Update cart demos to use joint_trajectory_controller (#486) (#489)

Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 11fc5dd) Co-authored-by: Christoph Fröhlich <[email protected]>
ros-controls · Jan 30, 2025 · 98bdcbb · 98bdcbb
1 parent 14dab80
commit 98bdcbb
Show file tree

Hide file tree

Showing 20 changed files with 64 additions and 141 deletions.
diff --git a/gz_ros2_control_demos/CMakeLists.txt b/gz_ros2_control_demos/CMakeLists.txt
@@ -37,16 +37,20 @@ ament_target_dependencies(example_position
   control_msgs
 )
 
-add_executable(example_velocity examples/example_velocity.cpp)
+# use the same example_position.cpp for example_velocity
+add_executable(example_velocity examples/example_position.cpp)
 ament_target_dependencies(example_velocity
   rclcpp
-  std_msgs
+  rclcpp_action
+  control_msgs
 )
 
-add_executable(example_effort examples/example_effort.cpp)
+# use the same example_position.cpp for example_effort
+add_executable(example_effort examples/example_position.cpp)
 ament_target_dependencies(example_effort
   rclcpp
-  std_msgs
+  rclcpp_action
+  control_msgs
 )
 
 add_executable(example_diff_drive examples/example_diff_drive.cpp)

diff --git a/gz_ros2_control_demos/config/cart_controller_effort.yaml b/gz_ros2_control_demos/config/cart_controller_effort.yaml
@@ -5,8 +5,20 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-effort_controller:
+joint_trajectory_controller:
   ros__parameters:
-    type: effort_controllers/JointGroupEffortController
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - slider_to_cart
+    command_interfaces:
+      - effort
+    state_interfaces:
+      - position
+      - velocity
+    gains:
+      slider_to_cart:
+        p: 100.0
+        i: 0.0
+        d: 10.0
+        i_clamp: 0.0
+        antiwindup: false
diff --git a/gz_ros2_control_demos/config/cart_controller_velocity.yaml b/gz_ros2_control_demos/config/cart_controller_velocity.yaml
@@ -5,11 +5,23 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-velocity_controller:
+joint_trajectory_controller:
   ros__parameters:
-    type: velocity_controllers/JointGroupVelocityController
+    type: joint_trajectory_controller/JointTrajectoryController
     joints:
       - slider_to_cart
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+    gains:
+      slider_to_cart:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+        i_clamp: 0.0
+        antiwindup: false
 
 imu_sensor_broadcaster:
   ros__parameters:

diff --git a/gz_ros2_control_demos/examples/example_effort.cpp b/gz_ros2_control_demos/examples/example_effort.cpp
diff --git a/gz_ros2_control_demos/examples/example_velocity.cpp b/gz_ros2_control_demos/examples/example_velocity.cpp
diff --git a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
@@ -96,7 +96,7 @@ def robot_state_publisher(context):
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -68,11 +68,11 @@ def generate_launch_description():
         executable='spawner',
         arguments=['joint_state_broadcaster'],
     )
-    effort_controller_spawner = Node(
+    joint_trajectory_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
-            'effort_controller',
+            'joint_trajectory_controller',
             '--param-file',
             robot_controllers,
             ],
@@ -93,7 +93,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [gz_args, ' -r -v 3 empty.sdf'])]),
+            launch_arguments=[('gz_args', [gz_args, ' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
@@ -103,7 +103,7 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=joint_state_broadcaster_spawner,
-                on_exit=[effort_controller_spawner],
+                on_exit=[joint_trajectory_controller_spawner],
             )
         ),
         bridge,

