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lukicdarkooMarijaGolubovic
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MarijaGolubovic
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Fix resource_manager for simulation (#304)
* Fix resource_manager for simulation * fix start points * update readme * update readme --------- Co-authored-by: Marija Golubovic <marijagolubovic16@gmail.com>
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6 files changed

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‎README.md

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@ git clone git@github.com:memristor/mep3.git src/mep3
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# Install dependencies
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sudo apt install python3-vcstool
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vcs import src < src/mep3/mep3.repos
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# vcs import src < src/mep3/mep3.repos
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rosdep update
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rosdep install --from-paths src --ignore-src -r
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@@ -29,6 +29,7 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
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source install/local_setup.bash
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```
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⚠️ **Recommended:**
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Please check alternative installation methods [here](./docker).
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## Bringup
@@ -64,6 +65,9 @@ Important parameters are:
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### Demo
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#### Teleoperation
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>[!NOTE]
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Run simulation without behavior tree
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```sh
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=big/cmd_vel
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```

‎docker/Dockerfile.base

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Original file line numberDiff line numberDiff line change
@@ -83,11 +83,16 @@ RUN curl -L -o /opt/Groot2.AppImge \
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RUN python3 -m pip install scipy transforms3d
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#HOTFIX: https://github.com/ros-controls/ros2_controllers/issues/482
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# HOTFIX: https://github.com/ros-controls/ros2_controllers/issues/482
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RUN wget -O /tmp/diff_drive_controller.deb http://snapshots.ros.org/humble/2022-11-23/ubuntu/pool/main/r/ros-humble-diff-drive-controller/ros-humble-diff-drive-controller_2.12.0-1jammy.20221108.202153_amd64.deb && \
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apt install -y --allow-downgrades /tmp/diff_drive_controller.deb && \
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rm -f /tmp/diff_drive_controller.deb
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# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
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RUN wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
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apt install -y --allow-downgrades /tmp/hotfix.deb && \
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rm -f /tmp/hotfix.deb
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# User config
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COPY ./config/bashrc /tmp/bashrc
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COPY ./config/fish/. /memristor/.config/fish/

‎mep3_bringup/launch/simulation_launch.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@
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def generate_launch_description():
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use_behavior_tree = LaunchConfiguration('bt', default=True)
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big_strategy = LaunchConfiguration('big_strategy', default='test_mechanism')
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big_strategy = LaunchConfiguration('big_strategy', default='blue_new_a')
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small_strategy = LaunchConfiguration('small_strategy', default='wait_everytime')
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color = LaunchConfiguration('color', default='blue')
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namespace = LaunchConfiguration('namespace', default='big')

‎mep3_simulation/resource/big_description.urdf

Lines changed: 94 additions & 87 deletions
Original file line numberDiff line numberDiff line change
@@ -43,109 +43,116 @@
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<command_interface name="output" />
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</gpio>
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<joint name="m1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m7">
88-
<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m8">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m9">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
106-
<state_interface name="effort"/>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m10">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m10">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="m10">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="m11">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="m12">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="m13">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="m14">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m11">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m12">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m13">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m14">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
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<joint name="m15">
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="velocity" />
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<state_interface name="effort" />
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</joint>
150157
</ros2_control>
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</robot>
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</robot>

‎mep3_simulation/src/mep3_webots_hardware_interface.cpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -94,7 +94,7 @@ namespace mep3_simulation
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9595
for (FakeJoint &fake_joint : fake_joints_) {
9696
fake_joint.write_counter++;
97-
fake_joint.position += sign(fake_joint.command_position - fake_joint.position) * 0.005;
97+
fake_joint.position = fake_joint.command_position;
9898
fake_joint.velocity = fake_joint.command_velocity;
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fake_joint.effort = fake_joint.write_counter % 80;
100100
}

‎mep3_simulation/webots_data/controllers/judge/judge.py

Lines changed: 5 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
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INITIAL_POSE_MATRIX = [
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# ('big', 'blue', [0.03, -1.15, pi/2]), # centralno polje
10-
('big', 'blue', [0.815, -1.33, -pi/2]), # polje kod panela
10+
('big', 'blue', [0.815, -1.33, pi/2]), # polje kod panela
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('big', 'yellow', [0.80, 1.33, -pi/2]), # polje kod panela
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1313
('big', 'blue_a', [0.045, 1.31, -pi/2]), # centralno polje
@@ -16,11 +16,10 @@
1616
('big', 'blue_b', [0.81, -1.34, -pi/2]), # unazad kod panela
1717
('big', 'yellow_b', [0.045, -1.31, pi/2]), # unazad kod panela
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19-
# ('small', 'blue', [-0.72, -1.16, pi/2]),
20-
21-
# ('small', 'green', [-0.72, 1.16, pi/2]),
22-
# ('big', 'green', [-0.72, -1.16, pi/2])
19+
('small', 'blue', [-0.72, -1.16, pi/2]),
2320

21+
('small', 'yellow', [-0.72, 1.16, pi/2]),
22+
('big', 'yellow', [-0.72, -1.16, pi/2])
2423
]
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2625

@@ -65,7 +64,7 @@ def main():
6564
robot_small.set_position(x=pose_small[0], y=pose_small[1], theta=pose_small[2])
6665

6766
robot_opponent_big.set_position(x=pose_big[0], y=-pose_big[1], theta=pose_big[2])
68-
robot_opponent_small.set_position(x=-pose_small[0], y=pose_small[1], theta=pose_small[2])
67+
robot_opponent_small.set_position(x= pose_small[0], y=-pose_small[1], theta=pose_small[2])
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7069
supervisor.step(timestep)
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