Merge remote-tracking branch 'origin/main' into mx/remove_config_dupl…

…ication_by_using_compose_consistently
helix-robotics-ag · Feb 13, 2024 · 26d15c5 · 26d15c5
2 parents 22c3b6e + 92a5384
commit 26d15c5
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Showing 50 changed files with 788 additions and 1,256 deletions.
diff --git a/dynamixel_hardware b/dynamixel_hardware
diff --git a/helix_bringup/launch/helix_bringup.launch.py b/helix_bringup/launch/helix_bringup.launch.py
@@ -16,6 +16,7 @@ def generate_launch_description():
     robot_description_config = xacro.process_file(robot_description, mappings={'mesh_url' : f'http://{socket.gethostname()}.local'})
     # robot_description_config = xacro.process_file(robot_description, mappings={'mesh_url' : 'package://helix_description'})
 
+    # Publishes robot frames to tf using URDF and /joint_states
     robot_state_publisher = Node(
             package="robot_state_publisher",
             executable="robot_state_publisher",
@@ -25,53 +26,63 @@ def generate_launch_description():
             output="screen",
         )
 
+    # Publishes full set of joint states to /joint_states, from multiple sources
+    # TODO - add helix_arm_joint_state_broadcaster/joint_states to source list once implemented in ros-helix-proprietary.git/helix_nonlinear_model
     joint_state_publisher_node = Node(
         package='joint_state_publisher',
         executable='joint_state_publisher',
         name='joint_state_publisher',
         parameters=[{
-            'source_list': ['helix_joint_state_publisher/joint_states','dynamixel_joint_state_publisher/joint_states'],
+            'source_list': ['motor_head_joint_state_broadcaster/joint_states'], 
         }]
     )
 
-
-
-
     controller_config = os.path.join(
         get_package_share_directory(
             "helix_description"), "config", "controllers.yaml"
     )
 
-    dynamixel_block_ros2_control_node = Node(
-            package="controller_manager",
-            executable="ros2_control_node",
-            parameters=[controller_config],
-            remappings=[
-                ('/controller_manager/robot_description', '/robot_description'),
-            ],
-            output="screen",
-        )
-
-    dynamixel_block_joint_state_broadcaster_node =   Node(
-            package="controller_manager",
-            executable="spawner",
-            arguments=["dynamixel_joint_state_publisher", "--controller-manager", "/controller_manager"],
-            parameters=[controller_config],
-            output="screen",
-        )
+    # Main ros2_control startup node
+    helix_ros2_control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[controller_config],
+        remappings=[
+            ('/controller_manager/robot_description', '/robot_description'),
+        ],
+        output="screen",
+    )
 
-    dynamixel_block_position_controller_node =    Node(
-            package="controller_manager",
-            executable="spawner",
-            arguments=["dynamixel_position_controller", "-c", "/controller_manager"],
-            output="screen",
-        )
+    # ros2_control controller for motor joint positions
+    motor_head_joint_position_controller_node = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["motor_head_joint_position_controller", "-c", "/controller_manager"],
+        output="screen",
+    )
+
+    # ros2_control controller for motor joint efforts
+    # motor_head_helix_joint_effort_controller_node = Node(
+    #         package="controller_manager",
+    #         executable="spawner",
+    #         arguments=["motor_head_joint_effort_controller", "--inactive", "-c", "/controller_manager"],
+    #         output="screen",
+    # )
+
+    # ros2_control 'controller' (broadcaster) for motor joint states
+    motor_head_joint_state_broadcaster_node = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["motor_head_joint_state_broadcaster", "--controller-manager", "/controller_manager"],
+        output="screen",
+    )
 
 
     ld.add_action(robot_state_publisher)
     ld.add_action(joint_state_publisher_node)
-    ld.add_action(dynamixel_block_ros2_control_node)
-    ld.add_action(dynamixel_block_joint_state_broadcaster_node)
-    ld.add_action(dynamixel_block_position_controller_node)
+    ld.add_action(helix_ros2_control_node)
+    ld.add_action(motor_head_joint_position_controller_node)
+    # ld.add_action(motor_head_helix_joint_effort_controller_node)
+    ld.add_action(motor_head_joint_state_broadcaster_node)
 
     return ld
diff --git a/helix_bringup/package.xml b/helix_bringup/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>helix_bringup</name>
   <version>0.0.1</version>
-  <description>The helix_brinup package</description>
+  <description>The helix_bringup package</description>
   <maintainer email="[email protected]">max</maintainer>
   <license>proprietary</license>
 

diff --git a/helix_description/config/controllers.yaml b/helix_description/config/controllers.yaml
@@ -2,29 +2,41 @@ controller_manager:
   ros__parameters:
     update_rate: 100  # Hz
 
-    dynamixel_position_controller:
+    motor_head_joint_position_controller:
       type: position_controllers/JointGroupPositionController
 
-    dynamixel_joint_state_publisher:
-      type: joint_state_broadcaster/JointStateBroadcaster
+    # motor_head_joint_effort_controller: 
+    #   type: effort_controllers/JointGroupEffortController
 
+    motor_head_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
 
-dynamixel_position_controller:
+motor_head_joint_position_controller:
   ros__parameters:
-    joints:
-      - dynamixel0
-      - dynamixel1
-      - dynamixel2
-      - dynamixel3
-      - dynamixel4
-      - dynamixel5
-      - dynamixel6
-      - dynamixel7
-      - dynamixel8
-      - dynamixel9
-      - dynamixel10
-      - dynamixel11
+    joints: # TODO - descriptive names for joints/motors?
+      - joint0
+      - joint1
+      - joint2
+      - joint3
+      - joint4
+      - joint5
+      - joint6
+      - joint7
+      - joint8
+
+# motor_head_joint_effort_controller:
+#   ros__parameters:
+#     joints:
+#       - joint0
+#       - joint1
+#       - joint2
+#       - joint3
+#       - joint4
+#       - joint5
+#       - joint6
+#       - joint7
+#       - joint8
 
-dynamixel_joint_state_publisher:
+motor_head_joint_state_broadcaster:
   ros__parameters:
     use_local_topics: True