Serial Link Action Server

This ROS2 package provides a set of action servers for controlling serial link robot arms.

Note

This package is still under development. More features will be added.

Table of Contents

• Overview
  • Components
• Prerequisites
• Installation
• Usage
  • Launching the Nodes
  • Testing the Action Server
• Contributing
• License

Overview

Components

1. ModelUpdater

   • File: ModelUpdater.h
   • Description: A ROS2 node that subscribes to a joint state topic and updates the robot's kinematics and dynamics as it receives messages.

2. TrackJointTrajectory

   • File: TrackJointTrajectory.h
   • Description: A ROS2 action server that handles joint trajectory tracking for a serial link robot arm. It processes requests, tracks joint trajectories, and provides feedback on position and velocity errors.

3. Velocity Control Server

   • File: velocity_control_server.cpp
   • Description: The main executable for launching the control server, which includes initializing nodes and handling robot control and trajectory tracking.

4. Torque Control Server

   • File: torque_control_server.cpp
   • Description: Launches a control server, but computes the inverse dynamics necessary to execute control actions, such as joint trajectory tracking, and Cartesian control.

Warning

The torque control actions are still not fully complete.

Prerequisites

• ROS2 (e.g., Foxy, Galactic)
• RobotLibrary (see RobotLibrary GitHub)
• mujoco_interface (see mujoco_interface GitHub)

Installation

1. Clone the repository:

   git clone https://github.com/Woolfrey/server_serial_link.git
   

2. Install dependencies:

Ensure you have ROS2 installed and sourced. Also, install RobotLibrary and mujoco_interface as needed.

3. Build the package:

Navigate to your ROS2 workspace and build the package:

cd your-ros2-workspace
colcon build

4: Source the workspace:

source install/setup.bash

Usage

Launching the Nodes

There is a launch file designed to work with the mujoco_interface package.

You may modify/write your own to work with any robot.

Testing the Action Server

1. Launch the MuJoCo simulation. There are two options, velocity_mode.py, or torque_mode.py:

ros2 launch mujoco_interface velocity_mode.py

2. Launch the action server. It must match the control mode:

ros2 launch serial_link_action_server mujoco_velocity_control.py

or mujoco_torque_control.py if running torque mode.

3. Run the client:

ros2 run serial_link_action_server demo_client <numberOfJoints>

Replace with the number of joints of the robot.

Tip

The client is independent of the control mode! 👍

Contributing

Contributions are welcome! Please fork the repository and submit a pull request with your changes.

License

This project is licensed under the GNU General Public License v3.0. See the LICENSE file for details.