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Add Demos for SDF #427

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merged 10 commits into from
Dec 4, 2024
Merged

Add Demos for SDF #427

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cd8ebcf
Add demo for diff_drive
Amronos Oct 17, 2024
ea5a737
Merge branch 'rolling' into sdf-demos
Amronos Oct 30, 2024
8bd9152
Merge branch 'rolling' into sdf-demos
ahcorde Nov 8, 2024
ed7f047
Add an argument for specifying description format
Amronos Nov 30, 2024
ebd0e09
Add SDF demo for ackermann_drive
Amronos Nov 30, 2024
c82f846
Merge branch 'rolling' into sdf-demos
Amronos Dec 2, 2024
d47195d
Fix whitespace
Amronos Dec 2, 2024
8297b3d
Update documentation
Amronos Dec 2, 2024
352cd12
Apply suggestions from code review
Amronos Dec 2, 2024
38b6dc1
Fix formatting errors
Amronos Dec 3, 2024
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1 change: 1 addition & 0 deletions gz_ros2_control_demos/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ find_package(geometry_msgs REQUIRED)
install(DIRECTORY
launch
config
sdf
urdf
DESTINATION share/${PROJECT_NAME}/
)
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107 changes: 107 additions & 0 deletions gz_ros2_control_demos/launch/diff_drive_example_sdf.launch.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,107 @@
# Copyright 2022 Open Source Robotics Foundation, Inc.
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Suggested change
# Copyright 2022 Open Source Robotics Foundation, Inc.
# Copyright 2024 Open Source Robotics Foundation, Inc.

#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.actions import RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
# Launch Arguments
use_sim_time = LaunchConfiguration('use_sim_time', default=True)

# Get URDF via xacro
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name='xacro')]),
' ',
PathJoinSubstitution(
[FindPackageShare('gz_ros2_control_demos'),
'sdf', 'test_diff_drive.xacro.sdf']
),
]
)
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you don't need to do that, the sdf file doesn't have any xacro tag. You should read the file as it's

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you should be able to use something like from launch.substitutions import FileContent

robot_description = {'robot_description': robot_description_content}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare('gz_ros2_control_demos'),
'config',
'diff_drive_controller_velocity.yaml',
]
)

node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[robot_description]
)

gz_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
arguments=['-topic', 'robot_description', '-name',
'diff_drive', '-allow_renaming', 'true'],
)

joint_state_broadcaster_spawner = Node(
package='controller_manager',
executable='spawner',
arguments=['joint_state_broadcaster'],
)
diff_drive_base_controller_spawner = Node(
package='controller_manager',
executable='spawner',
arguments=[
'diff_drive_base_controller',
'--param-file',
robot_controllers,
],
)

return LaunchDescription([
# Launch gazebo environment
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
'launch',
'gz_sim.launch.py'])]),
launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=gz_spawn_entity,
on_exit=[joint_state_broadcaster_spawner],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[diff_drive_base_controller_spawner],
)
),
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
DeclareLaunchArgument(
'use_sim_time',
default_value=use_sim_time,
description='If true, use simulated clock'),
])
219 changes: 219 additions & 0 deletions gz_ros2_control_demos/sdf/test_diff_drive.xacro.sdf
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<?xml version="1.0" ?>
<sdf version="1.8">
<model name="diff_drive" canonical_link="base_link">
<link name="base_link">
<must_be_base_link>true</must_be_base_link>
</link>

<joint name="chassis_joint" type="fixed">
<parent>base_link</parent>
<child>chassis</child>
<pose relative_to="base_link">-0.151427 -0 0.5 0 0 0</pose>
</joint>

<link name="chassis">
<pose relative_to="chassis_joint"/>
<visual name="chassis_visual">
<geometry>
<box><size>
2.01142 1 0.568726
</size></box>
</geometry>
<material>
<ambient>1 0.5088 0.0468 1</ambient>
<diffuse>1 0.5088 0.0468 1</diffuse>
</material>
</visual>

<collision name="chassis_collision">
<geometry>
<box><size>
2.01142 1 0.568726
</size></box>
</geometry>
</collision>

<inertial>
<mass>1.14395</mass>
<inertia>
<ixx>0.126164</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.416519</iyy>
<iyz>0.0</iyz>
<izz>0.481014</izz>
</inertia>
</inertial>
</link>

<joint name="left_wheel_joint" type="revolute">
<parent>chassis</parent>
<child>left_wheel</child>
<pose relative_to="chassis">0.554283 0.625029 -0.3 -1.5707 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-inf</lower>
<upper>inf</upper>
</limit>
<dynamics>
<damping>0.2</damping>
</dynamics>
</axis>
</joint>

<link name="left_wheel">
<pose relative_to="left_wheel_joint"/>
<visual name="left_wheel_visual">
<geometry>
<sphere><radius>
0.3
</radius></sphere>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
</material>
</visual>

<collision name="left_wheel_collision">
<geometry>
<sphere><radius>
0.3
</radius></sphere>
</geometry>
</collision>

<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.145833</iyy>
<iyz>0.0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
</link>

<joint name="right_wheel_joint" type="revolute">
<parent>chassis</parent>
<child>right_wheel</child>
<pose relative_to="chassis">0.554283 -0.625029 -0.3 -1.5707 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-inf</lower>
<upper>inf</upper>
</limit>
<dynamics>
<damping>0.2</damping>
</dynamics>
</axis>
</joint>

<link name="right_wheel">
<pose relative_to="right_wheel_joint"/>
<visual name="right_wheel_visual">
<geometry>
<sphere><radius>
0.3
</radius></sphere>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
</material>
</visual>

<collision name="right_wheel_collision">
<geometry>
<sphere><radius>
0.3
</radius></sphere>
</geometry>
</collision>

<inertial>
<mass>2</mass>
<inertia>
<ixx>0.145833</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.145833</iyy>
<iyz>0.0</iyz>
<izz>0.125</izz>
</inertia>
</inertial>
</link>

<joint name="caster_joint" type="fixed">
<parent>chassis</parent>
<child>caster</child>
<pose relative_to="chassis">-0.80571 0 -0.2 0 0 0</pose>
</joint>

<link name="caster">
<pose relative_to="caster_joint"/>
<visual name="caster_visual">
<geometry>
<sphere><radius>
0.2
</radius></sphere>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>

<collision name="caster_collision">
<geometry>
<sphere><radius>
0.2
</radius></sphere>
</geometry>
</collision>

<inertial>
<mass>0.005</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.1</iyy>
<iyz>0.0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
</link>

<ros2_control name="GazeboSimSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>

<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find gz_ros2_control_demos)/config/diff_drive_controller_velocity.yaml</parameters>
</plugin>

</model>
</sdf>