Added new robot descriptions for Robotoid

mg_bringup/launch/base.launch.py

@@ -0,0 +1,63 @@
+################################################################################
+#                                                                              #
+#  Launch file meant to be used on the robot itself                            #
+#      uses:                                                                   #
+#         * mg_control    - for sending commands to the stepper drivers        #
+#         * mg_odometry   - for reading and controlling the MCU encoders       #
+#         * mg_navigation - runs the local planner and handles move behaviors  #
+#         * mg_navigation - runs the local planner and handles move behaviors  #
+#         * mg_lidar      - optionally runs the lidar node to read opponents   #
+#                            positions                                         #
+#                                                                              #
+################################################################################
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
+from launch.conditions import UnlessCondition 
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    is_local_test = DeclareLaunchArgument(
+        'local_test',
+        default_value="False",
+        description='Launch with simulated components'
+    )
+
+    return LaunchDescription([
+        is_local_test,
+        IncludeLaunchDescription(
+            PathJoinSubstitution([
+                FindPackageShare("mg_control"),
+                'launch',
+                'toid.launch.py'
+            ]),
+            launch_arguments={
+                'use_mock': LaunchConfiguration('local_test')
+            }.items()
+        ),
+        Node(
+            package="mg_odometry",
+            executable="mg_odom_publisher",
+            name="mg_odom_publisher",
+            condition=UnlessCondition(LaunchConfiguration('local_test')),
+            parameters=[{
+                'odom': "odom",
+                'serial_path': "/dev/ttyACM0",
+            }],
+
+            emulate_tty=True,
+            output='screen'
+        ),
+        Node(
+            package="mg_navigation",
+            executable="mg_nav_server",
+            name="mg_nav_server",
+            emulate_tty=True,
+            output='screen',
+        )
+    ])
+    

mg_bringup/launch/bt.launch.py

@@ -0,0 +1,29 @@
+################################################################################
+#                                                                              #
+#  Launch file meant to be used on the robot itself                            #
+#      uses:                                                                   #
+#         * mg_bt         - runs the robot's behavior tree server              #
+#                                                                              #
+################################################################################
+
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_bt")
+
+    bt_exec_config = PathJoinSubstitution([basedir, "config/mg_bt_executor.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_bt',
+            executable='mg_bt_executor',
+            output="screen",
+            parameters=[bt_exec_config]
+        ),
+    ])
+    

mg_bt/CMakeLists.txt

@@ -37,7 +37,7 @@ set(SOURCES
 
 
 add_executable(mg_bt_executor ${SOURCES})
-add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
+# add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
 
 target_include_directories(
   mg_bt_executor
@@ -46,14 +46,14 @@ target_include_directories(
   include
 )
 
-target_link_libraries(mg_i2cnode i2c)
+# target_link_libraries(mg_i2cnode i2c)
 
 ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
-ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
+# ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
 
 install( TARGETS
   mg_bt_executor
-  mg_i2cnode
+#  mg_i2cnode
   DESTINATION lib/${PROJECT_NAME}
 )
 

mg_bt/src/mg_tree_executor.cpp

@@ -37,7 +37,7 @@ namespace mg {
         double    theta;
         glm::vec2 pos;
 
-        auto tmsg = tf_buffer_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+        auto tmsg = tf_buffer_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

mg_control/assets/mg_base.urdf

@@ -55,7 +55,7 @@
     </joint>
 
 
-    <ros2_control name="mg-base" type="system">
+    <ros2_control name="mg_base" type="system">
         <hardware>
             <plugin>mg_control/MgStepperInterface</plugin>
         </hardware>

mg_control/assets/mg_base_controllers.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100
+    update_rate: 50
 
     diffdrive_controller:
       type: diff_drive_controller/DiffDriveController
@@ -14,7 +14,7 @@ diffdrive_controller:
     
     enable_odom_tf: false 
     odom_frame_id: odom_excpected
-    base_frame_id: base-link
+    base_frame_id: base_footprint
 
     open_loop: true 
 

mg_control/assets/mg_base_controllers_local.yaml

@@ -14,7 +14,7 @@ diffdrive_controller:
     
     enable_odom_tf: true
     odom_frame_id: odom
-    base_frame_id: base-link
+    base_frame_id: base_footprint
 
     open_loop: true 
 

mg_control/assets/mg_base_local.urdf

@@ -55,7 +55,7 @@
     </joint>
 
 
-    <ros2_control name="mg-base" type="system">
+    <ros2_control name="mg_base" type="system">
         <hardware>
             <plugin>mock_components/GenericSystem</plugin> 
             <param name="calculate_dynamics">true</param> 

mg_control/assets/toid_general_params.yaml

@@ -0,0 +1,22 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+
+    diffdrive_controller:
+      type: diff_drive_controller/DiffDriveController
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+diffdrive_controller:
+  ros__parameters:
+    left_wheel_names: ["drivewhl_l_joint"]
+    right_wheel_names: ["drivewhl_r_joint"]
+    
+    enable_odom_tf: true 
+    odom_frame_id: odom
+    base_frame_id: base_footprint
+
+    open_loop: true 
+
+    wheel_separation: 0.258
+    wheel_radius: 0.0375

