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‎ros2_control_demo_hardware/include/ros2_control_demo_hardware/diffbot_system.hpp‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
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// Copyright 2020 ros2_control Development Team
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// Copyright 2021 ros2_control Development Team
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
@@ -20,14 +20,13 @@
2020
#include <string>
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#include <vector>
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#include "rclcpp/macros.hpp"
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#include "hardware_interface/base_interface.hpp"
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#include "hardware_interface/system_interface.hpp"
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#include "hardware_interface/handle.hpp"
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#include "hardware_interface/hardware_info.hpp"
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#include "hardware_interface/types/hardware_interface_return_values.hpp"
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#include "hardware_interface/types/hardware_interface_status_values.hpp"
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#include "rclcpp/macros.hpp"
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#include "ros2_control_demo_hardware/visibility_control.h"
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using hardware_interface::return_type;

‎ros2_control_demo_robot/controllers/diffbot_diff_drive_controller.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -2,6 +2,8 @@ controller_manager:
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ros__parameters:
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update_rate: 2 # Hz
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joint_state_controller:
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type: joint_state_controller/JointStateController
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diffbot_base_controller:
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type: diff_drive_controller/DiffDriveController
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‎ros2_control_demo_robot/description/diffbot/diffbot.urdf.xacro‎

Lines changed: 69 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="diffbot" params="parent prefix *origin">
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<xacro:macro name="diffbot" params="prefix">
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
@@ -12,14 +12,10 @@
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<xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
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<xacro:property name="wheel_len" value="0.020" />
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<xacro:property name="wheel_radius" value="0.015" />
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<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
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<xacro:property name="caster_wheel_radius" value="0.015" />
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<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
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<joint name="${prefix}base_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}"/>
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<child link="${prefix}base_link" />
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</joint>
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<!-- Base Link -->
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<link name="${prefix}base_link">
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<collision>
@@ -117,6 +113,72 @@
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</inertial>
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</link>
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<joint name="${prefix}caster_frontal_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_frontal_wheel"/>
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<origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
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</joint>
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<!-- caster frontal wheel Link -->
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<link name="${prefix}caster_frontal_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
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iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
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izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
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</inertial>
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</link>
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<joint name="${prefix}caster_rear_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_rear_wheel"/>
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<origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
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</joint>
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<!-- caster rear wheel Link -->
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<link name="${prefix}caster_rear_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
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iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
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izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
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</inertial>
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</link>
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</xacro:macro>
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</robot>

‎ros2_control_demo_robot/description/diffbot/diffbot_system.ros2_control.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -11,44 +11,23 @@
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<param name="example_param_hw_slowdown">2.0</param>
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</hardware>
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<joint name="left_wheel_joint">
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<state_interface name="position"/>
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<command_interface name="velocity">
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<param name="min">-1</param>
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<param name="max">1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="right_wheel_joint">
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<state_interface name="position"/>
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<command_interface name="velocity">
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<param name="min">-1</param>
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<param name="max">1</param>
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</command_interface>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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<!-- <ros2_control name="TestActuatorHardwareLeft" type="actuator">
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<hardware>
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<plugin>test_actuator</plugin>
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</hardware>
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<joint name="left_wheel_joint">
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<state_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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<ros2_control name="TestActuatorHardwareRight" type="actuator">
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<hardware>
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<plugin>test_actuator</plugin>
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</hardware>
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<joint name="right_wheel_joint">
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<state_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control> -->
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</xacro:macro>
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</robot>

‎ros2_control_demo_robot/description/diffbot_system.urdf.xacro‎

Lines changed: 1 addition & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_de
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
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<!-- Import diffbot macro -->
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<xacro:include filename="diffbot/diffbot.urdf.xacro" />
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<!-- <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot.urdf.xacro" /> -->
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@@ -22,15 +21,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/diffbot_de
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<xacro:include filename="diffbot/diffbot_system.ros2_control.xacro" />
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<!-- <xacro:include filename="$(find ros2_control_demo_robot)/description/diffbot/diffbot_system.ros2_control.xacro" /> -->
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<!-- Used for fixing robot -->
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<link name="world"/>
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<gazebo reference="world">
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<static>true</static>
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</gazebo>
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<xacro:diffbot parent="world" prefix="">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:diffbot>
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<xacro:diffbot prefix="" />
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<xacro:diffbot_gazebo prefix="" />
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