ros_control_boilerplate repository

Repository Summary

Checkout URI https://github.com/davetcoleman/ros_control_boilerplate.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2016-06-29
Dev Status DEVELOPED
Released UNRELEASED

Packages

Name Version
ros_control_boilerplate 0.4.0

README

ROS Control Boilerplate

Simple simulation interface and template for setting up a hardware interface for ros_control. The idea is you take this as a starting point for creating your hardware interfaces, and it is needed because ros_control documentation is sparse. This boilerplate demonstrates:

  • Creating a hardware_interface for multiple joints for use with ros_control
  • Position Trajectory Controller
  • Control of 2 joints of the simple robot "RRBot" pictured below
  • Loading configurations with roslaunch and yaml files
  • Generating a random trajectory and sending it over an actionlib interface
  • Partial support of joint mode switching (needs to be improved)
  • Joint limits
  • Pass-through non-physics based robot simulator
  • Visualization in Rviz

Developed by Dave Coleman at the University of Colorado Boulder

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Video Demo

See YouTube for a very modest video demo.

Install

This package depends on gazebo_ros_demos for its rrbot_description package, but you must add it to your catkin workspace by source:

git clone https://github.com/ros-simulation/gazebo_ros_demos.git

Then, either install this package from source so you can develop off of it, or install from debian:

sudo apt-get install ros-indigo-ros-control-boilerplate

Run Simulation Demo

This package is setup to run the "RRBot" two joint revolute-revolute robot demo. This "template package" is located in the ros_control_boilerplate as a subfolder that you can easily rename and reuse. To run its ros_control non-physics-based simulated hardware interface, run:

roslaunch ros_control_boilerplate rrbot_simulaton.launch

To visualize its published /tf coordinate transforms in Rviz run:

roslaunch ros_control_boilerplate rrbot_visualize.launch

To send a random, dummy trajectory to execute, run:

roslaunch ros_control_boilerplate rrbot_test_trajectory.launch

Customize

To test this as a simulation interface for your robot, you can quickly rename the subfolder package into the name of your robot using the following commands:

function findreplace() {
    grep -lr -e "$1" * | xargs sed -i "s/$1/$2/g" ;
}

function findreplacefilename() {
    find . -depth -name "*$1*" -exec bash -c 'for f; do base=${f##*/}; mv -- "$f" "${f%/*}/${base//'$1'/'$2'}"; done' _ {} +
}

findreplacefilename rrbot myrobot
findreplace rrbot myrobot
findreplace RRBot MyRobot
findreplace RRBOT MYROBOT

Then add the necessary code to communicate with your robot via USB/serial/ethernet/etc in the file myrobot_hw_interface.cpp.

Setting an Initial Position, Using with MoveIt!

If you need your robot to startup at a particular position in simulation, or you would like to use this funcitonality to simulate your robot with MoveIt!, see the downstream package (it depends on this package) moveit_sim_controller

Other Helper Tools

Recording to CSV

Write the commands from a trajectory controller to csv file

rosrun ros_control_boilerplate controller_to_csv SAVE_TO_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from CSV

Read from csv file and execute on robot

rosrun ros_control_boilerplate csv_to_controller READ_FROM_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from Keyboard

Joint-level teleop from a keyboard (TODO: remove had coded topic names)

rosrun ros_control_boilerplate keyboard_teleop

Limitations

  • Does not implement estops, transmissions, or other fancy new features of ros_contorl
  • Does not have any hard realtime code, this depends largely on your platform, kernel, OS, etc
  • Only position control is fully implemented, though some code is in place for velocity control

Contribute

Please add features, make corrections, and address the limitations above, thanks!

Repository Summary

Checkout URI https://github.com/davetcoleman/ros_control_boilerplate.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-04-21
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
ros_control_boilerplate 0.3.1

README

ROS Control Boilerplate

Simple simulation interface and template for setting up a hardware interface for ros_control. The idea is you take this as a starting point for creating your hardware interfaces, and it is needed because ros_control documentation is sparse. This boilerplate demonstrates:

  • Creating a hardware_interface for multiple joints for use with ros_control
  • Position Trajectory Controller
  • Control of 2 joints of the simple robot "RRBot" pictured below
  • Loading configurations with roslaunch and yaml files
  • Generating a random trajectory and sending it over an actionlib interface
  • Partial support of joint mode switching (needs to be improved)
  • Joint limits
  • Pass-through non-physics based robot simulator
  • Visualization in Rviz

Developed by Dave Coleman at the University of Colorado Boulder

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Video Demo

See YouTube for a very modest video demo.

Install

This package depends on gazebo_ros_demos for its rrbot_description package, but you must add it to your catkin workspace by source:

git clone https://github.com/ros-simulation/gazebo_ros_demos.git

Then, either install this package from source so you can develop off of it, or install from debian:

sudo apt-get install ros-indigo-ros-control-boilerplate

Run Simulation Demo

This package is setup to run the "RRBot" two joint revolute-revolute robot demo. This "template package" is located in the ros_control_boilerplate as a subfolder that you can easily rename and reuse. To run its ros_control non-physics-based simulated hardware interface, run:

roslaunch ros_control_boilerplate rrbot_simulaton.launch

To visualize its published /tf coordinate transforms in Rviz run:

roslaunch ros_control_boilerplate rrbot_visualize.launch

To send a random, dummy trajectory to execute, run:

roslaunch ros_control_boilerplate rrbot_test_trajectory.launch

Customize

To test this as a simulation interface for your robot, you can quickly rename the subfolder package into the name of your robot using the following commands:

function findreplace() {
    grep -lr -e "$1" * | xargs sed -i "s/$1/$2/g" ;
}

function findreplacefilename() {
    find . -depth -name "*$1*" -exec bash -c 'for f; do base=${f##*/}; mv -- "$f" "${f%/*}/${base//'$1'/'$2'}"; done' _ {} +
}

findreplacefilename rrbot myrobot
findreplace rrbot myrobot
findreplace RRBot MyRobot
findreplace RRBOT MYROBOT

Then add the necessary code to communicate with your robot via USB/serial/ethernet/etc in the file myrobot_hw_interface.cpp.

