xacro:joint_hardware_macro joint_name="BRS" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>

</robot>
27 changes: 3 additions & 24 deletions src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro
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@@ -1,35 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_ros2_control_gazebo">

<!-- ROS2 Control Gazebo -->
<!-- ROS2 Control for Gazebo: -->
<ros2_control name="meldog_gazebo" type="system">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<!-- Transmissions -->
<!-- <xacro:include filename="transmission_macros.urdf.xacro"/> -->

<!-- Hardware interface for Gazebo -->
<xacro:include filename="ros2_control_joint_macros.urdf.xacro"/>

<!-- Trunk to Hips joints-->
<xacro:ros2_control_joint joint_name="FLH" lower="-${PI/2}" upper="${PI/2}"/>
<xacro:ros2_control_joint joint_name="FRH" lower="-${PI/2}" upper="${PI/2}"/>
<xacro:ros2_control_joint joint_name="BLH" lower="-${PI/2}" upper="${PI/2}"/>
<xacro:ros2_control_joint joint_name="BRH" lower="-${PI/2}" upper="${PI/2}"/>

<!-- Hips to Thighs joints -->
<xacro:ros2_control_joint joint_name="FLT" lower="-${PI}" upper="${PI}"/>
<xacro:ros2_control_joint joint_name="FRT" lower="-${PI}" upper="${PI}"/>
<xacro:ros2_control_joint joint_name="BLT" lower="-${PI}" upper="${PI}"/>
<xacro:ros2_control_joint joint_name="BRT" lower="-${PI}" upper="${PI}"/>


<!-- Thighs to Shanks joints -->
<xacro:ros2_control_joint joint_name="FLS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
<xacro:ros2_control_joint joint_name="FRS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
<xacro:ros2_control_joint joint_name="BLS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
<xacro:ros2_control_joint joint_name="BRS" lower="-${5*PI/6}" upper="${5*PI/6}"/>
<!-- ROS2 Control core xacro file: -->
<xacro:include filename="ros2_control_core.urdf.xacro"/>

</ros2_control>

Expand Down
20 changes: 10 additions & 10 deletions ...s2_control/transmission_macros.urdf.xacro → ...ansmission/transmission_macros.urdf.xacro
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Expand Up @@ -36,16 +36,16 @@

<!-- Meldog Transmissions: -->

<!-- Trunk to Hips transmissions -->
<xacro:SimpleTransmission joint_name="FLH" reduction="9.97" offset="0.0"/>
<xacro:SimpleTransmission joint_name="FRH" reduction="9.97" offset="0.0"/>
<xacro:SimpleTransmission joint_name="BLH" reduction="9.97" offset="0.0"/>
<xacro:SimpleTransmission joint_name="BRH" reduction="9.97" offset="0.0"/>
<!-- Trunk to Hips transmissions: -->
<xacro:SimpleTransmission joint_name="FLH" reduction="${actuator_gear_ratio}" offset="0.0"/>
<xacro:SimpleTransmission joint_name="FRH" reduction="${actuator_gear_ratio}" offset="0.0"/>
<xacro:SimpleTransmission joint_name="BLH" reduction="${actuator_gear_ratio}" offset="0.0"/>
<xacro:SimpleTransmission joint_name="BRH" reduction="${actuator_gear_ratio}" offset="0.0"/>

<!-- Thighs to Shanks transmissions -->
<xacro:FourBarLinkageTransmission first_joint_name="FLT" second_joint_name="FLS" reduction="9.97" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="FRT" second_joint_name="FRS" reduction="9.97" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="BLT" second_joint_name="BLS" reduction="9.97" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="BRT" second_joint_name="BRS" reduction="9.97" first_offset="0.0" second_offset="0.0"/>
<!-- Thighs to Shanks transmissions: -->
<xacro:FourBarLinkageTransmission first_joint_name="FLT" second_joint_name="FLS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="FRT" second_joint_name="FRS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="BLT" second_joint_name="BLS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>
<xacro:FourBarLinkageTransmission first_joint_name="BRT" second_joint_name="BRS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>

</robot>
11 changes: 11 additions & 0 deletions src/meldog_simple_description/simple_commands/joint_trajectory_example.txt
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Expand Up @@ -22,3 +22,14 @@ PRZYSIAD:
{ positions: [0.0, 0.0, 0.0, 0.0, -0.78539, -0.78539, -0.78539, -0.78539, 1.5707, 1.5707, 1.5707, 1.5707], time_from_start: { sec: 9 } } ]
}
}"

WYPROSTOWANIE:

ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
trajectory: {
joint_names: ['FLH_joint', 'FRH_joint', 'BLH_joint', 'BRH_joint', 'FLT_joint', 'FRT_joint', 'BLT_joint', 'BRT_joint', 'FLS_joint', 'FRS_joint', 'BLS_joint', 'BRS_joint'],
points: [
{ positions: [0.0, 0.0, 0.0, 0.0, -0.78539, -0.78539, -0.78539, -0.78539, 1.5707, 1.5707, 1.5707, 1.5707], time_from_start: { sec: 1 } },
{ positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 6 } } ]
}
}"

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