[Example 10] RRbot with GPIO interfaces (backport #256)

.github/workflows/ci-coverage-build.yml

@@ -34,6 +34,7 @@ jobs:
             ros2_control_demo_example_7
             ros2_control_demo_example_8
             ros2_control_demo_example_9
+            ros2_control_demo_example_10
             ros2_control_demo_example_12
 
           vcs-repo-file-url: |

.github/workflows/ci-ros-lint.yml

@@ -27,6 +27,7 @@ jobs:
           ros2_control_demo_example_7
           ros2_control_demo_example_8
           ros2_control_demo_example_9
+          ros2_control_demo_example_10
           ros2_control_demo_example_12
 
   ament_lint_100:
@@ -54,4 +55,5 @@ jobs:
           ros2_control_demo_example_7
           ros2_control_demo_example_8
           ros2_control_demo_example_9
+          ros2_control_demo_example_10
           ros2_control_demo_example_12

README.md

@@ -31,7 +31,6 @@ The following examples are part of this demo repository:
 
    *RRBot* with an integrated sensor.
 
-
 * Example 5: ["Industrial robots with externally connected sensor"](example_5)
 
    *RRBot* with an externally connected sensor.
@@ -52,7 +51,9 @@ The following examples are part of this demo repository:
 
    Demonstrates how to switch between simulation and hardware.
 
-* Example 10: "RRbot with GPIO interfaces (tba.)"
+* Example 10: ["Industrial robot with GPIO interfaces"](example_10)
+
+   *RRBot* with GPIO interfaces.
 
 * Example 11: "Car-like robot using steering controller library (tba.)"
 

doc/index.rst

@@ -67,6 +67,9 @@ Example 8: "Using transmissions"
 Example 9: "Gazebo Classic"
    Demonstrates how to switch between simulation and hardware.
 
+Example 10: "GPIO interfaces"
+   Industrial robot with GPIO interfaces
+
 Example 12: "Controller chaining"
    The example shows a simple chainable controller and its integration to form a controller chain to control the joints of *RRBot*.
 
@@ -259,4 +262,5 @@ Examples
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
    Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+   Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>

example_10/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.16)
+project(ros2_control_demo_example_10 LANGUAGES CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  hardware_interface
+  control_msgs
+  std_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  controller_interface
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+
+## COMPILE
+add_library(
+  ros2_control_demo_example_10
+  SHARED
+  hardware/rrbot.cpp
+  controllers/gpio_controller.cpp
+)
+target_compile_features(ros2_control_demo_example_10 PUBLIC cxx_std_17)
+target_include_directories(ros2_control_demo_example_10 PUBLIC
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controllers/include>
+$<INSTALL_INTERFACE:include/ros2_control_demo_example_10>
+)
+ament_target_dependencies(
+  ros2_control_demo_example_10 PUBLIC
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_10_BUILDING_DLL")
+
+# Export hardware plugins
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_10.xml)
+# Export controllers
+pluginlib_export_plugin_description_file(controller_interface ros2_control_demo_example_10.xml)
+
+# INSTALL
+install(
+  DIRECTORY hardware/include/
+  DESTINATION include/ros2_control_demo_example_10
+)
+install(
+  DIRECTORY controllers/include/
+  DESTINATION include/ros2_control_demo_example_10
+)
+install(
+  DIRECTORY description/launch description/ros2_control description/urdf
+  DESTINATION share/ros2_control_demo_example_10
+)
+install(
+  DIRECTORY bringup/launch bringup/config
+  DESTINATION share/ros2_control_demo_example_10
+)
+install(TARGETS ros2_control_demo_example_10
+  EXPORT export_ros2_control_demo_example_10
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+endif()
+
+## EXPORTS
+ament_export_targets(export_ros2_control_demo_example_10 HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

example_10/README.md

@@ -0,0 +1,5 @@
+# ros2_control_demo_example_10
+
+   *RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with GPIO interfaces.
+
+Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_10/doc/userdoc.html).

example_10/bringup/config/rrbot_controllers.yaml

@@ -0,0 +1,31 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 1  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    forward_position_controller:
+      type: forward_command_controller/ForwardCommandController
+
+    gpio_controller:
+      type: ros2_control_demo_example_10/GPIOController
+
+
+forward_position_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+    interface_name: position
+
+gpio_controller:
+  ros__parameters:
+    inputs:
+     - flange_analog_IOs/analog_output1
+     - flange_analog_IOs/analog_input1
+     - flange_analog_IOs/analog_input2
+     - flange_vacuum/vacuum
+    outputs:
+     - flange_analog_IOs/analog_output1
+     - flange_vacuum/vacuum

example_10/bringup/config/rrbot_forward_position_publisher.yaml

@@ -0,0 +1,11 @@
+publisher_forward_position_controller:
+  ros__parameters:
+
+    wait_sec_between_publish: 5
+    publish_topic: "/forward_position_controller/commands"
+
+    goal_names: ["pos1", "pos2", "pos3", "pos4"]
+    pos1: [0.785, 0.785]
+    pos2: [0, 0]
+    pos3: [-0.785, -0.785]
+    pos4: [0, 0]

example_10/bringup/launch/rrbot.launch.py

@@ -0,0 +1,97 @@
+# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Get URDF via xacro
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("ros2_control_demo_example_10"),
+                    "urdf",
+                    "rrbot.urdf.xacro",
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_10"),
+            "config",
+            "rrbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["forward_position_controller", "-c", "/controller_manager"],
+    )
+
+    gpio_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["gpio_controller", "-c", "/controller_manager"],
+    )
+
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+
+    nodes = [
+        control_node,
+        robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        gpio_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
+    ]
+
+    return LaunchDescription(nodes)

example_10/bringup/launch/test_forward_position_controller.launch.py

@@ -0,0 +1,41 @@
+# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    position_goals = PathJoinSubstitution(
+        [
+            FindPackageShare("ros2_control_demo_example_1"),
+            "config",
+            "rrbot_forward_position_publisher.yaml",
+        ]
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="ros2_controllers_test_nodes",
+                executable="publisher_forward_position_controller",
+                name="publisher_forward_position_controller",
+                parameters=[position_goals],
+                output="both",
+            )
+        ]
+    )