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Merged
merged 3 commits into from
May 1, 2021
Merged

make diff drive load correctly #89

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6f2d4dc
make diff drive load correctly
Karsten1987 Apr 28, 2021
602a494
use spawner script to launch controller
Karsten1987 Apr 28, 2021
5d2a796
cpplint + precommit fixes
bmagyar May 1, 2021
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4 changes: 2 additions & 2 deletions ...control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_multi_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,9 +50,9 @@ class RRBotSystemMultiInterfaceHardware
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
virtual return_type prepare_command_mode_switch(
return_type prepare_command_mode_switch(
const std::vector<std::string> & start_interfaces,
const std::vector<std::string> & stop_interfaces);
const std::vector<std::string> & stop_interfaces) override;

ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
return_type start() override;
Expand Down
12 changes: 6 additions & 6 deletions ros2_control_demo_hardware/src/diffbot_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
std::vector<hardware_interface::StateInterface> DiffBotSystemHardware::export_state_interfaces()
{
std::vector<hardware_interface::StateInterface> state_interfaces;
for (uint i = 0; i < info_.joints.size(); i++)
for (auto i = 0u; i < info_.joints.size(); i++)
{
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i]));
Expand All @@ -109,7 +109,7 @@ std::vector<hardware_interface::StateInterface> DiffBotSystemHardware::export_st
std::vector<hardware_interface::CommandInterface> DiffBotSystemHardware::export_command_interfaces()
{
std::vector<hardware_interface::CommandInterface> command_interfaces;
for (uint i = 0; i < info_.joints.size(); i++)
for (auto i = 0u; i < info_.joints.size(); i++)
{
command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i]));
Expand All @@ -122,15 +122,15 @@ hardware_interface::return_type DiffBotSystemHardware::start()
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Starting ...please wait...");

for (int i = 0; i <= hw_start_sec_; i++)
for (auto i = 0; i <= hw_start_sec_; i++)
{
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i);
}

// set some default values
for (uint i = 0; i < hw_states_.size(); i++)
for (auto i = 0u; i < hw_states_.size(); i++)
{
if (std::isnan(hw_states_[i]))
{
Expand All @@ -150,7 +150,7 @@ hardware_interface::return_type DiffBotSystemHardware::stop()
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Stopping ...please wait...");

for (int i = 0; i <= hw_stop_sec_; i++)
for (auto i = 0; i <= hw_stop_sec_; i++)
{
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
Expand Down Expand Up @@ -190,7 +190,7 @@ hardware_interface::return_type ros2_control_demo_hardware::DiffBotSystemHardwar
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Writing...");

for (uint i = 0; i < hw_commands_.size(); i++)
for (auto i = 0u; i < hw_commands_.size(); i++)
{
// Simulate sending commands to the hardware
RCLCPP_INFO(
Expand Down
0 ...ollers/diffbot_diff_drive_controller.yaml → ...config/diffbot_diff_drive_controller.yaml
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14 changes: 7 additions & 7 deletions ros2_control_demo_robot/launch/diffbot_system.launch.py
100755 → 100644
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ def generate_launch_description():

diffbot_diff_drive_controller = os.path.join(
get_package_share_directory("ros2_control_demo_robot"),
"controllers",
"config",
"diffbot_diff_drive_controller.yaml",
)

Expand All @@ -48,12 +48,6 @@ def generate_launch_description():
output="screen",
parameters=[robot_description],
),
Node(
package="joint_state_publisher",
executable="joint_state_publisher",
name="joint_state_publisher",
output="screen",
),
Node(
package="controller_manager",
executable="ros2_control_node",
Expand All @@ -63,5 +57,11 @@ def generate_launch_description():
"stderr": "screen",
},
),
Node(
package="controller_manager",
executable="spawner.py",
parameter=["joint_state_controller"],
output="screen",
),
]
)