Setting an Initial Position, Using with MoveIt!

If you need your robot to startup at a particular position in simulation, or you would like to use this funcitonality to simulate your robot with MoveIt!, see the downstream package (it depends on this package) moveit_sim_controller

Other Helper Tools

Recording to CSV

Write the commands from a trajectory controller to csv file

rosrun ros_control_boilerplate controller_to_csv SAVE_TO_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from CSV

Read from csv file and execute on robot

rosrun ros_control_boilerplate csv_to_controller READ_FROM_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from Keyboard

Joint-level teleop from a keyboard (TODO: remove had coded topic names)

rosrun ros_control_boilerplate keyboard_teleop

Limitations

  • Does not implement estops, transmissions, or other fancy new features of ros_contorl
  • Does not have any hard realtime code, this depends largely on your platform, kernel, OS, etc
  • Only position control is fully implemented, though some code is in place for velocity control

Contribute

Please add features, make corrections, and address the limitations above, thanks!

Repository Summary

Checkout URI https://github.com/davetcoleman/ros_control_boilerplate.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-01-13
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
ros_control_boilerplate 0.3.1

README

ROS Control Boilerplate

Simple simulation interface and template for setting up a hardware interface for ros_control. The idea is you take this as a starting point for creating your hardware interfaces, and it is needed because ros_control documentation is sparse. This boilerplate demonstrates:

  • Creating a hardware_interface for multiple joints for use with ros_control
  • Position Trajectory Controller
  • Control of 2 joints of the simple robot "RRBot" pictured below
  • Loading configurations with roslaunch and yaml files
  • Generating a random trajectory and sending it over an actionlib interface
  • Partial support of joint mode switching (needs to be improved)
  • Joint limits
  • Pass-through non-physics based robot simulator
  • Visualization in Rviz

Developed by Dave Coleman at the University of Colorado Boulder

  • Build Status Travis CI
  • Devel Job Status Devel Job Status
  • Build Status AMD64 Debian Job Status

Video Demo

See YouTube for a very modest video demo.

Install

This package depends on gazebo_ros_demos for its rrbot_description package, but you must add it to your catkin workspace by source:

git clone https://github.com/ros-simulation/gazebo_ros_demos.git

Then, either install this package from source so you can develop off of it, or install from debian:

sudo apt-get install ros-indigo-ros-control-boilerplate

Run Simulation Demo

This package is setup to run the "RRBot" two joint revolute-revolute robot demo. This "template package" is located in the ros_control_boilerplate as a subfolder that you can easily rename and reuse. To run its ros_control non-physics-based simulated hardware interface, run:

roslaunch ros_control_boilerplate rrbot_simulaton.launch

To visualize its published /tf coordinate transforms in Rviz run:

roslaunch ros_control_boilerplate rrbot_visualize.launch

To send a random, dummy trajectory to execute, run:

roslaunch ros_control_boilerplate rrbot_test_trajectory.launch

Customize

To test this as a simulation interface for your robot, you can quickly rename the subfolder package into the name of your robot using the following commands:

function findreplace() {
    grep -lr -e "$1" * | xargs sed -i "s/$1/$2/g" ;
}

function findreplacefilename() {
    find . -depth -name "*$1*" -exec bash -c 'for f; do base=${f##*/}; mv -- "$f" "${f%/*}/${base//'$1'/'$2'}"; done' _ {} +
}

findreplacefilename rrbot myrobot
findreplace rrbot myrobot
findreplace RRBot MyRobot
findreplace RRBOT MYROBOT

Then add the necessary code to communicate with your robot via USB/serial/ethernet/etc in the file myrobot_hw_interface.cpp.

Setting an Initial Position, Using with MoveIt!

If you need your robot to startup at a particular position in simulation, or you would like to use this funcitonality to simulate your robot with MoveIt!, see the downstream package (it depends on this package) moveit_sim_controller

Other Helper Tools

Recording to CSV

Write the commands from a trajectory controller to csv file

rosrun ros_control_boilerplate controller_to_csv SAVE_TO_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from CSV

Read from csv file and execute on robot

rosrun ros_control_boilerplate csv_to_controller READ_FROM_FILE_PATH CONTROLLER_STATE_TOPIC TIME_TO_RECORD

Commanding from Keyboard

Joint-level teleop from a keyboard (TODO: remove had coded topic names)

rosrun ros_control_boilerplate keyboard_teleop

Limitations

  • Does not implement estops, transmissions, or other fancy new features of ros_contorl
  • Does not have any hard realtime code, this depends largely on your platform, kernel, OS, etc
  • Only position control is fully implemented, though some code is in place for velocity control

Contribute

Please add features, make corrections, and address the limitations above, thanks!