Add first example robot (rrbot as system)

.github/workflows/ci.yml

@@ -9,14 +9,49 @@ on:
     - cron: '28 6 * * *'
 
 jobs:
-  industrial_ci:
+  ci_binary:
+    name: Foxy binary job
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: foxy, ROS_REPO: testing}
           - {ROS_DISTRO: foxy, ROS_REPO: main}
-    runs-on: ubuntu-latest
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: ros2_control_demos/ros2_control_demos.repos
     steps:
+      - run: sudo apt-get update -qq && sudo apt-get upgrade
       - uses: actions/checkout@v1
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+
+  ci_source:
+    name: Foxy source job
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: foxy
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: foxy
+          # build all packages listed in the meta package
+          package-name:
+            ros2_control_demo_hardware 
+            ros2_control_demo_robot
+            ros2_control_demos
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos/ros2_control_demos.repos
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log

.github/workflows/linters.yaml

@@ -1,32 +1,35 @@
 name: Linters
 on:
   pull_request:
-  push:
-    branches:
-      - master
 
 jobs:
   ament_copyright:
     name: ament_copyright
     runs-on: ubuntu-18.04
     steps:
     - uses: actions/checkout@v1
-    - uses: ros-tooling/[email protected].13
-    - uses: ros-tooling/[email protected].5
+    - uses: ros-tooling/[email protected].26
+    - uses: ros-tooling/[email protected].6
       with:
         linter: copyright
-        package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
+        package-name:
+          ros2_control_demo_hardware 
+          ros2_control_demo_robot
+          ros2_control_demos
 
   ament_xmllint:
     name: ament_xmllint
     runs-on: ubuntu-18.04
     steps:
     - uses: actions/checkout@v1
-    - uses: ros-tooling/[email protected].13
-    - uses: ros-tooling/[email protected].5
+    - uses: ros-tooling/[email protected].26
+    - uses: ros-tooling/[email protected].6
       with:
         linter: xmllint
-        package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
+        package-name:
+          ros2_control_demo_hardware 
+          ros2_control_demo_robot
+          ros2_control_demos  
 
   ament_lint_cpp:
     name: ament_${{ matrix.linter }}
@@ -37,8 +40,11 @@ jobs:
           linter: [cppcheck, cpplint, uncrustify]
     steps:
     - uses: actions/checkout@v1
-    - uses: ros-tooling/[email protected].13
-    - uses: ros-tooling/[email protected].5
+    - uses: ros-tooling/[email protected].26
+    - uses: ros-tooling/[email protected].6
       with:
         linter: ${{ matrix.linter }}
-        package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
+        package-name:
+          ros2_control_demo_hardware 
+          ros2_control_demo_robot
+          ros2_control_demos

README.md

@@ -11,7 +11,127 @@ This repository provides templates for the development of `ros2_control`-enabled
 
 ## Goals
 
-The repository has two goals:
+The repository has three goals:
+1. Implements the example configuration described in the `ros-controls/roadmap` repository file [components_architecture_and_urdf_examples](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md).
+2. It provides templates for faster start of implementing own hardware and controllers;
+3. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
 