diff --git a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -68,11 +68,11 @@ def generate_launch_description():
         executable='spawner',
         arguments=['joint_state_broadcaster'],
     )
-    velocity_controller_spawner = Node(
+    joint_trajectory_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
-            'velocity_controller',
+            'joint_trajectory_controller',
             '--param-file',
             robot_controllers,
             ],
@@ -102,7 +102,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [gz_args, ' -r -v 3 empty.sdf'])]),
+            launch_arguments=[('gz_args', [gz_args, ' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
@@ -112,7 +112,7 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=joint_state_broadcaster_spawner,
-                on_exit=[velocity_controller_spawner,
+                on_exit=[joint_trajectory_controller_spawner,
                          imu_sensor_broadcaster_spawner],
             )
         ),

diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -96,7 +96,7 @@ def robot_state_publisher(context):
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py b/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py
@@ -100,7 +100,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example_effort.launch.py b/gz_ros2_control_demos/launch/gripper_mimic_joint_example_effort.launch.py
@@ -95,7 +95,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example_effort.launch.xml b/gz_ros2_control_demos/launch/gripper_mimic_joint_example_effort.launch.xml
@@ -35,7 +35,7 @@ Author: Dr. Denis
 
   <!-- Start Gazebo -->
   <include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py" >
-    <arg name="gz_args" value=" -r -v 4 empty.sdf"/>
+    <arg name="gz_args" value=" -r -v 1 empty.sdf"/>
   </include>
 
   <node pkg="ros_gz_bridge" exec="parameter_bridge" args="

diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example_position.launch.py b/gz_ros2_control_demos/launch/gripper_mimic_joint_example_position.launch.py
@@ -95,7 +95,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example_position.launch.xml b/gz_ros2_control_demos/launch/gripper_mimic_joint_example_position.launch.xml
@@ -35,7 +35,7 @@ Author: Dr. Denis
 
   <!-- Start Gazebo -->
   <include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py" >
-    <arg name="gz_args" value=" -r -v 4 empty.sdf"/>
+    <arg name="gz_args" value=" -r -v 1 empty.sdf"/>
   </include>
 
   <node pkg="ros_gz_bridge" exec="parameter_bridge" args="

diff --git a/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
@@ -92,7 +92,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/pendulum_example_effort.launch.py b/gz_ros2_control_demos/launch/pendulum_example_effort.launch.py
@@ -67,11 +67,11 @@ def generate_launch_description():
         executable='spawner',
         arguments=['joint_state_broadcaster'],
     )
-    effort_controller_spawner = Node(
+    joint_trajectory_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
-            'effort_controller',
+            'joint_trajectory_controller',
             '--param-file',
             robot_controllers,
             ],
@@ -92,7 +92,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
@@ -102,7 +102,7 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=joint_state_broadcaster_spawner,
-                on_exit=[effort_controller_spawner],
+                on_exit=[joint_trajectory_controller_spawner],
             )
         ),
         bridge,

diff --git a/gz_ros2_control_demos/launch/pendulum_example_position.launch.py b/gz_ros2_control_demos/launch/pendulum_example_position.launch.py
@@ -92,7 +92,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -97,7 +97,7 @@ def generate_launch_description():
                 [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                        'launch',
                                        'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),
+            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,

diff --git a/gz_ros2_control_tests/tests/effort_test.py b/gz_ros2_control_tests/tests/effort_test.py
@@ -87,7 +87,7 @@ def test_clock(self):
 
     def test_controller_running(self, proc_output):
 
-        cnames = ['effort_controller', 'joint_state_broadcaster']
+        cnames = ['joint_trajectory_controller', 'joint_state_broadcaster']
 
         check_controllers_running(self.node, cnames)
 

diff --git a/gz_ros2_control_tests/tests/velocity_test.py b/gz_ros2_control_tests/tests/velocity_test.py
@@ -87,7 +87,11 @@ def test_clock(self):
 
     def test_controller_running(self, proc_output):
 
-        cnames = ['velocity_controller', 'joint_state_broadcaster', 'imu_sensor_broadcaster']
+        cnames = [
+                  'joint_trajectory_controller',
+                  'joint_state_broadcaster',
+                  'imu_sensor_broadcaster'
+                ]
 
         check_controllers_running(self.node, cnames)