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[Example 15] Using multiple controller managers under different namespaces (ros-controls#423)
* Add example15 to workflows+packages * Initial commit from old PR Co-authored-by: Denis Štogl <[email protected]> * Convert md to rst syntax * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <[email protected]> --------- Co-authored-by: Denis Štogl <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]>
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‎README.md‎

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@@ -70,6 +70,12 @@ The following examples are part of this demo repository:
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* Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
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The example shows how to implement robot hardware with actuators not providing states and with additional sensors.
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* Example 15: ["Using multiple controller managers"](example_15)
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This example shows how to integrate multiple robots under different controller manager instances.
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## Structure
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The repository is structured into `example_XY` folders that fully contained packages with names `ros2_control_demos_example_XY`.

‎doc/index.rst‎

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Example 13: "Multi-robot example (tba.)"
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Example 14: "Modular robots with actuators not providing states and with additional sensors"
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The example shows how to implement robot hardware with actuators not providing states and with additional sensors.
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Example 15: "Using multiple controller managers"
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This example shows how to integrate multiple robots under different controller manager instances.
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.. _ros2_control_demos_install:
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Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
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Example 12: Controller chaining <../example_12/doc/userdoc.rst>
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Example 14: Modular robots with actuators not providing states <../example_14/doc/userdoc.rst>
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Example 15: Using multiple controller managers <../example_15/doc/userdoc.rst>

‎example_15/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(ros2_control_demo_example_15 LANGUAGES CXX)
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra)
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endif()
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# find dependencies
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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# INSTALL
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install(
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DIRECTORY description/rviz
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DESTINATION share/ros2_control_demo_example_15
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)
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install(
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DIRECTORY bringup/launch bringup/config
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DESTINATION share/ros2_control_demo_example_15
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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find_package(ament_cmake_pytest REQUIRED)
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ament_add_pytest_test(test_rrbot_namespace_launch test/test_rrbot_namespace_launch.py)
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ament_add_pytest_test(test_multi_controller_manager_launch test/test_multi_controller_manager_launch.py)
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endif()
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## EXPORTS
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()

‎example_15/README.md‎

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# ros2_control_demo_example_15
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This example shows how to integrate multiple robots under different controller manager instances.
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Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_15/doc/userdoc.html).

‎example_15/bringup/config/multi_controller_manager_forward_position_publisher.yaml‎

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/rrbot_1/publisher_forward_position_controller:
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ros__parameters:
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publish_topic: "forward_position_controller/commands"
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wait_sec_between_publish: 5
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1: [0.785, 0.785]
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pos2: [0.0, 0.0]
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pos3: [-0.785, -0.785]
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pos4: [0.0, 0.0]
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/rrbot_2/publisher_forward_position_controller:
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ros__parameters:
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publish_topic: "forward_position_controller/commands"
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wait_sec_between_publish: 5
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1: [-0.785, 0.0]
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pos2: [0.0, -0.785]
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pos3: [+0.785, -1.57]
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pos4: [+1.57, -0.785]

‎example_15/bringup/config/multi_controller_manager_joint_trajectory_publisher.yaml‎

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/rrbot_1/publisher_joint_trajectory_controller:
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ros__parameters:
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controller_name: "rrbot_1/position_trajectory_controller"
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wait_sec_between_publish: 6
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1:
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positions: [0.785, 0.785]
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pos2:
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positions: [0.0, 0.0]
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pos3:
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positions: [-0.785, -0.785]
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pos4:
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positions: [0.0, 0.0]
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joints:
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- rrbot_1_joint1
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- rrbot_1_joint2
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check_starting_point: false
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starting_point_limits:
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joint1: [-0.1,0.1]
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joint2: [-0.1,0.1]
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/rrbot_2/publisher_joint_trajectory_controller:
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ros__parameters:
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controller_name: "rrbot_2/position_trajectory_controller"
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wait_sec_between_publish: 6
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1:
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positions: [-0.785, 0.0]
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pos2:
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positions: [0.0, -0.785]
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pos3:
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positions: [+0.785, -1.57]
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pos4:
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positions: [+1.57, -0.785]
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joints:
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- rrbot_2_joint1
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- rrbot_2_joint2
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check_starting_point: false
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starting_point_limits:
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joint1: [-0.1,0.1]
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joint2: [-0.1,0.1]

‎example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml‎

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/rrbot_1/controller_manager:
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ros__parameters:
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update_rate: 10 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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forward_position_controller:
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type: forward_command_controller/ForwardCommandController
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position_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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/rrbot_1/forward_position_controller:
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ros__parameters:
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joints:
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- rrbot_1_joint1
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- rrbot_1_joint2
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interface_name: position
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/rrbot_1/position_trajectory_controller:
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ros__parameters:
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joints:
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- rrbot_1_joint1
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- rrbot_1_joint2
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command_interfaces:
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- position
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state_interfaces:
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- position
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state_publish_rate: 200.0 # Defaults to 50
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action_monitor_rate: 20.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)

‎example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml‎

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/rrbot_2/controller_manager:
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ros__parameters:
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update_rate: 10 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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forward_position_controller:
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type: forward_command_controller/ForwardCommandController
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position_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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/rrbot_2/forward_position_controller:
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ros__parameters:
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joints:
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- rrbot_2_joint1
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- rrbot_2_joint2
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interface_name: position
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/rrbot_2/position_trajectory_controller:
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ros__parameters:
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joints:
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- rrbot_2_joint1
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- rrbot_2_joint2
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command_interfaces:
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- position
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state_interfaces:
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- position
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state_publish_rate: 200.0 # Defaults to 50
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action_monitor_rate: 20.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)

‎example_15/bringup/config/rrbot_namespace_controllers.yaml‎

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/rrbot/controller_manager:
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ros__parameters:
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update_rate: 10 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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forward_position_controller:
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type: forward_command_controller/ForwardCommandController
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position_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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/rrbot/forward_position_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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interface_name: position
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/rrbot/position_trajectory_controller:
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ros__parameters:
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joints:
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- joint1
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- joint2
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command_interfaces:
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- position
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state_interfaces:
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- position
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state_publish_rate: 200.0 # Defaults to 50
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action_monitor_rate: 20.0 # Defaults to 20
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allow_partial_joints_goal: false # Defaults to false
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open_loop_control: true
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allow_integration_in_goal_trajectories: true
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constraints:
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stopped_velocity_tolerance: 0.01 # Defaults to 0.01
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goal_time: 0.0 # Defaults to 0.0 (start immediately)

‎example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml‎

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publisher_forward_position_controller:
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ros__parameters:
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wait_sec_between_publish: 5
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publish_topic: /rrbot/forward_position_controller/commands
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1: [0.785, 0.785]
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pos2: [0, 0]
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pos3: [-0.785, -0.785]
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pos4: [0, 0]

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