TSID Framework

The TSID Framework is a robotics software package built on top of the Task-Space Inverse Dynamics (TSID) library. This framework leverages the TSID library to implement controllers for robot manipulation and motion planning.

In this package, we provide a set of ROS2 controllers, including the Cartesian Space Controller, which allows precise control of the robot's end-effector frame in Cartesian space.

Features

• Integration with the TSID Library: Leverages advanced inverse dynamics techniques for task-space control.
• ROS2 Controllers: Implements controllers compatible with the ROS2 control stack.
• Interactive Control: Supports rviz2 for intuitive interaction using an interactive marker.

Cartesian Space Controller

The Cartesian Space Controller controls the robot's end-effector by directly specifying Cartesian positions, velocities, and orientations, enabling precise and intuitive manipulation.

Joint Space Controller

The Cartesian Space Controller controls the robot's joints by directly specifying the joint configuration though topic.

How to Launch the Controllers

Launch the Cartesian Space Controller:

Run the following command to start the controller:

ros2 launch tsid_controllers cartesian_space_controller.launch.py

Open Rviz2 and spawn the interactive marker:

ros2 run rviz2 rviz2

Switch controllers (for example run the controller on right side):

ros2 control switch_controllers --activate cartesian_space_controller --deactivate arm_right_controller

⚠ Warning: This controller is specifically customized for the INRIA robot and its simulation environment. If you wish to use it, ensure you are using the INRIA robot simulation setup.

Launch the Joint Space Controller: Run the following command to start the controller:

ros2 launch tsid_controllers joint_space_controller.launch.py 

Switch controllers (for example right arm side):

ros2 control switch_controllers --activate joint_space_controller --deactivate arm_right_controller

Publish on the topic the desired joint configurations (for example 0 for all the joints of the right arm):

ros2 topic pub --once /tsid_controllers/joint_position_cmd std_msgs/msg/Float64MultiArray "data: [0.0, 0, 0, 0, 0, 0 ,0]"

It is possible to modify dynamically some parameters like velocity_scaling factor, posture gain etc.