-1. It provides templates for faster start of implementing own hardware and controllers;
-2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager,  communication between robot hardware and controllers).
+
+## Description
+
+The repository is inspired by [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
+The simulation has three parts/packages:
+1. The first package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap.
+This implemented examples simulate *RRbot* internally to provide sufficient test and demonstration data, but to reduce amount of package dependencies.
+This package does not have any dependencies except on the `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems.
+2. The second package, `ros2_control_demo_hardware_gazebo`, uses a gazebo simulator to simulate the *RRBot* and its physics.
+This package is useful to test the connection of `ros2_control` to the gazebo simulator and to detect any missing plugins.
+3. The third package `ros2_control_demo_robot` holds examples for *RRbot* URDF-description, launch files and controllers.
+The intention of those files is to simplify start with `ros2_control` and to enable faster integration of new robots and controllers.
+
+This repository demonstrates the following `ros2_control` concepts:
+
+* Creating of `*HardwareInterface` for a System, Sensor, and Actuator.
+* Creating a robot description in the form of URDF files
+* Loading configuration and starting robot using launch files 
+* Control of two joints of *RRBot*
+* Using simulated robots and starting `ros_control` with gazebo simulator
+* Implementing of controller switching strategy for a robot
+* Using joint limits and transmission concepts in `ros2_control`
+* TBD...
+
+# Test of the Scenario Before the First Release
+* Checkout [ros-controls/ros2_control](https://github.com/ros-controls/ros2_control) to get the core.
+* Checkout [ros-controls/ros2_controllers](https://github.com/ros-controls/ros2_controllers) to get all the controllers.
+* Checkout [ros-controls/ros2_control_demos](https://github.com/ros-controls/ros2_control_demos) to get example hardware and robot launch files.
+
+* Install dependencies (maybe you need `sudo`):
+```
+apt install ros-foxy-realtime-tools ros-foxy-xacro ros-foxy-angles
+```
+
+* Build everything, e.g. with:
+  ``` 
+  colcon build --symlink-install
+  ```
+
+* Do not forget to source `setup.bash` from the `install` folder!
+
+
+# Getting Started with ROS2 Control
+
+Each of the described example cases from the roadmap has its own launch and URDF file.
+
+## Example 1: "Industrial Robots with only one interface"
+
+1. Start the roslaunch file:
+  ```
+  ros2 launch ros2_control_demo_robot rrbot_system_position_only.launch.py
+  ```
+
+2. Open another terminal and check if `RRBotSystemPositionOnlyHardware` is loaded properly:
+  ```
+  ros2 control list_hardware_interfaces
+  ```
+  You should get something like:
+  ```
+  command interfaces
+        joint1/position [unclaimed]
+        joint2/position [unclaimed]
+  state interfaces
+         joint1/position
+         joint2/position
+  ```
+
+3. Open another terminal and load controllers:
+  ```
+  ros2 control load joint_state_controller
+  ros2 control load forward_command_controller_position
+  ```
+
+  Check if controller is loaded properly:
+  ```
+  ros2 control list
+  ```
+  You should get the response:
+  ```
+  joint_state_controller[joint_state_controller/JointStateController] inactive  
+  forward_command_controller_position[forward_command_controller/ForwardCommandController] inactive
+  ```
+
+4. Starting controller:
+  ```
+  ros2 control switch --start-controllers joint_state_controller forward_command_controller_position 
+  ```
+
+  Check if controllers are activated:
+  ```
+  ros2 control list
+  ```
+  You should get `active` in the response:
+  ```
+  joint_state_controller[joint_state_controller/JointStateController] active    
+  forward_command_controller_position[forward_command_controller/ForwardCommandController] active
+  ```
+
+5. Open another terminal and send a message to the controller:
+  ```
+  ros2 topic pub /forward_command_controller_position/commands std_msgs/msg/Float64MultiArray "data: 
+  - 0.5                                                               
+  - 0.5"
+  ```
+
+  You should see how the example output changes. Look for the following lines
+  ```
+  [RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 0!
+  [RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 1!
+  ```
+
+  If you echo the `/joint_states` or `/dynamic_joint_states` topics you should also get similar values.
+  ```
+  ros2 topic echo /joint_states
+  ros2 topic echo /dynamic_joint_states
+  ```
+
+The other launch-files have corresponding names to their coresponding example.
+The URDF files can be found in the `description` folder.

ros2_control_demo_hardware/CMakeLists.txt

@@ -12,7 +12,35 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
 
+## COMPILE
+add_library(
+  ${PROJECT_NAME}
+  SHARED
+  src/rrbot_system_position_only.cpp
+)
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE
+  include
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}
+  hardware_interface
+  pluginlib
+  rclcpp
+)
+
+pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml)
+
+# INSTALL
+install(
+  TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+)
 install(
   DIRECTORY include/
   DESTINATION include
@@ -22,10 +50,16 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 endif()
 
+## EXPORTS
 ament_export_include_directories(
   include
 )
 ament_export_libraries(
   ${PROJECT_NAME}
 )
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+)
 ament_package()

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp

@@ -0,0 +1,66 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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.
+
+
+#ifndef ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
+#define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rclcpp/macros.hpp"
+
+#include "hardware_interface/components/base_interface.hpp"
+#include "hardware_interface/components/system_interface.hpp"
+#include "hardware_interface/handle.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/hardware_interface_status_values.hpp"
+#include "ros2_control_demo_hardware/visibility_control.h"
+
+using hardware_interface::return_type;
+
+namespace ros2_control_demo_hardware
+{
+class RRBotSystemPositionOnlyHardware : public
+  hardware_interface::components::BaseInterface<hardware_interface::components::SystemInterface>
+{
+public:
+  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
+
+  return_type configure(const hardware_interface::HardwareInfo & info) override;
+
+  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+
+  return_type start() override;
+
+  return_type stop() override;
+
+  return_type read() override;
+
+  return_type write() override;
+
+private:
+  // Dummy parameters
+  double hw_start_sec_, hw_stop_sec_, hw_slowdown_;
+  // Store the command for the simulated robot
+  std::vector<double> hw_commands_, hw_states_;
+};
+
+}  // namespace ros2_control_demo_hardware
+
+#endif  // ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_