mg_control/launch/toid.launch.py

@@ -0,0 +1,111 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition 
+from launch.substitutions import Command, LaunchConfiguration, IfElseSubstitution
+from launch_ros.actions import Node, LifecycleNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    pkg_share = FindPackageShare("").find('mg_control')
+    params = os.path.join(pkg_share, 'assets', 'toid_general_params.yaml')
+    default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'ros_control.rviz')
+    
+
+    description_pkg_share = FindPackageShare("").find('toid_bot_description')
+    default_model_path = os.path.join(
+        description_pkg_share, 
+        'src', 
+        'toid_bot_description.urdf'
+    )
+
+    visualize = LaunchConfiguration("visualize")
+
+    visualize_arg = DeclareLaunchArgument(
+        'visualize',
+        default_value='False',
+        description="Whether to launch rviz2" 
+    )
+
+    use_mock = LaunchConfiguration("use_mock")
+
+    use_mock_arg = DeclareLaunchArgument(
+        'use_mock',
+        default_value='True',
+        description="Whether to use mock controller" 
+    )
+
+    odom_broadcast = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='map_to_odom_broadcaster',
+        arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
+        condition=IfCondition(LaunchConfiguration('visualize'))
+    )
+
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': Command(['xacro ', default_model_path, ' use_sim:=', use_mock])}]
+    )
+
+    controller_manager = Node(
+        package='controller_manager',
+        executable='ros2_control_node',
+        output='screen',
+        parameters=[params]
+    )
+
+    joint_state_broadcaster = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=["joint_state_broadcaster"]
+    )
+
+    diffbot_base_controller = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='both',
+        arguments=[
+            "diffdrive_controller",
+            "-p",
+            params,
+            "--controller-ros-args",
+            "-r diffdrive_controller/cmd_vel:=/cmd_vel",
+            "--controller-ros-args",
+            "-r diffdrive_controller/odom:=/odom",
+            "--controller-ros-args",
+            IfElseSubstitution(use_mock, 
+                "--param odom_frame_id:=odom", 
+                "--param odom_frame_id:=odom_expected"
+            ),
+            "--controller-ros-args",
+            IfElseSubstitution(use_mock, 
+                "--param enable_odom_tf:=true", 
+                "--param enable_odom_tf:=false"
+            ),
+        ]
+    )
+
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', default_rviz_config_path],
+        condition=IfCondition(visualize)
+    )
+
+    return LaunchDescription([
+        visualize_arg,
+        use_mock_arg,
+        odom_broadcast,
+        robot_state_publisher,
+        controller_manager,
+        joint_state_broadcaster,
+        diffbot_base_controller,
+        rviz_node
+    ])

mg_lidar/config/lidar.yaml

@@ -1,4 +1,4 @@
 rplidar_node:
   ros__parameters:
     scan_mode: "ppbig"
-    topic_name: "base-link"
+    topic_name: "base_link"

mg_lidar/src/scanner.cpp

@@ -54,7 +54,7 @@ class MgScanner : public rclcpp::Node {
             double y   = NAN;
             double rot = NAN;
 
-            auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+            auto tmsg = tf_buf_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
             tf2::Transform t;
             tf2::convert(tmsg.transform, t);

mg_navigation/include/handlers/dwa_core.hpp

@@ -152,7 +152,7 @@ namespace mg {
             double x = NAN;
             double y = NAN;
 
-            auto tmsg = tfbuf->lookupTransform("odom", "base-link", tf2::TimePointZero);
+            auto tmsg = tfbuf->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
             tf2::Transform t;
             tf2::convert(tmsg.transform, t);

mg_navigation/src/mg_navigation.cpp

@@ -51,7 +51,7 @@ namespace mg {
 
         path_buffer_ = std::make_shared<PathBuffer>(this);
 
-        pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);
+        pub_twist = create_publisher<Geometry::TwistStamped>("/cmd_vel", 2);
 
         obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf2_buffer);
 

mg_odometry/src/mg_odom_publisher.cpp

@@ -23,7 +23,7 @@
 
 #define TIMEOUT 10u
 
-constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
+constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM0";
 
 using SendDoubleSrv = mg_msgs::srv::SendDouble;
 using ZeroSrv       = std_srvs::srv::Empty;
@@ -32,7 +32,7 @@ class MgOdomPublisher : public rclcpp::Node {
   public:
     MgOdomPublisher() : Node("mg_odom_publisher") {
         this->declare_parameter("odom", "odom");
-        this->declare_parameter("target", "base-link");
+        this->declare_parameter("target", "base_footprint");
         this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
 
         tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);

mg_planner/src/mg_planner_node.cpp

@@ -51,7 +51,7 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {
 
 glm::ivec2 mg::PlannerNode::get_pos() {
     try {
-        auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+        auto tmsg = tf_buf_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
 
         tf2::Transform t;
         tf2::convert(tmsg.transform, t);

toid_bot_description/src/toid_bot_control.xacro

@@ -6,7 +6,7 @@
     <ros2_control name="${name}" type="system">
       <xacro:unless value="${use_mock_hardware}">
         <hardware>
-            <!-- plugin would eventually go here-->
+            <plugin>mg_control/MgStepperInterface</plugin>
         </hardware>
       </xacro:unless>
       <xacro:if value="${use_mock_hardware}">