Added Hardware Interface for Gazebo #1

chaining_controller/CMakeLists.txt

@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.5.0)
+project(chaining_controller)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(NOT WIN32)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_msgs REQUIRED)
+
+install(DIRECTORY
+  launch
+  config
+  urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+add_executable(example_position examples/example_position.cpp)
+ament_target_dependencies(example_position
+  rclcpp
+  rclcpp_action
+  control_msgs
+)
+
+add_executable(example_velocity examples/example_velocity.cpp)
+ament_target_dependencies(example_velocity
+  rclcpp
+  std_msgs
+)
+
+add_executable(example_effort examples/example_effort.cpp)
+ament_target_dependencies(example_effort
+  rclcpp
+  std_msgs
+)
+
+add_executable(example_gripper examples/example_gripper.cpp)
+ament_target_dependencies(example_gripper
+  rclcpp
+  std_msgs
+)
+
+add_executable(example_diff_drive examples/example_diff_drive.cpp)
+ament_target_dependencies(example_diff_drive
+  rclcpp
+  geometry_msgs
+)
+
+add_executable(example_tricycle_drive examples/example_tricycle_drive.cpp)
+ament_target_dependencies(example_tricycle_drive
+  rclcpp
+  geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+## Install
+install(
+  TARGETS
+    example_position
+    example_velocity
+    example_effort
+    example_diff_drive
+    example_tricycle_drive
+    example_gripper
+  DESTINATION
+    lib/${PROJECT_NAME}
+)
+
+ament_package()

chaining_controller/config/cartpole_controller.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

chaining_controller/config/cartpole_controller_effort.yaml

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+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    effort_controllers:
+      type: effort_controllers/JointGroupEffortController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+effort_controllers:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+    command_interfaces:
+      - effort
+    state_interfaces:
+      - position
+      - velocity
+      - effort

chaining_controller/config/cartpole_controller_velocity.yaml

@@ -0,0 +1,26 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+velocity_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+    command_interfaces:
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: cart_imu_sensor
+    frame_id: imu

chaining_controller/config/config.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /RobotModel1
+        - /RobotModel1/Status1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 741
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        chassis:
+          Value: true
+        left_wheel:
+          Value: true
+        odom:
+          Value: true
+        right_wheel:
+          Value: true
+        steering_link:
+          Value: true
+        wheel_front_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom:
+          base_link:
+            chassis:
+              left_wheel:
+                {}
+              right_wheel:
+                {}
+              steering_link:
+                wheel_front_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: true
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        steering_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_front_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 9.402809143066406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.8695068955421448
+        Y: -0.05153140798211098
+        Z: -0.16355116665363312
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2903985381126404
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.6204142570495605
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1032
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000002380000036efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000036e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000036efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000036e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005420000036e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 1920
+  Y: 24