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Fix ackermann demo #468

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merged 4 commits into from
Jan 2, 2025
Merged

Fix ackermann demo #468

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9314f60
Fix double bridge in launch description
christophfroehlich Dec 28, 2024
d9b3f94
Switch to TwistStamped
christophfroehlich Dec 28, 2024
bc575ec
Use meaningful inertial parameters and fix steering joints
christophfroehlich Dec 29, 2024
a05ebdf
Use proper time
christophfroehlich Dec 29, 2024
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1 change: 1 addition & 0 deletions ign_ros2_control_demos/config/ackermann_drive_controller.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ ackermann_steering_controller:
reference_timeout: 2.0
rear_wheels_names: ['rear_left_wheel_joint', 'rear_right_wheel_joint']
front_wheels_names: ['left_wheel_steering_joint', 'right_wheel_steering_joint']
use_stamped_vel: true
open_loop: false
velocity_rolling_window_size: 10
base_frame_id: base_link
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32 changes: 20 additions & 12 deletions ign_ros2_control_demos/examples/example_ackermann_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@

#include <rclcpp/rclcpp.hpp>

#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

using namespace std::chrono_literals;

Expand All @@ -28,25 +28,33 @@ int main(int argc, char * argv[])
std::shared_ptr<rclcpp::Node> node =
std::make_shared<rclcpp::Node>("ackermann_drive_test_node");

auto publisher = node->create_publisher<geometry_msgs::msg::Twist>(
"/ackermann_steering_controller/reference_unstamped", 10);
node->set_parameter(rclcpp::Parameter("use_sim_time", true));

auto publisher = node->create_publisher<geometry_msgs::msg::TwistStamped>(
"/ackermann_steering_controller/reference", 10);

RCLCPP_INFO(node->get_logger(), "node created");

geometry_msgs::msg::Twist command;
geometry_msgs::msg::Twist tw;

tw.linear.x = 0.5;
tw.linear.y = 0.0;
tw.linear.z = 0.0;

command.linear.x = 0.5;
command.linear.y = 0.0;
command.linear.z = 0.0;
tw.angular.x = 0.0;
tw.angular.y = 0.0;
tw.angular.z = 0.3;

command.angular.x = 0.0;
command.angular.y = 0.0;
command.angular.z = 0.3;
geometry_msgs::msg::TwistStamped command;
command.twist = tw;

while (1) {
publisher->publish(command);
std::this_thread::sleep_for(50ms);
rclcpp::spin_some(node);
if (node->get_clock()->started()) {
command.header.stamp = node->now();
publisher->publish(command);
}
std::this_thread::sleep_for(50ms);
}
rclcpp::shutdown();

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1 change: 0 additions & 1 deletion ign_ros2_control_demos/launch/ackermann_drive_example.launch.py
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Expand Up @@ -96,7 +96,6 @@ def generate_launch_description():
on_exit=[load_ackermann_controller],
)
),
bridge,
node_robot_state_publisher,
gz_spawn_entity,
# Launch Arguments
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30 changes: 16 additions & 14 deletions ign_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,8 @@

<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0.126164" ixy="0.0" ixz="0.0" iyy="0.416519" iyz="0.0" izz="0.481014" />
<mass value="100" />
<inertia ixx="10.4" ixy="0.0" ixz="0.0" iyy="35.4" iyz="0.0" izz="41.66" />
</inertial>
</link>

Expand All @@ -60,8 +60,8 @@
</visual>

<inertial>
<mass value="2" />
<inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
<mass value="11.3" />
<inertia ixx="0.26" ixy="0.0" ixz="0.0" iyy="0.26" iyz="0.0" izz="0.51" />
</inertial>
</link>

Expand All @@ -87,8 +87,8 @@
<material name="Black" />
</visual>
<inertial>
<mass value="2" />
<inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
<mass value="11.3" />
<inertia ixx="0.26" ixy="0.0" ixz="0.0" iyy="0.26" iyz="0.0" izz="0.51" />
</inertial>
</link>

Expand All @@ -108,12 +108,13 @@
</inertial>
</link>

<joint name="left_wheel_steering_joint" type="continuous">
<origin xyz="0.9 0.5 -0.2" rpy="-1.57 0 0" />
<joint name="left_wheel_steering_joint" type="revolute">
<origin xyz="0.9 -0.5 -0.2" rpy="1.57 0 0" />
<parent link="chassis" />
<child link="left_wheel_steering" />
<axis xyz="0 1 0" />
<dynamics damping="0.2" />
<limit effort="1000.0" lower="-1.57" upper="1.57" velocity="30"/>
</joint>

<!-- right steer Link -->
Expand All @@ -124,12 +125,13 @@
</inertial>
</link>

<joint name="right_wheel_steering_joint" type="continuous">
<origin xyz="0.9 -0.5 -0.2" rpy="-1.57 0 0" />
<joint name="right_wheel_steering_joint" type="revolute">
<origin xyz="0.9 0.5 -0.2" rpy="1.57 0 0" />
<parent link="chassis" />
<child link="right_wheel_steering" />
<axis xyz="0 1 0" />
<dynamics damping="0.2" />
<limit effort="1000.0" lower="-1.57" upper="1.57" velocity="30"/>
</joint>

<!-- front left wheel Link -->
Expand All @@ -146,8 +148,8 @@
<material name="Black" />
</visual>
<inertial>
<mass value="2" />
<inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
<mass value="11.3" />
<inertia ixx="0.26" ixy="0.0" ixz="0.0" iyy="0.26" iyz="0.0" izz="0.51" />
</inertial>
</link>

Expand All @@ -173,8 +175,8 @@
<material name="Black" />
</visual>
<inertial>
<mass value="2" />
<inertia ixx="0.145833" ixy="0.0" ixz="0.0" iyy="0.145833" iyz="0.0" izz="0.125" />
<mass value="11.3" />
<inertia ixx="0.26" ixy="0.0" ixz="0.0" iyy="0.26" iyz="0.0" izz="0.51" />
</inertial>
</link>

Expand Down
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