ericnasanta's profile - activity

Smac 2D Planner vs NavFn Planner After reading the documentation for both, I'm not sure I quite grasp the differences an

Thanks for the help!

Thanks! I'll look into it!

Howdy!

I'm currently making the switch from gazebo to a physical bot and realized I was using gazebo's diff drive plugin to handle publishing odom transformations.

I'm wondering how can I create a odom -> base_link transformation using ROS2 galactic for real life application. If anyone knows any examples, it would be greatly appreciated!

Setting up odometry on physical bot Howdy! I'm currently making the switch from gazebo to a physical bot and realized I

Howdy! I'm having the same problem. I know I have to create a odom -> base link transform, but I'm not sure how. I ju

Hi!

I'm looking to use nav2 with my current diff drive controller setup. My controller is currently subscribed to the /diff_drive_controller/cmd_vel_unstamped topic, while it appears nav is publishing to the /cmd_vel topic. Is there a way I can remap my current controller to subscribe to the /cmd_vel topic.

I'm currently working with ros2 foxy on Ubuntu 20.04 in Gazebo.

Here's how i'm loading my controllers in my launch file:

robot_state_publisher_node = launch_ros.actions.Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',

    parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')},{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
)

rviz_node = launch_ros.actions.Node(
    package='rviz2',
    executable='rviz2',
    name='rviz2',
    output='screen',
    parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
    arguments=['-d', LaunchConfiguration('rvizconfig'),{ 'robot_description': Command(['xacro ', LaunchConfiguration('model')])}],
)
spawn_entity = launch_ros.actions.Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    arguments=['-entity', 'robotech', '-topic', { 'robot_description': Command(['xacro ', LaunchConfiguration('model')])}],
    output='screen',

)

robot_localization_node = launch_ros.actions.Node(
  package='robot_localization',
   executable='ekf_node',
   name='ekf_filter_node',
   output='screen',
   parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time': LaunchConfiguration('use_sim_time')},{ 'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
)

load_joint_state_controller = ExecuteProcess(
    cmd=['ros2', 'control', 'load_controller', '--set-state','start',
         'joint_state_broadcaster'],
    output='screen'
)

load_joint_trajectory_controller = ExecuteProcess(
    cmd=['ros2', 'control', 'load_controller', '--set-state','start', 'joint_trajectory_controller'],
    output='screen'
)

load_diff_drive_controller = ExecuteProcess(
    cmd=['ros2', 'control', 'load_controller', '--set-state','start', 'diff_drive_controller'],
    output='screen'
)

return launch.LaunchDescription([

    launch.actions.DeclareLaunchArgument(name='gui', default_value='False',
                                        description='Flag to enable joint_state_publisher_gui'),
    launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path,
                                        description='Absolute path to robot urdf file'),

    launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path,
                                        description='Absolute path to rviz config file'),
    launch.actions.ExecuteProcess(cmd=['gazebo','--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', world_path], output='screen'),

    launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True',
                                        description='Flag to enable use_sim_time'),

    RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=spawn_entity,
            on_exit=[load_joint_state_controller],
        )
    ),
    RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=load_joint_state_controller,
            on_exit=[load_joint_trajectory_controller],
        )
    ),
    RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=load_joint_state_controller,
            on_exit=[load_diff_drive_controller],
        )
    ),
    robot_state_publisher_node,
    spawn_entity,
    robot_localization_node,
    rviz_node
])

Edit: and this is my config file.

controller_manager:
  ros__parameters:
    update_rate: 100  # Hz
    use_sim_time: True
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster



    joint_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    diff_drive_controller:
      type: diff_drive_controller/DiffDriveController

diff_drive_controller:
  ros__parameters:

    use_sim_time: True
    left_wheel_names: ["drivewhl_l_joint"]
    right_wheel_names: ["drivewhl_r_joint"]


    wheel_separation: 0.406
    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
    wheel_radius: 0.0865

    wheel_separation_multiplier: 1.0
    left_wheel_radius_multiplier: 1.0
    right_wheel_radius_multiplier: 1.0

    publish_rate: 50.0
    odom_frame_id: odom
    base_frame_id: base_link
    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]

    open_loop: true
    enable_odom_tf: false



    cmd_vel_timeout: 0.5
    #publish_limited_velocity: true
    use_stamped_vel: false
    #velocity_rolling_window_size: 10

    # Preserve turning radius when limiting speed/acceleration/jerk
    preserve_turning_radius: false

    # Publish limited velocity
    publish_cmd: false

    # Publish wheel data
    publish_wheel_data: false

    # Velocity and acceleration limits
    # Whenever a min_* is unspecified, default to -max_*

    linear.x.max_velocity: 100.0
    linear.x.min_velocity: -100.0
    linear.x.max_acceleration: 5.0


    angular.z.max_velocity: 100.0
    angular.z.min_velocity: -100.0
    angular.z.max_acceleration: 5.0



joint_trajectory_controller:
  ros__parameters:
    use_sim_time: True
    joints:
      - frcasterbase
      - frcasterwheel
      - rrcasterbase
      - rrcasterwheel
      - rlcasterbase
      - rlcasterwheel
      - flcasterbase
      - flcasterwheel
      - drivewhl_l_joint
      - drivewhl_r_joint


    interface_name: position

    command_interfaces:
      - position

    state_interfaces:
      - position
      - velocity

Remapping diff drive controller to cmd_vel Hi! I'm looking to use nav2 with my current diff drive controller setup. My

Remapping diff drive controller to cmd_vel Hi! I'm looking to use nav2 with my current diff drive controller setup. My

Remapping diff drive controller to cmd_vel Hi! I'm looking to use nav2 with my current diff drive controller setup. My