New pkg for IMU example, include rmw_zenoh for Dockerfile #10
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@@ -15,6 +15,7 @@ | |
| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <exec_depend>dynamixel_hardware_interface_example</exec_depend> | ||
| <exec_depend>dynamixel_hardware_interface_example_1</exec_depend> | ||
| <exec_depend>dynamixel_hardware_interface_example_2</exec_depend> | ||
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There was a problem hiding this comment. The package.xml version is 0.0.3, but the CHANGELOG indicates this is version 0.0.4. The package version should be updated to 0.0.4 to match the changelog entry and the new functionality being added. |
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
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| setup( | ||||||
| name=package_name, | ||||||
| version='0.0.4', | ||||||
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There was a problem hiding this comment. The version in setup.py has been updated to 0.0.4, but the corresponding package.xml file still has version 0.0.3. These versions should be synchronized to avoid confusion during package distribution and dependency resolution.
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| packages=find_packages(exclude=['test']), | ||||||
| data_files=[ | ||||||
| ('share/ament_index/resource_index/packages', ['resource/' + package_name]), | ||||||
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| setup( | ||||||
| name=package_name, | ||||||
| version='0.0.4', | ||||||
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There was a problem hiding this comment. The version in setup.py has been updated to 0.0.4, but the corresponding package.xml file still has version 0.0.3. These versions should be synchronized to avoid confusion during package distribution and dependency resolution.
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| packages=find_packages(exclude=['test']), | ||||||
| data_files=[ | ||||||
| ('share/ament_index/resource_index/packages', ['resource/' + package_name]), | ||||||
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| @@ -0,0 +1,8 @@ | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| Changelog for package dynamixel_hardware_interface_example_2 | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| 0.0.4 (2025-12-15) | ||
| ------------------ | ||
| * Added example package for using the dynamixel_hardware_interface with imu sensor | ||
| * Contributors: Woojin Wie |
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| # Dynamixel Hardware Interface Example 2 (IMU ros2_control) | ||
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| This example shows a single `ros2_control` system that uses `dynamixel_hardware_interface` to read an IMU (ID 1) and publish its data through an `imu_sensor_broadcaster`. The robot description is built from `config/dynamixel_system.urdf.xacro`, which wraps the ros2_control configuration defined in `config/dynamixel_system.ros2_control.xacro`. | ||
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| ## Usage | ||
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| Build and source your workspace, then launch: | ||
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| ```bash | ||
| ros2 launch dynamixel_hardware_interface_example_2 hardware.launch.py \ | ||
| port_name:=/dev/ttyUSB0 \ | ||
| baud_rate:=4000000 | ||
| ``` | ||
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| ### Launch arguments | ||
| - `port_name` (default `/dev/ttyUSB0`): Serial port connected to the Dynamixel IMU. | ||
| - `baud_rate` (default `4000000`): Baud rate for the port. | ||
| - `description_file` (default `dynamixel_system.urdf.xacro`): Xacro to generate the robot description. | ||
| - `prefix` (default empty): Optional prefix for joint/frame names. |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <xacro:macro name="dynamixel_system_ros2_control" params="name port_name baud_rate"> | ||
| <ros2_control name="${name}" type="system"> | ||
| <hardware> | ||
| <plugin>dynamixel_hardware_interface/DynamixelHardware</plugin> | ||
| <param name="port_name">${port_name}</param> | ||
| <param name="baud_rate">${baud_rate}</param> | ||
| <param name="dynamixel_model_folder">/param/dxl_model</param> | ||
| <param name="number_of_joints">0</param> | ||
| <param name="number_of_transmissions">0</param> | ||
| <param name="disable_torque_at_init">true</param> | ||
| <param name="error_timeout_ms">1000</param> | ||
| <param name="dynamixel_state_pub_msg_name">dynamixel_hardware_interface/dxl_state</param> | ||
| <param name="get_dynamixel_data_srv_name">dynamixel_hardware_interface/get_dxl_data</param> | ||
| <param name="set_dynamixel_data_srv_name">dynamixel_hardware_interface/set_dxl_data</param> | ||
| <param name="reboot_dxl_srv_name">dynamixel_hardware_interface/reboot_dxl</param> | ||
| <param name="set_dxl_torque_srv_name">dynamixel_hardware_interface/set_dxl_torque</param> | ||
| </hardware> | ||
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| <sensor name="imu"> | ||
| <state_interface name="linear_acceleration.x"/> | ||
| <state_interface name="linear_acceleration.y"/> | ||
| <state_interface name="linear_acceleration.z"/> | ||
| <state_interface name="angular_velocity.x"/> | ||
| <state_interface name="angular_velocity.y"/> | ||
| <state_interface name="angular_velocity.z"/> | ||
| <state_interface name="orientation.w"/> | ||
