add odrive_rrbot demo

odrive_demo_bringup/config/rrbot_controllers.yaml

@@ -0,0 +1,33 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+
+    command_interfaces:
+      - position
+      - velocity
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0 # Defaults to 50
+    action_monitor_rate: 20.0 # Defaults to 20
+
+    allow_partial_joints_goal: false # Defaults to false
+    open_loop_control: false
+    allow_integration_in_goal_trajectories: true
+    constraints:
+      stopped_velocity_tolerance: 0.01 # Defaults to 0.01
+      goal_time: 0.0 # Defaults to 0.0 (start immediately)

odrive_demo_bringup/launch/odrive_rrbot.launch.py

@@ -0,0 +1,92 @@
+# Copyright 2022 Factor Robotics
+#
+# 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.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("odrive_demo_description"),
+                    "urdf",
+                    "odrive_rrbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("odrive_demo_bringup"),
+            "config",
+            "rrbot_controllers.yaml",
+        ]
+    )
+
+    rviz_config_file = PathJoinSubstitution(
+        [
+            FindPackageShare("rrbot_description"),
+            "config", 
+            "rrbot.rviz"
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=["-d", rviz_config_file],
+    )
+
+    return LaunchDescription([
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        robot_controller_spawner,
+        rviz_node
+    ])

odrive_demo_description/urdf/odrive_rrbot.urdf.xacro

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
+
+  <xacro:arg name="prefix" default="" />
+
+  <xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
+
+  <xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
+
+  <xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
+
+  <link name="world"/>
+
+  <xacro:rrbot parent="world" prefix="$(arg prefix)">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:rrbot>
+
+  <xacro:odrive_ros2_control
+    name="ODriveRRBot"
+    joint0_name="$(arg prefix)joint1"
+    joint1_name="$(arg prefix)joint2" />
+
+</robot>