[Example 13] Multi-robot system with lifecycle management #417

christophfroehlich · 2023-12-25T15:19:08Z

This is a rewrite of #187 including StoglRobotics-forks#7.

Open questions for me:

~~The problems discussed in the latter PR are summarized in Ressource manager hangs up on lifecycle changes ros2_control#1103. I'd say we can add this example even if the problem is not fixed yet.~~
It uses the rrbot URDF from example_4 and example_5. Should I generate new ones inside example 15? Currently, there is also the FTS broadcaster etc in Rviz, but maybe this wouldn't be necessary and we could just use the same Rrbot instead. -> we decided in the WG meeting to reuse descriptions for the multi-robot examples.
Why should one use a global joint state broadcaster? In the original version it was not configured properly, and all "individual" JSB published on the /joint_states topic and it seemed to work (better than now, without the necessity of reloading the JSB). The only difference is that with the global one, all joints are within one message. Why would someone need this for multiple robots?

christophfroehlich · 2023-12-25T18:01:57Z

@Mergifyio backport iron humble

mergify · 2023-12-25T18:02:09Z

backport iron humble

✅ Backports have been created

#606 [Example 13] Multi-robot system with lifecycle management (backport #417) has been created for branch iron
#607 [Example 13] Multi-robot system with lifecycle management (backport #417) has been created for branch humble

example_13/README.md

doc/index.rst

README.md

example_13/bringup/config/three_robots_controllers.yaml

example_13/doc/userdoc.rst

mergify · 2024-02-17T17:03:40Z

This pull request is in conflict. Could you fix it @christophfroehlich?

mergify · 2024-02-18T13:24:18Z

This pull request is in conflict. Could you fix it @christophfroehlich?

Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com>

example_13/bringup/config/three_robots_position_command_publishers.yaml

example_13/doc/userdoc.rst

saikishor · 2024-10-30T21:52:41Z

@christophfroehlich minor things but overall I could reproduce things properly (with the above suggested changes)

…s#417 (comment)

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

saikishor

LGTM

* Add description for r3bot Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Remove camera links etc * Initial commit for example_13 from old PRs Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Change MD to rst syntax * Update test node syntax * Fix test nodes launch file * Enhance docs * Fix wrench config * Use global joint_state_broadcaster * Add tests * FIx links to files * Add some text * Fix dependencies * Add example13 to workflows+packages * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Update example_13/doc/userdoc.rst Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix rst syntax * Use new ros2controlcli verb * Add initial version for launch_test * Add a more complete test * Fix whitespaces * Fix decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix more decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> --------- Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> (cherry picked from commit d6e730f)

* Add description for r3bot Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Remove camera links etc * Initial commit for example_13 from old PRs Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> * Change MD to rst syntax * Update test node syntax * Fix test nodes launch file * Enhance docs * Fix wrench config * Use global joint_state_broadcaster * Add tests * FIx links to files * Add some text * Fix dependencies * Add example13 to workflows+packages * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Update example_13/doc/userdoc.rst Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix rst syntax * Use new ros2controlcli verb * Add initial version for launch_test * Add a more complete test * Fix whitespaces * Fix decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> * Fix more decimal numbers Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> --------- Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com> Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com> Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> (cherry picked from commit d6e730f) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

…en they are previously available (#1331) * Add test to reproduce the behaviour of ros-controls/ros2_control_demos#417 (comment) * Add fix to solve the issue of the publishing non-existing joint_states

…en they are previously available (#1331) * Add test to reproduce the behaviour of ros-controls/ros2_control_demos#417 (comment) * Add fix to solve the issue of the publishing non-existing joint_states (cherry picked from commit 87f21b3)

…en they are previously available (#1331) (#1339) * Add test to reproduce the behaviour of ros-controls/ros2_control_demos#417 (comment) * Add fix to solve the issue of the publishing non-existing joint_states (cherry picked from commit 87f21b3) Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

…en they are previously available (#1331) (#1340) * Add test to reproduce the behaviour of ros-controls/ros2_control_demos#417 (comment) * Add fix to solve the issue of the publishing non-existing joint_states (cherry picked from commit 87f21b3) Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