| <state_interface name="orientation.x"/> | ||
| <state_interface name="orientation.y"/> | ||
| <state_interface name="orientation.z"/> | ||
| </sensor> | ||
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| <gpio name="imu"> | ||
| <param name="type">sensor</param> | ||
| <param name="ID">1</param> | ||
| <state_interface name="linear_acceleration.x"/> | ||
| <state_interface name="linear_acceleration.y"/> | ||
| <state_interface name="linear_acceleration.z"/> | ||
| <state_interface name="angular_velocity.x"/> | ||
| <state_interface name="angular_velocity.y"/> | ||
| <state_interface name="angular_velocity.z"/> | ||
| <state_interface name="orientation.w"/> | ||
| <state_interface name="orientation.x"/> | ||
| <state_interface name="orientation.y"/> | ||
| <state_interface name="orientation.z"/> | ||
| <param name="Return Delay Time">0</param> | ||
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| </gpio> | ||
| </ros2_control> | ||
| </xacro:macro> | ||
| </robot> | ||
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dynamixel_system"> | ||
| <xacro:arg name="prefix" default="" /> | ||
| <xacro:arg name="baud_rate" default="4000000" /> | ||
| <xacro:arg name="port_name" default="/dev/ttyUSB0" /> | ||
| <xacro:include filename="dynamixel_system.ros2_control.xacro" /> | ||
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| <xacro:dynamixel_system_ros2_control name="dynamixel_system" port_name="$(arg port_name)" baud_rate="$(arg baud_rate)"/> | ||
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| <link name="$(arg prefix)base_link"/> | ||
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There was a problem hiding this comment. To resolve the missing |
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| </robot> | ||
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| /**: | ||
| controller_manager: | ||
| ros__parameters: | ||
| update_rate: 500 # Hz | ||
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| joint_state_broadcaster: | ||
| type: joint_state_broadcaster/JointStateBroadcaster | ||
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| imu_sensor_broadcaster: | ||
| type: imu_sensor_broadcaster/IMUSensorBroadcaster | ||
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| /**: | ||
| imu_sensor_broadcaster: | ||
| ros__parameters: | ||
| sensor_name: "imu" | ||
| frame_id: imu_link | ||
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There was a problem hiding this comment. This YAML file is invalid because the controller_manager:
ros__parameters:
update_rate: 500 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
imu_sensor_broadcaster:
type: imu_sensor_broadcaster/IMUSensorBroadcaster
imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu"
frame_id: imu_linkThere was a problem hiding this comment. The |
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| #!/usr/bin/env python3 | ||||||
| # | ||||||
| # Copyright 2025 ROBOTIS CO., LTD. | ||||||
| # | ||||||
| # 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. | ||||||
| # | ||||||
| # Author: Woojin Wie | ||||||
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| from launch import LaunchDescription | ||||||
| from launch.actions import DeclareLaunchArgument | ||||||
| from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution | ||||||
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| from launch_ros.actions import Node | ||||||
| from launch_ros.substitutions import FindPackageShare | ||||||
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| def generate_launch_description(): | ||||||
| # Declare arguments | ||||||
| declared_arguments = [] | ||||||
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| declared_arguments.append( | ||||||
| DeclareLaunchArgument( | ||||||
| 'prefix', | ||||||
| default_value='""', | ||||||
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There was a problem hiding this comment. The default value for the
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| description='Prefix of the joint names' | ||||||
| ) | ||||||
| ) | ||||||
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| declared_arguments.append( | ||||||
| DeclareLaunchArgument( | ||||||
| 'description_file', | ||||||
| default_value='dynamixel_system.urdf.xacro', | ||||||
| description='URDF/XACRO description file with the robot.', | ||||||
| ) | ||||||
| ) | ||||||
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| declared_arguments.append( | ||||||
| DeclareLaunchArgument( | ||||||
| 'port_name', | ||||||
| default_value='/dev/ttyUSB0', | ||||||
| description='Port name for the Dynamixel device.', | ||||||
| ) | ||||||
| ) | ||||||
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| declared_arguments.append( | ||||||
| DeclareLaunchArgument( | ||||||
| 'baud_rate', | ||||||
| default_value='4000000', | ||||||
| description='Baudrate for the Dynamixel port.', | ||||||
| ) | ||||||
| ) | ||||||
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| description_file = LaunchConfiguration('description_file') | ||||||
| prefix = LaunchConfiguration('prefix') | ||||||
| port_name = LaunchConfiguration('port_name') | ||||||
| baud_rate = LaunchConfiguration('baud_rate') | ||||||
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| robot_controllers = PathJoinSubstitution( | ||||||
| [ | ||||||
| FindPackageShare('dynamixel_hardware_interface_example_2'), | ||||||
| 'config', | ||||||
| 'ros2_controllers.yaml', | ||||||
| ] | ||||||
| ) | ||||||
