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実機動作に必要なパラメータ追加 #7

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merged 9 commits into from
Nov 6, 2023
Merged

実機動作に必要なパラメータ追加 #7

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d14d047
ros2_control.xacro追加
Kuwamai Oct 31, 2023
9b4e0fc
実機の起動に必要なパラメータ追加
Kuwamai Oct 31, 2023
1d73270
torso以外の関節のコメントアウトを解除
Kuwamai Nov 1, 2023
803b022
パラメータ設定のテスト追加
Kuwamai Nov 1, 2023
c93e8f9
current_to_effortの修正
Kuwamai Nov 1, 2023
ddbb7e7
current_to_effort修正
Kuwamai Nov 2, 2023
8015778
current_to_effort修正
Kuwamai Nov 2, 2023
326c5ec
current_to_effort修正
Kuwamai Nov 2, 2023
cfdb2af
current_to_effort修正
Kuwamai Nov 2, 2023
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8 changes: 8 additions & 0 deletions sciurus17_description/robot_description_loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,10 @@ def __init__(self):
get_package_share_directory('sciurus17_description'),
'urdf',
'sciurus17.urdf.xacro')
self.port_name = '/dev/sciurus17spine'
self.baudrate = '3000000'
self.timeout_seconds = '1.0'
self.manipulator_config_file_path = ''
self.use_gazebo = 'false'
self.gz_control_config_package = ''
self.gz_control_config_file_path = ''
Expand All @@ -21,6 +25,10 @@ def load(self):
return Command([
'xacro ',
self.robot_description_path,
' port_name:=', self.port_name,
' baudrate:=', self.baudrate,
' timeout_seconds:=', self.timeout_seconds,
' manipulator_config_file_path:=', self.manipulator_config_file_path,
' use_gazebo:=', self.use_gazebo,
' gz_control_config_package:=', self.gz_control_config_package,
' gz_control_config_file_path:=', self.gz_control_config_file_path
Expand Down
25 changes: 25 additions & 0 deletions test/test_robot_description_loader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,31 @@ def test_change_description_path():
assert e.value


def test_port_name():
# port_nameが変更され、xacroにポート名がセットされることを期待
rdl = RobotDescriptionLoader()
rdl.port_name = '/dev/ttyUSB1'
assert '"port_name">/dev/ttyUSB1' in exec_load(rdl)


def test_baudrate():
rdl = RobotDescriptionLoader()
rdl.baudrate = '4000000'
assert '"baudrate">4000000' in exec_load(rdl)


def test_timeout_seconds():
rdl = RobotDescriptionLoader()
rdl.timeout_seconds = '3.0'
assert '"timeout_seconds">3.0' in exec_load(rdl)


def test_manipulator_config_file_path():
rdl = RobotDescriptionLoader()
rdl.manipulator_config_file_path = 'test/config/file/path'
assert '"manipulator_config_file_path">test/config/file/path' in exec_load(rdl)


def test_use_gazebo():
# use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
rdl = RobotDescriptionLoader()
Expand Down
226 changes: 226 additions & 0 deletions urdf/sciurus17.ros2_control.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,226 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:macro name="sciurus17_ros2_control_settings">

<ros2_control name="sciurus17" type="system">
<hardware>
<plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
<param name="port_name">${PORT_NAME}</param>
<param name="baudrate">${BAUDRATE}</param>
<param name="timeout_seconds">${TIMEOUT_SECONDS}</param>
<param name="manipulator_config_file_path">${MANIPULATOR_CONFIG_FILE_PATH}</param>
</hardware>

<joint name="${NAME_JOINT_BODY}">
<command_interface name="position">
<param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
<param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_NECK_1}">
<command_interface name="position">
<param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_NECK_2}">
<command_interface name="position">
<param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_1}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_2}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_3}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_4}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.00</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_5}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_6}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_R_7}">
<command_interface name="position">
<param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_HAND_R_A}">
<command_interface name="position">
<param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_1}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_2}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">3.60</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_3}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_4}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.00</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_5}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_6}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_ARM_L_7}">
<command_interface name="position">
<param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
<param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

<joint name="${NAME_JOINT_HAND_L_A}">
<command_interface name="position">
<param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
<param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
<param name="current_to_effort">2.20</param>
</joint>

</ros2_control>
</xacro:macro>
</robot>
15 changes: 15 additions & 0 deletions urdf/sciurus17.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.ros2_control.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_body.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_head.xacro"/>
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_arm.xacro"/>
Expand All @@ -17,8 +18,16 @@
<xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>

<xacro:arg name="use_gazebo" default="false" />
<xacro:arg name="port_name" default="/dev/sciurus17spine" />
<xacro:arg name="baudrate" default="3000000" />
<xacro:arg name="timeout_seconds" default="1.0" />
<xacro:arg name="manipulator_config_file_path" default="" />
<xacro:arg name="gz_control_config_package" default="" />
<xacro:arg name="gz_control_config_file_path" default="" />
<xacro:property name="PORT_NAME" value="$(arg port_name)"/>
<xacro:property name="BAUDRATE" value="$(arg baudrate)"/>
<xacro:property name="TIMEOUT_SECONDS" value="$(arg timeout_seconds)"/>
<xacro:property name="MANIPULATOR_CONFIG_FILE_PATH" value="$(arg manipulator_config_file_path)"/>
<xacro:property name="GZ_CONTROL_CONFIG_PACKAGE" value="$(arg gz_control_config_package)"/>
<xacro:property name="GZ_CONTROL_CONFIG_FILE_PATH" value="$(arg gz_control_config_file_path)"/>

Expand Down Expand Up @@ -172,6 +181,12 @@

<xacro:sciurus17_left_hand/>

<xacro:unless value="$(arg use_gazebo)">

<xacro:sciurus17_ros2_control_settings/>

</xacro:unless>

<xacro:if value="$(arg use_gazebo)">

<xacro:gazebo_robot_settings/>
Expand Down