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[Example 13] Multi-robot system with lifecycle management (#417) (#606)
* Add description for r3bot Co-authored-by: Denis Štogl <[email protected]> Co-authored-by: bailaC <[email protected]> * Remove camera links etc * Initial commit for example_13 from old PRs Co-authored-by: Denis Štogl <[email protected]> Co-authored-by: bailaC <[email protected]> * Change MD to rst syntax * Update test node syntax * Fix test nodes launch file * Enhance docs * Fix wrench config * Use global joint_state_broadcaster * Add tests * FIx links to files * Add some text * Fix dependencies * Add example13 to workflows+packages * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <[email protected]> * Update example_13/doc/userdoc.rst Co-authored-by: Sai Kishor Kothakota <[email protected]> * Fix rst syntax * Use new ros2controlcli verb * Add initial version for launch_test * Add a more complete test * Fix whitespaces * Fix decimal numbers Co-authored-by: Sai Kishor Kothakota <[email protected]> * Fix more decimal numbers Co-authored-by: Sai Kishor Kothakota <[email protected]> --------- Co-authored-by: Denis Štogl <[email protected]> Co-authored-by: bailaC <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Sai Kishor Kothakota <[email protected]> (cherry picked from commit d6e730f) Co-authored-by: Christoph Fröhlich <[email protected]>
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‎README.md‎

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The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
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* Example 13: "Multi-robot example (tba.)"
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* Example 13: ["Multi-robot system with hardware lifecycle management"](example_13)
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This example shows how to handle multiple robots in a single controller manager instance.
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* Example 14: ["Modular robots with actuators not providing states and with additional sensors"](example_14)
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‎doc/index.rst‎

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Example 12: "Controller chaining"
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The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
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Example 13: "Multi-robot example (tba.)"
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Example 13: "Multi-robot system with hardware lifecycle management"
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This example shows how to handle multiple robots in a single controller manager instance.
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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 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
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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 13: Multiple robots <../example_13/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_13/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(ros2_control_demo_example_13 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/ros2_control description/urdf description/rviz
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DESTINATION share/ros2_control_demo_example_13
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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_13
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_pytest REQUIRED)
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ament_add_pytest_test(example_13_urdf_xacro test/test_urdf_xacro.py)
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ament_add_pytest_test(view_example_13_launch test/test_view_robot_launch.py)
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ament_add_pytest_test(run_example_13_launch test/test_three_robots_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_13/README.md‎

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# ros2_control_demo_example_13
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This example shows how to handle multiple robots in a single controller manager instance.
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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_13/doc/userdoc.html).

‎example_13/bringup/config/three_robots_controllers.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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hardware_components_initial_state:
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unconfigured:
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# Decide which hardware component will be only loaded
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- FakeThreeDofBot
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inactive:
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# Decide which hardware component will start configured
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- RRBotSystemWithSensor
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# not listed hardware component should be started immediately
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# Global controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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# RRBot controllers
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rrbot_joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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rrbot_position_controller:
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type: forward_command_controller/ForwardCommandController
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rrbot_external_fts_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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# RRBot with sensor controllers
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rrbot_with_sensor_joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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rrbot_with_sensor_position_controller:
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type: forward_command_controller/ForwardCommandController
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rrbot_with_sensor_fts_broadcaster:
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type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster
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# ThreeDofBot controllers
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threedofbot_joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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threedofbot_position_controller:
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type: forward_command_controller/ForwardCommandController
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threedofbot_pid_gain_controller:
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type: forward_command_controller/ForwardCommandController
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# global joint_state_broadcaster
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# joint_state_broadcaster:
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# ros__parameters:
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# nothing to configure
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# RRBot controllers
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rrbot_joint_state_broadcaster:
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ros__parameters:
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use_local_topics: True
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joints:
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- rrbot_joint1
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- rrbot_joint2
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interfaces:
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- position
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rrbot_position_controller:
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ros__parameters:
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joints:
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- rrbot_joint1
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- rrbot_joint2
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interface_name: position
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rrbot_external_fts_broadcaster:
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ros__parameters:
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sensor_name: rrbot_tcp_fts_sensor
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frame_id: rrbot_tool_link
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# RRBot with sensor controllers
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rrbot_with_sensor_joint_state_broadcaster:
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ros__parameters:
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use_local_topics: True
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joints:
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- rrbot_with_sensor_joint1
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- rrbot_with_sensor_joint2
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interfaces:
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- position
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rrbot_with_sensor_position_controller:
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ros__parameters:
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joints:
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- rrbot_with_sensor_joint1
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- rrbot_with_sensor_joint2
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interface_name: position
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rrbot_with_sensor_fts_broadcaster:
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ros__parameters:
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interface_names.force.x: rrbot_with_sensor_tcp_fts_sensor/force.x
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interface_names.torque.z: rrbot_with_sensor_tcp_fts_sensor/torque.z
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frame_id: rrbot_with_sensor_tool_link
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# ThreeDofBot controllers
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threedofbot_joint_state_broadcaster:
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ros__parameters:
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use_local_topics: True
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joints:
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- threedofbot_joint1
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- threedofbot_joint2
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- threedofbot_joint3
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interfaces:
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- position
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- pid_gain
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threedofbot_position_controller:
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ros__parameters:
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joints:
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- threedofbot_joint1
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- threedofbot_joint2
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- threedofbot_joint3
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interface_name: position
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threedofbot_pid_gain_controller:
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ros__parameters:
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joints:
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- threedofbot_joint1
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- threedofbot_joint2
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- threedofbot_joint3
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interface_name: pid_gain

‎example_13/bringup/config/three_robots_position_command_publishers.yaml‎

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rrbot_position_command_publisher:
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ros__parameters:
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publish_topic: "/rrbot_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_with_sensor_position_command_publisher:
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ros__parameters:
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publish_topic: "/rrbot_with_sensor_position_controller/commands"
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wait_sec_between_publish: 4
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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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threedofbot_position_command_publisher:
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ros__parameters:
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publish_topic: "/threedofbot_position_controller/commands"
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wait_sec_between_publish: 3
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goal_names: ["pos1", "pos2", "pos3", "pos4"]
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pos1: [0.785, 0.785, 0.785]
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pos2: [0.0, 0.0, 0.0]
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pos3: [-0.785, -0.785, -0.785]
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pos4: [0.0, 0.0, 0.0]

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