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Diff Bot Wheel Inertia Values #372

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The inertia matrix of the diffbot's wheels does not satisfy the triangle inequalities: Ixx+Iyy≥Izz, Ixx+Izz≥Iyy, and Iyy+Izz≥Iyy and therefore will fail to launch in Gazebo.

These also did not match the inertia of a cylinder:
Inertia of a Cylinder

christophfroehlich and others added 30 commits April 28, 2023 15:59
(cherry picked from commit 836ec5d)

Co-authored-by: Christoph Fröhlich <[email protected]>
…rols#283)

* Fix slowdown of hw interface of example_4

* Readd missing joints for tool_link

(cherry picked from commit f5ccac1)

Co-authored-by: Christoph Fröhlich <[email protected]>
)

(cherry picked from commit a4ffefd)

Co-authored-by: Christoph Fröhlich <[email protected]>
(cherry picked from commit 1c17ea2)

Co-authored-by: Reza Kermani <[email protected]>
)


Co-authored-by: Olivier Stasse <[email protected]>
Co-authored-by: Haider Lodhi <[email protected]>
Co-authored-by: Denis Štogl <[email protected]>
* [Docker] Add docker setup file and docs how to use base example with it (ros-controls#298)

Co-authored-by: Christoph Froehlich <[email protected]>
Co-authored-by: Alex Moriarty <[email protected]>
Co-authored-by: Dr. Denis <[email protected]>
(cherry picked from commit a7dd59a)

* Use humble instead of rolling

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Co-authored-by: Reza Kermani <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
…os-controls#320)

* Example 3: remove rrbot_base launch file

* Example 4: remove rrbot_base launch file

* Example 5: remove rrbot_base launch file

* Example 6: remove rrbot_base launch file

* Example 8: remove rrbot_base launch file

(cherry picked from commit fa1c2e4)

Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls#321)

* Install ros2_control framework from binary packages

* User symlink install

(cherry picked from commit 8081073)

Co-authored-by: Christoph Fröhlich <[email protected]>
…tions (backport ros-controls#309) (ros-controls#322)

* Move installation instructions to RST and update docker usage instructions (ros-controls#309)

Co-authored-by: Reza Kermani <[email protected]>
(cherry picked from commit 815e05e)

* Use humble instead of rolling branch in docs

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Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
ros-controls#333)

This change adds an minimal example to control a custom 6 DOF robot with ros2_control. The README acts as a tutorial for intermediate ROS 2 users.

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Co-authored-by: Christoph Froehlich <[email protected]>
(cherry picked from commit 09b357a)

Co-authored-by: Paul Gesel <[email protected]>
…os-controls#335)

* [Example 12] Controller chaining example (ros-controls#318)

Co-authored-by: Christoph Froehlich <[email protected]>
(cherry picked from commit 2968016)

* remove the arguments from update_reference_from_subscribers to backport to humble (ros-controls#336)

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Co-authored-by: Sai Kishor Kothakota <[email protected]>
(cherry picked from commit 57a561e)

Co-authored-by: Christoph Fröhlich <[email protected]>
* add a dependency; fix deprecation warning (ros-controls#305)

(cherry picked from commit 71764d9)

* Revert remapping

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Co-authored-by: Reza Kermani <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
…) (ros-controls#346)

* Use global rrbot_description in all examples
* Move diffbot description to description package
* Move r6bot into description package

Co-authored-by: Christoph Fröhlich <[email protected]>
…#349)

* Add info about ROS 2 distro (ros-controls#345)

(cherry picked from commit b8dd69e)

# Conflicts:
#	doc/index.rst

* Update index.rst

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Co-authored-by: Christoph Fröhlich <[email protected]>
(cherry picked from commit 35dd6af)

Co-authored-by: Christoph Fröhlich <[email protected]>
(cherry picked from commit 98f88e9)

Co-authored-by: Christoph Fröhlich <[email protected]>
…#361) (ros-controls#363)

* [example_1/doc] Specify that step 1 is optional.
Two in

* [example_12/README.md] Fix wrong title in README.md

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Co-authored-by: Olivier Stasse <[email protected]>
(cherry picked from commit 40b92dd)

Co-authored-by: Olivier Stasse <[email protected]>
mergify bot and others added 6 commits September 26, 2023 23:28
…ols#362)

* gpio controller for single interface

* Use consistent topics for gpio_controller

* Add parameters for gpio_controller interface names

* Add URDF checks to hw interface

* Add example_10 to CI

* Add readme in example folder

(cherry picked from commit 60b788f)

# Conflicts:
#	.github/workflows/ci-coverage-build.yml
#	.github/workflows/ci-ros-lint.yml

Co-authored-by: Christoph Fröhlich <[email protected]>
* Update docker instructions

* Update userdoc.rst

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Co-authored-by: Olivier Stasse <[email protected]>
(cherry picked from commit 07a897f)

Co-authored-by: Christoph Fröhlich <[email protected]>
…ontrols#334) (ros-controls#367)

Co-authored-by: Denis Štogl <[email protected]>
Co-authored-by: Jack <[email protected]>
Co-authored-by: Dr. Denis <[email protected]>
(cherry picked from commit 90fac3d)

Co-authored-by: Christoph Fröhlich <[email protected]>
(cherry picked from commit d60875d)

Co-authored-by: Christoph Fröhlich <[email protected]>
…ontrols#357) (ros-controls#371)

* Add mock_hardware to diffbot

* Fix position_state_following_offset and description

(cherry picked from commit 7a5cf6d)

Co-authored-by: Christoph Fröhlich <[email protected]>
@christophfroehlich christophfroehlich changed the base branch from humble to master October 16, 2023 17:23
@christophfroehlich christophfroehlich changed the base branch from master to humble October 16, 2023 17:24
@christophfroehlich
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thanks for pointing this out. please make a PR against master (this is the default procedure, see our contributing guidelines) and I'll do a backport to humble.

@luis-camero luis-camero changed the base branch from humble to master October 16, 2023 18:40
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2 participants