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Allow custom configuration #243

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merged 6 commits into from
May 15, 2024
Merged

Allow custom configuration #243

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4b82302
Hardware configuration is now being loaded from YAML file, updated RE…
JesusSilvaUtrera May 9, 2024
20302d5
Added hardware_props in andino_control.xacro
JesusSilvaUtrera May 14, 2024
3c03dae
Merge branch 'humble' into jesus/#135_136_custom_configuration_in_des…
JesusSilvaUtrera May 14, 2024
3593407
Merge branch 'humble' into jesus/#135_136_custom_configuration_in_des…
JesusSilvaUtrera May 15, 2024
6733aea
Merge branch 'humble' into jesus/#135_136_custom_configuration_in_des…
jballoffet May 15, 2024
fd451a2
Addressed Javi comments in the PR
JesusSilvaUtrera May 15, 2024
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10 changes: 8 additions & 2 deletions andino_description/README.md
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Expand Up @@ -5,6 +5,14 @@ This package holds the urdf description of the robot.

<img src="docs/robot_rviz.png">

In the `urdf` folder you have the URDF files that contain the description of the robot, divided in different modules and merged into `andino.urdf.xacro` file.

## Configuration

In case you want to change the physical properties of some of the components of the robot, you can do it modifying the default YAML files inside the `config/andino` folder.

You can even add your own configuration files in another directory in the `config` folder, and passing this directory to the main file using `yaml_config_dir` xacro argument inside the launch files.
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## Launch Files

For launching robot state publisher for filling up static tf information and serving the description of the robot. Typically used during robot bringup.
Expand All @@ -16,5 +24,3 @@ For launching the robot state publisher and providing some visualization with rv
```
ros2 launch andino_description view_andino.launch.py
```


6 changes: 6 additions & 0 deletions andino_description/config/andino/hardware.yaml
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@@ -0,0 +1,6 @@
left_wheel_name: left_wheel_joint
right_wheel_name: right_wheel_joint
serial_device: /dev/ttyUSB_ARDUINO
baud_rate: 57600
timeout: 1000
enc_ticks_per_rev: 585
11 changes: 6 additions & 5 deletions andino_description/launch/andino_description.launch.py
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Expand Up @@ -31,7 +31,7 @@
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch import LaunchDescription, LaunchContext
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
Expand All @@ -41,15 +41,16 @@

def generate_launch_description():

# Obtains andino_description's share directory path.
pkg_andino_description = get_package_share_directory('andino_description')
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# Arguments
rsp_argument = DeclareLaunchArgument('rsp', default_value='true',
description='Run robot state publisher node.')

# Obtains andino_description's share directory path.
pkg_andino_description = get_package_share_directory('andino_description')

# Obtain urdf from xacro files.
doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'))
arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)
robot_desc = doc.toprettyxml(indent=' ')
params = {'robot_description': robot_desc,
'publish_frequency': 30.0}
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9 changes: 5 additions & 4 deletions andino_description/launch/view_andino.launch.py
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Expand Up @@ -41,6 +41,9 @@

def generate_launch_description():

# Obtains andino_description's share directory path.
pkg_andino_description = get_package_share_directory('andino_description')
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# Arguments
rviz_argument = DeclareLaunchArgument('rviz', default_value='true',
description='Open RViz.')
Expand All @@ -49,11 +52,9 @@ def generate_launch_description():
jsp_argument = DeclareLaunchArgument('jsp', default_value='true',
description='Run joint state publisher node.')

# Obtains andino_description's share directory path.
pkg_andino_description = get_package_share_directory('andino_description')

# Obtain urdf from xacro files.
doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'))
arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)
robot_desc = doc.toprettyxml(indent=' ')
params = {'robot_description': robot_desc,
'publish_frequency': 30.0}
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5 changes: 5 additions & 0 deletions andino_description/urdf/andino.urdf.xacro
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Expand Up @@ -30,6 +30,10 @@
<xacro:property name="sensor_yaml" value="$(arg yaml_config_dir)/sensors.yaml" />
<xacro:property name="sensor_prop" value="${xacro.load_yaml(sensor_yaml)}"/>

<xacro:property name="hardware_yaml" value="$(arg yaml_config_dir)/hardware.yaml" />
<xacro:property name="hardware_props" value="${xacro.load_yaml(hardware_yaml)}"/>


<!-- Footprint link -->
<xacro:footprint wheel_props="${wheel_props}" />

Expand Down Expand Up @@ -89,6 +93,7 @@
<!-- ros2_control -->
<xacro:if value="$(arg use_real_ros_control)">
<xacro:include filename="$(find ${package_name})/urdf/include/andino_control.urdf.xacro" />
<xacro:control hardware_props="${hardware_props}" />
</xacro:if>


Expand Down
67 changes: 38 additions & 29 deletions andino_description/urdf/include/andino_control.urdf.xacro
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@@ -1,34 +1,43 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- TODO(francocipollone): This xacro should be part of andino_control package instead.-->
<ros2_control name="RealRobot" type="system">
<hardware>
<plugin>andino_base/DiffDriveAndino</plugin>
<!-- TODO(francocipollone): Parameters like loop_rate, device, baud_rate, etc should be loaded from a file or passed via the launch file as xacro args -->
<param name="left_wheel_name">left_wheel_joint</param>
<param name="right_wheel_name">right_wheel_joint</param>
<param name="serial_device">/dev/ttyUSB_ARDUINO</param>
<param name="baud_rate">57600</param>
<param name="timeout">1000</param>
<param name="enc_ticks_per_rev">585</param>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-5</param>
<param name="max">5</param>
</command_interface>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-5</param>
<param name="max">5</param>
</command_interface>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
</ros2_control>
<!-- ===================== Control xacro =========================================

params:
- hardware_props [dictionary]: hardware properties loaded from the YAML file.
-->

<xacro:macro name="control" params="hardware_props" >
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<!-- TODO(francocipollone): This xacro should be part of andino_control package instead.-->
<ros2_control name="RealRobot" type="system">
<hardware>
<plugin>andino_base/DiffDriveAndino</plugin>
<param name="left_wheel_name">${hardware_props['left_wheel_name']}</param>
<param name="right_wheel_name">${hardware_props['right_wheel_name']}</param>
<param name="serial_device">${hardware_props['serial_device']}</param>
<param name="baud_rate">${hardware_props['baud_rate']}</param>
<param name="timeout">1${hardware_props['timeout']}</param>
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<param name="enc_ticks_per_rev">${hardware_props['enc_ticks_per_rev']}</param>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-5</param>
<param name="max">5</param>
</command_interface>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-5</param>
<param name="max">5</param>
</command_interface>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
</ros2_control>

</xacro:macro>

</robot>
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