Gazebo support (#85)

* [ros2_control_demo_robot] Add gazebo for rrbot position_only demo.
* [ros2_control_demo_robot] Add missing launch file and controller position file.
* [ros2_control_demo_robot] Makes flake8 happy for rrbot_system_position_only_gazebo.launch.py
* [ros2_control_demo_robot] Fix year in Copyright notice of gazebo launch file.
* [package.xml] Adding xacro dependency
* [ros2_control_demo_hardware] Fix entity name when launching gazebo for rrbot.
* [ros2_control_demo_robot] Change xacro parameter simu to use_simu
* use generic dependency
* organize urdf files to work with gazebo
* start gazebo non-verbose
* correctly format urdf xacro
* use spawner script to load controller
* fix python imports, run precommit

Co-authored-by: Olivier Stasse <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>

Author: 3 people

ros2_control_demo_robot/CMakeLists.txt

@@ -23,5 +23,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 endif()
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
 ## EXPORTS
 ament_package()

ros2_control_demo_robot/config/rrbot_gazebo_forward_controller_position.yaml

@@ -0,0 +1,16 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+    interface_name: position

ros2_control_demo_robot/description/rrbot/rrbot.gazebo.xacro renamed to ros2_control_demo_robot/description/rrbot/gazebo/rrbot.gazebo.xacro

@@ -9,9 +9,8 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-        <robotNamespace>/rrbot</robotNamespace>
-        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+        <parameters>$(find ros2_control_demo_robot)/config/rrbot_gazebo_forward_controller_position.yaml</parameters>
       </plugin>
     </gazebo>
 
@@ -71,7 +70,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
             <stddev>0.01</stddev>
           </noise>
         </ray>
-        <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
+        <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_ray_sensor.so">
           <topicName>/rrbot/laser/scan</topicName>
           <frameName>hokuyo_link</frameName>
         </plugin>

ros2_control_demo_robot/description/rrbot/rrbot.materials.xacro renamed to ros2_control_demo_robot/description/rrbot/gazebo/rrbot.materials.xacro

@@ -1,15 +1,24 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_system_position_only" params="name prefix slowdown:=2.0">
+  <xacro:macro name="rrbot_system_position_only" params="name prefix use_sim:='false' slowdown:=2.0">
 
     <ros2_control name="${name}" type="system">
-      <hardware>
-        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
-        <param name="example_param_hw_start_duration_sec">2.0</param>
-        <param name="example_param_hw_stop_duration_sec">3.0</param>
-        <param name="example_param_hw_slowdown">${slowdown}</param>
-      </hardware>
+
+      <xacro:if value="$(arg use_sim)">
+        <hardware>
+          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+        </hardware>
+      </xacro:if>
+      <xacro:unless value="$(arg use_sim)">
+        <hardware>
+          <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+          <param name="example_param_hw_start_duration_sec">2.0</param>
+          <param name="example_param_hw_stop_duration_sec">3.0</param>
+          <param name="example_param_hw_slowdown">${slowdown}</param>
+        </hardware>
+      </xacro:unless>
+
       <joint name="joint1">
         <command_interface name="position">
           <param name="min">-1</param>

ros2_control_demo_robot/description/rrbot/meshes/hokuyo.dae

@@ -5,21 +5,22 @@ Copied and modified from ROS1 example:
 https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
+  <xacro:arg name="use_sim" default="false" />
 
   <!-- Enable setting arguments from the launch file -->
   <xacro:arg name="slowdown" default="2.0" />
 
   <!-- Import RRBot macro -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/rrbot.urdf.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/urdf/rrbot.urdf.xacro" />
 
   <!-- Import all Gazebo-customization elements, including Gazebo colors -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/rrbot.gazebo.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/gazebo/rrbot.gazebo.xacro" />
 
   <!-- Import Rviz colors -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/rrbot.materials.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/gazebo/rrbot.materials.xacro" />
 
   <!-- Import RRBot ros2_control description -->
-  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/rrbot_system_position_only.ros2_control.xacro" />
+  <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/ros2_control/rrbot_system_position_only.ros2_control.xacro" />
 
   <!-- Used for fixing robot -->
   <link name="world"/>
@@ -33,6 +34,5 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
   <xacro:rrbot_gazebo prefix="" />
 
-  <xacro:rrbot_system_position_only name="RRBotSystemPositionOnly" prefix="" slowdown="$(arg slowdown)" />
-
+  <xacro:rrbot_system_position_only name="RRBotSystemPositionOnly" prefix="" use_sim="$(arg use_sim)" slowdown="$(arg slowdown)" />
 </robot>