• cartpole_ws
• 1. environment
• 2. Setup env
• 3. Build env
  • 3.1 ros1
  • 3.2 ros2
  • 3.3 ros1_bridge
• 4. Run
  • 4.1 cartpole simulation
  • 4.2 ros1_bridge
  • 4.3 cartpole components test
  • 4.4 rqt_gui
• 5. components
  • 5.1 cartpole_interface
  • 5.2 cartpole_controller
• TODO
• Bug
• Reference

cartpole_ws

• ros1 and ros2 practice 1

1. environment

names	version
gazebo	11.1.0
ros1	noetic
ros2	foxy-release_4

2. Setup env

• download packages

  cd <cartpole_ws>/ros2/src
  git clone https://github.com/ros2/ros1_bridge.git -b foxy

3. Build env

3.1 ros1

• shall A

  $ cd <path_of_ros1>
  $ source <install-space-with-ros1>/setup.bash
  $ catkin_make

3.2 ros2

• shall B

  $ cd <path_of_ros2>
  $ source <install-space-with-ros2>/setup.bash
  $ colcon build --symlink-install --packages-skip ros1_bridge

3.3 ros1_bridge

• shall C

  $ cd <path_of_ros2>
  $ source <install-space-with-ros1>/setup.bash
  $ source <install-space-to-ros1-overlay-ws>/setup.bash
  $ source <install-space-to-ros2-overlay-ws>/setup.bash
  $ colcon build --symlink-install --packages-select ros1_bridge

4. Run

4.1 cartpole simulation

  $ cd <install-space-to-ros1-overlay-ws>/
  $ source <install-space-to-ros1-overlay-ws>/setup.bash
  $ roslaunch cartpole_gazebo cartpole_gazebo.launch

4.2 ros1_bridge

  $ cd <path_of_ros2>
  $ source <install-space-to-ros1-overlay-ws>/setup.bash
  $ source <install-space-to-ros2-overlay-ws>/setup.bash
  
  # maybe use
  # $ export ROS_MASTER_URI=http://localhost:11311

  $ ros2 run ros1_bridge dynamic_bridge

4.3 cartpole components test

• components :
  • cartpole_interface
  • cartpole_controller

  $ cd <path_of_ros2>
  $ source <install-space-with-ros2>/setup.bash
  $ source <install-space-to-ros2-overlay-ws>/local_setup.bash
  $ ros2 launch cartpole_controller cartpole_all_test_launch.py

4.4 rqt_gui

• plugins
  • Service Caller
  • Dynamic Reconfigure

  $ source <install-space-with-ros2>/setup.bash
  $ source <install-space-to-ros2-overlay-ws>/local_setup.bash
  $ ros2 run rqt_gui rqt_gui

5. components

5.1 cartpole_interface

• topic
  • output
    • stand_cart_position_controller/command (std_msgs/float64)
• service
  • reset_env (cartpole_msgs/ResetEnv)
  • gazebo/pause_physics (std_srvs/empty)
  • gazebo/unpause_physics (std_srvs/empty)
  • reset_cartpole_controller (std_srvs/empty)
  • gazebo/set_model_configuration (gazebo_msgs/SetModelConfiguration)

5.2 cartpole_controller

• topic
  • input
    • joint_states (sensor_msgs/joint_state)
  • output
    • stand_cart_position_controller/command (std_msgs/float64)
• service
  • reset_cartpole_controller (std_srvs/empty)
• parameter
  • cartpole/cart_target (double)
  • cartpole/max_limit_pos (double)
  • cartpole/pid/cart_d (double)
  • cartpole/pid/cart_i (double)
  • cartpole/pid/cart_p (double)
  • cartpole/pid/pole_d (double)
  • cartpole/pid/pole_i (double)
  • cartpole/pid/pole_p (double)
  • cartpole/pole_target (double)

TODO

• cartpole_interface
• cartpole_controller : ros2 parameter
• cartpole_controller : find pid parameters
• demo node
• introduction

Bug

• cartpole_interface

  • Use service command line : Set the models success but the models is not moved in the gazebo gui.
  • Use service Caller in the rqt_gui : Set the models success and the models can be moved in the gazebo gui.

• cartpole_controller

  • Using component node to load params can NOT success in launch file

    • for launch_ros 0.11.1

    • solution: change yaml file format

      • normal format

        node_name:
          ros__parameters:
            param1: 0.0
            param2: 0.1

      • special format

        param1: 0.0
        param2: 0.1

  • ros2 param command line is sometimes NOT working

    • all processing restart

  • Starting controller is sometimes not better.

    • /reset_env is not correctly implemented in the cartpole_interface.
      • "/stand_cart_position_controller/command"
      • "reset_controller"
    • parameters are not better

  • this->set_on_parameters_set_callback not found if use galactic version compile

    • galactic remove set_on_parameters_set_callback and change to add_on_set_parameters_callback

    • use

      • for hpp

        private:
          OnSetParametersCallbackHandle::SharedPtr callback_handle_;

      • for cpp

        // set_on_parameters_set_callback(
        //  std::bind(&CartpoleController::dynamic_load_params, this, std::placeholders::_1));
        
        callback_handle_ = add_on_set_parameters_callback(
          std::bind(&CartpoleController::dynamic_load_params, this, std::placeholders::_1));

Reference

• ppo_gazebo_tf
  • cartpole_env
• ros1_bridge
• launch_ros issue
  • component node bug