This was referenced Dec 25, 2023

[Example 13] Multi-robot system with lifecycle management #187

Closed

Fix multi-robot demo (partially) StoglRobotics-forks/ros2_control_demos#7

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christophfroehlich marked this pull request as ready for review December 25, 2023 17:56

github-actions bot requested review from aprotyas, arne48, bijoua29, destogl, erickisos and peterdavidfagan December 25, 2023 17:56

christophfroehlich force-pushed the 133_pr_rebase_again branch from 825aeec to 2cf711c Compare December 25, 2023 17:57

christophfroehlich requested a review from saikishor December 25, 2023 17:57

christophfroehlich force-pushed the 133_pr_rebase_again branch from c2a4a77 to cbc3fbc Compare December 25, 2023 18:34

christophfroehlich mentioned this pull request Dec 25, 2023

[CLI] Add set_hardware_component_state verb ros-controls/ros2_control#1248

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christophfroehlich mentioned this pull request Jan 8, 2024

Fix multiple calls of cleanup when system is unconfigured ros-controls/ros2_control#1279

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christophfroehlich force-pushed the 133_pr_rebase_again branch from 4ad9687 to 77783f2 Compare January 12, 2024 08:36

christophfroehlich force-pushed the 133_pr_rebase_again branch from 77783f2 to 79f8249 Compare January 31, 2024 17:44

This was referenced Apr 1, 2024

[CLI] Add set_hardware_component_state verb (backport #1248) ros-controls/ros2_control#1470

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[CLI] Add set_hardware_component_state verb (backport #1248) ros-controls/ros2_control#1471

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christophfroehlich requested a review from saikishor April 7, 2024 20:49

christophfroehlich added backport-humble backport-iron labels Jul 26, 2024

christophfroehlich and others added 4 commits August 1, 2024 18:29

Add description for r3bot

2a7d273

Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com>

Remove camera links etc

50b0633

Initial commit for example_13 from old PRs

091d4c8

Co-authored-by: Denis Štogl <destogl@users.noreply.github.com> Co-authored-by: bailaC <bailaC@users.noreply.github.com>

Change MD to rst syntax

b540670

Merge branch 'master' into 133_pr_rebase_again

964fe4e

christophfroehlich mentioned this pull request Sep 25, 2024

Fix Hardware spawner and add tests for it ros-controls/ros2_control#1759

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christophfroehlich and others added 3 commits October 13, 2024 16:15

Merge branch 'master' into 133_pr_rebase_again

de06b12

Merge branch 'master' into 133_pr_rebase_again

5ea70f9

Merge branch 'master' into 133_pr_rebase_again

8db4f9a

saikishor requested changes Oct 30, 2024

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saikishor added a commit to pal-robotics-forks/ros2_controllers that referenced this pull request Oct 30, 2024

Add test to reproduce the behaviour of ros-controls/ros2_control_demo…

cf7fc1f

…s#417 (comment)

saikishor mentioned this pull request Oct 30, 2024

[JSB] Fix the behaviour of publishing unavailable state interfaces when they are previously available ros-controls/ros2_controllers#1331

Merged

christophfroehlich and others added 2 commits October 31, 2024 10:03

Fix decimal numbers

015bd31

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

Fix more decimal numbers

18f39a5

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

christophfroehlich requested a review from saikishor October 31, 2024 10:22

saikishor approved these changes Oct 31, 2024

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saikishor merged commit d6e730f into ros-controls:master Oct 31, 2024
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This was referenced Oct 31, 2024

[Example 13] Multi-robot system with lifecycle management (backport #417) #606

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[Example 13] Multi-robot system with lifecycle management (backport #417) #607

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christophfroehlich deleted the 133_pr_rebase_again branch November 1, 2024 18:54

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[Example 13] Multi-robot system with lifecycle management #417

[Example 13] Multi-robot system with lifecycle management #417

christophfroehlich commented Dec 25, 2023 •

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[Example 13] Multi-robot system with lifecycle management #417

[Example 13] Multi-robot system with lifecycle management #417

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✅ Backports have been created

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