Skip to content

Latest commit

 

History

History
145 lines (95 loc) · 5.32 KB

README.md

File metadata and controls

145 lines (95 loc) · 5.32 KB
Raw

Launch Files

1. suj_bringup.launch.py

This launch file initializes the SUJ (Setup Joint) robot simulation with ROS 2 controllers, suitable for simulation and integration with other ROS 2 nodes.

Purpose

  • Launches the robot description and state publisher.
  • Starts the ROS 2 control node with the specified controllers.
  • Spawns the joint state broadcaster and position controllers.
  • Runs a custom joint controller node for the SUJ.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state (joint states and transforms) based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.
      • publish_robot_description: True
      • use_sim_time: True

  2. Controller Manager (ros2_control_node)

    • Manages the controllers for the robot using the ROS 2 control framework.
    • Parameters:

  3. Joint State Broadcaster (joint_state_broadcaster)

    • Publishes the state of all joints in the robot.
    • Loaded via the spawner executable.
    • Parameters:
      • use_sim_time: True

  4. Forward Position Controller (forward_position_controller)

    • Controls the positions of the robot's joints.
    • Loaded via the spawner executable.

  5. Custom Joint Controller (suj_joint_controller)

    • A custom node specific to controlling the SUJ joints.
    • Parameters:
      • use_sim_time: True

  6. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Launches after the joint state broadcaster has started.
    • Uses a pre-configured RViz configuration file suj_description.rviz.

Configuration Files

  • Robot Description (URDF file)

    • Located at urdf/[urdf_file_name].
    • Defined by the urdf launch argument.

  • Controller Configuration (suj.controllers.yaml)

Usage

To launch the SUJ robot with controllers:

ros2 launch suj_description suj_bringup.launch.py urdf:=<urdf_file_name>

Replace <urdf_file_name> with the desired URDF file (e.g., suj.classic.urdf.xacro or suj.si.urdf.xacro).

File Contents

2. view_robot.launch.py

This launch file allows you to visualize the SUJ robot and manually manipulate its joints using a GUI.

Purpose

  • Launches the robot description and state publisher.
  • Starts the Joint State Publisher GUI for manual joint control.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.

  2. Joint State Publisher GUI (joint_state_publisher_gui)

    • Provides a graphical interface to manipulate the robot's joint states.
    • Allows you to adjust joint angles and see the effect in real-time.

  3. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Uses the pre-configured RViz configuration file suj_description.rviz.

Configuration Files

  • Robot Description (URDF file)

    • Located at urdf/[urdf_file_name].
    • Defined by the urdf launch argument.

  • RViz Configuration (suj_description.rviz)

Usage

To visualize the SUJ robot and manipulate joints via GUI:

ros2 launch suj_description view_robot.launch.py urdf:=<urdf_file_name>

Replace <urdf_file_name> with the desired URDF file (e.g., suj.classic.urdf.xacro or suj.si.urdf.xacro).

File Contents

Additional Notes

  • Both launch files use Xacro to process the URDF files, allowing for more flexible and modular robot descriptions.
  • The suj_bringup.launch.py file sets up a complete simulation environment with controllers, while view_robot.launch.py is simpler and focused on visualization and manual joint manipulation.
  • The package supports two different SUJ models: Classic and Si. Make sure to use the appropriate URDF file when launching.
  • The meshes directory contains STL files for both Classic and Si models, which are referenced in the URDF files for visualization.
  • The urdf directory contains separate URDF files for Classic and Si models, as well as modular Xacro files in the xacros subdirectory.
  • The config directory contains the controller configuration file used by the suj_bringup.launch.py file.
  • The src directory contains the source code for the custom joint controller used in the suj_bringup.launch.py file.