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scout joint controller setup

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Ruixiang Du
2020-03-25 00:03:18 +08:00
parent 5279161dbf
commit 9c26ce9c34
8 changed files with 57 additions and 102 deletions
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1
README.md
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@@ -70,6 +70,7 @@ Two scripts inside the "scout_bringup/scripts" folder are provided for easy setu
``` ```
$ sudo apt install ros-melodic-teleop-twist-keyboard $ sudo apt install ros-melodic-teleop-twist-keyboard
$ sudo apt-get install ros-melodic-joint-state-publisher-gui $ sudo apt-get install ros-melodic-joint-state-publisher-gui
$ sudo apt install ros-melodic-ros-controllers
``` ```
Change ros-melodic-* in the command to ros-kinetic-* if you're using ROS Kinetic. Change ros-melodic-* in the command to ros-kinetic-* if you're using ROS Kinetic.

27
scout_description/launch/display_model.launch
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@@ -1,29 +1,3 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch> <launch>
<arg name="model" /> <arg name="model" />
@@ -31,5 +5,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> --> <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node> <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
</launch> </launch>

26
scout_description/launch/scout_v2_stock.launch
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@@ -1,31 +1,5 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch> <launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" /> <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"></node>
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"></node> -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch> </launch>

53
scout_description/rviz/model_display.rviz
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@@ -8,7 +8,7 @@ Panels:
- /Status1 - /Status1
- /RobotModel1 - /RobotModel1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 1088 Tree Height: 732
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@@ -96,6 +96,10 @@ Visualization Manager:
Show Axes: false Show Axes: false
Show Trail: false Show Trail: false
Value: true Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel Name: RobotModel
Robot Description: robot_description Robot Description: robot_description
TF Prefix: "" TF Prefix: ""
@@ -121,32 +125,35 @@ Visualization Manager:
Value: true Value: true
rear_right_wheel_link: rear_right_wheel_link:
Value: true Value: true
world:
Value: true
Marker Scale: 1 Marker Scale: 1
Name: TF Name: TF
Show Arrows: true Show Arrows: true
Show Axes: true Show Axes: true
Show Names: true Show Names: true
Tree: Tree:
base_link: world:
base_footprint: base_link:
{} base_footprint:
front_left_wheel_link: {}
{} front_left_wheel_link:
front_right_wheel_link: {}
{} front_right_wheel_link:
inertial_link: {}
{} inertial_link:
rear_left_wheel_link: {}
{} rear_left_wheel_link:
rear_right_wheel_link: {}
{} rear_right_wheel_link:
{}
Update Interval: 0 Update Interval: 0
Value: true Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
Default Light: true Default Light: true
Fixed Frame: base_link Fixed Frame: world
Frame Rate: 30 Frame Rate: 30
Name: root Name: root
Tools: Tools:
@@ -170,7 +177,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 2.0112123489379883 Distance: 2.9432930946350098
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@@ -185,18 +192,18 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.6247956156730652 Pitch: 0.5447957515716553
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Value: Orbit (rviz)
Yaw: 3.785417318344116 Yaw: 4.27542781829834
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1385 Height: 1029
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: true Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000004cbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004cb000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd0000003efc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000861000004cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@@ -205,6 +212,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: true collapsed: true
Width: 2493 Width: 1869
X: 67 X: 632
Y: 27 Y: 381

9
scout_description/urdf/scout_v2.gazebo
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@@ -10,7 +10,7 @@
</plugin> </plugin>
</gazebo> </gazebo>
<gazebo> <!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so"> <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate> <updateRate>100.0</updateRate>
<robotNamespace></robotNamespace> <robotNamespace></robotNamespace>
@@ -22,16 +22,15 @@
<wheelDiameter>0.32918</wheelDiameter> <wheelDiameter>0.32918</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame> <robotBaseFrame>base_link</robotBaseFrame>
<torque>1000</torque> <torque>1000</torque>
<!-- <topicName>cmd_vel</topicName> -->
<commandTopic>cmd_vel</commandTopic> <commandTopic>cmd_vel</commandTopic>
<broadcastTF>1</broadcastTF> <broadcastTF>true</broadcastTF>
<odometryTopic>odom</odometryTopic> <odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame> <odometryFrame>odom</odometryFrame>
<covariance_x>0.000100</covariance_x> <covariance_x>0.000100</covariance_x>
<covariance_y>0.000100</covariance_y> <covariance_y>0.000100</covariance_y>
<covariance_yaw>0.010000</covariance_yaw> <covariance_yaw>0.010000</covariance_yaw>
</plugin> </plugin>
</gazebo> </gazebo> -->
<!-- <gazebo> <!-- <gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so"> <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
@@ -41,5 +40,5 @@
<odometryRate>20.0</odometryRate> <odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame> <robotBaseFrame>base_footprint</robotBaseFrame>
</plugin> </plugin>
</gazebo> --> </gazebo> -->
</robot> </robot>

2
scout_description/urdf/scout_v2.xacro
View File

@@ -89,7 +89,7 @@
<!-- For testing, hang the robot up in the air --> <!-- For testing, hang the robot up in the air -->
<!-- <link name="world" /> <!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed"> <joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 1.0" rpy="0 0 0" /> <origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/> <parent link="world"/>
<child link="base_link"/> <child link="base_link"/>
</joint> --> </joint> -->

21
scout_description/urdf/scout_wheel_type1.xacro
View File

@@ -55,16 +55,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<axis xyz="0 -1 0" rpy="0 0 0" /> <axis xyz="0 -1 0" rpy="0 0 0" />
</joint> </joint>
<!-- <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission> -->
<!-- Gazebo definitions --> <!-- Gazebo definitions -->
<gazebo reference="${wheel_prefix}_wheel_link"> <gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/> <mu1 value="1.0"/>
@@ -73,6 +63,15 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<kd value="1.0" /> <kd value="1.0" />
<fdir1 value="1 0 0"/> <fdir1 value="1 0 0"/>
</gazebo> </gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro> </xacro:macro>
</robot> </robot>

20
scout_description/urdf/scout_wheel_type2.xacro
View File

@@ -55,16 +55,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<axis xyz="0 -1 0" rpy="0 0 0" /> <axis xyz="0 -1 0" rpy="0 0 0" />
</joint> </joint>
<!-- <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission> -->
<!-- Gazebo definitions --> <!-- Gazebo definitions -->
<gazebo reference="${wheel_prefix}_wheel_link"> <gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/> <mu1 value="1.0"/>
@@ -73,6 +63,16 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<kd value="1.0" /> <kd value="1.0" />
<fdir1 value="1 0 0"/> <fdir1 value="1 0 0"/>
</gazebo> </gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro> </xacro:macro>
</robot> </robot>