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| control_node = Node( | ||||||
| package='controller_manager', | ||||||
| executable='ros2_control_node', | ||||||
| parameters=[robot_controllers], | ||||||
| output='both', | ||||||
| ) | ||||||
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| robot_description_content = Command( | ||||||
| [ | ||||||
| PathJoinSubstitution([FindExecutable(name='xacro')]), | ||||||
| ' ', | ||||||
| PathJoinSubstitution( | ||||||
| [ | ||||||
| FindPackageShare('dynamixel_hardware_interface_example_2'), | ||||||
| 'config', | ||||||
| description_file, | ||||||
| ] | ||||||
| ), | ||||||
| ' ', | ||||||
| 'prefix:=', | ||||||
| prefix, | ||||||
| ' ', | ||||||
| 'port_name:=', | ||||||
| port_name, | ||||||
| ' ', | ||||||
| 'baud_rate:=', | ||||||
| baud_rate, | ||||||
| ] | ||||||
| ) | ||||||
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| robot_description = {'robot_description': robot_description_content} | ||||||
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| robot_controller_spawner = Node( | ||||||
| package='controller_manager', | ||||||
| executable='spawner', | ||||||
| arguments=[ | ||||||
| 'joint_state_broadcaster', | ||||||
| 'imu_sensor_broadcaster', | ||||||
| ], | ||||||
| parameters=[robot_description], | ||||||
| ) | ||||||
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| robot_state_publisher_node = Node( | ||||||
| package='robot_state_publisher', | ||||||
| executable='robot_state_publisher', | ||||||
| output='both', | ||||||
| parameters=[robot_description], | ||||||
| ) | ||||||
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| nodes = [ | ||||||
| control_node, | ||||||
| robot_controller_spawner, | ||||||
| robot_state_publisher_node, | ||||||
| ] | ||||||
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| return LaunchDescription(declared_arguments + nodes) | ||||||
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| @@ -0,0 +1,26 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>dynamixel_hardware_interface_example_2</name> | ||
| <version>0.0.4</version> | ||
| <description> | ||
| Example package with configuration and launch files for using the dynamixel_hardware_interface. | ||
| </description> | ||
| <maintainer email="[email protected]">Pyo</maintainer> | ||
| <license>Apache 2.0</license> | ||
| <author email="[email protected]">Woojin Wie</author> | ||
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| <exec_depend>joint_state_publisher</exec_depend> | ||
| <exec_depend>controller_manager</exec_depend> | ||
| <exec_depend>dynamixel_hardware_interface</exec_depend> | ||
| <exec_depend>robot_state_publisher</exec_depend> | ||
| <exec_depend>xacro</exec_depend> | ||
| <exec_depend>joint_state_broadcaster</exec_depend> | ||
| <exec_depend>imu_sensor_broadcaster</exec_depend> | ||
| <exec_depend>rviz2</exec_depend> | ||
| <exec_depend>rviz_imu_plugin</exec_depend> | ||
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| <export> | ||
| <build_type>ament_python</build_type> | ||
| </export> | ||
| </package> |
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| @@ -0,0 +1,4 @@ | ||
| [develop] | ||
| script_dir=$base/lib/dynamixel_hardware_interface_example_2 | ||
| [install] | ||
| install_scripts=$base/lib/dynamixel_hardware_interface_example_2 |
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| @@ -0,0 +1,29 @@ | ||||||||||
| from glob import glob | ||||||||||
| import os | ||||||||||
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| from setuptools import find_packages | ||||||||||
| from setuptools import setup | ||||||||||
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| package_name = 'dynamixel_hardware_interface_example_2' | ||||||||||
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| setup( | ||||||||||
| name=package_name, | ||||||||||
| version='0.0.3', | ||||||||||
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There was a problem hiding this comment. The package version here is
Suggested change
There was a problem hiding this comment. The version in setup.py (0.0.3) does not match the version in package.xml (0.0.4). These versions should be synchronized to avoid confusion during package distribution and dependency resolution.
Suggested change
|
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| packages=find_packages(exclude=['test']), | ||||||||||
| data_files=[ | ||||||||||
| ('share/ament_index/resource_index/packages', ['resource/' + package_name]), | ||||||||||
| ('share/' + package_name, ['package.xml']), | ||||||||||
| (os.path.join('share', package_name, 'launch'), glob('launch/*.py')), | ||||||||||
| (os.path.join('share', package_name, 'config'), glob('config/*')), | ||||||||||
| ], | ||||||||||
| install_requires=['setuptools'], | ||||||||||
| zip_safe=True, | ||||||||||
| maintainer='Pyo', | ||||||||||
| maintainer_email='[email protected]', | ||||||||||
| description='Dynamixel Hardware Interface Example (imu sensor) ROS 2 package.', | ||||||||||
| license='Apache 2.0', | ||||||||||
| tests_require=['pytest'], | ||||||||||
| entry_points={ | ||||||||||
| 'console_scripts': [], | ||||||||||
| }, | ||||||||||
| ) | ||||||||||
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The commented-out RMW_IMPLEMENTATION environment variable lacks documentation explaining when or why a user should uncomment it. Consider adding a comment above this line explaining the purpose and usage of rmw_zenoh.