Merge branch 'opening_pr'

PR for submission of Issue space-ros#63: NASA Space ROS Sim Summer Sprint Challenge 2024: Space ROS Meets Open 3D Engine
A Case Study On Setup Complexity, Features, and Challenges in Mobile Robot Simulation

mars_rover/CMakeLists.txt

@@ -44,7 +44,8 @@ install(PROGRAMS
   nodes/move_arm
   nodes/move_mast
   nodes/move_wheel
-  nodes/run_demo
+  nodes/run_demo  # To run the Gazebo rover demo
+  nodes/teleop_rover  # To run O3DE rover demo
   nodes/odom_tf_publisher
   DESTINATION lib/${PROJECT_NAME}
 )

mars_rover/launch/mars_rover_o3de.launch.py

@@ -0,0 +1,212 @@
+"""
+Bring up nodes, hardware interfaces to control a Curiosity Rover in Open 3D Engine.
+
+Author:
+Azmyin Md. Kamal,
+Ph.D. student in MIE,
+Louisiana State University,
+Louisiana, USA
+
+Date: August 29th, 2024
+Version: 1.0
+
+AI: ChatGPT 4.o
+
+"""
+
+# Imports
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, RegisterEventHandler
+from launch_ros.actions import Node, SetParameter
+from launch.event_handlers import OnProcessExit
+import os
+from os import environ
+import xacro
+
+def generate_launch_description():
+    """Generate launch description to bringup curiosity rover simulation."""
+    # Define paths to mars_rover and simulation packages
+    mars_rover_demos_path = get_package_share_directory('mars_rover')
+    mars_rover_models_path = get_package_share_directory('simulation')
+    # Define 
+    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
+           ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
+                     environ.get('LD_LIBRARY_PATH', default='')]),
+           'IGN_GAZEBO_RESOURCE_PATH':
+           ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])}
+
+    urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path',
+        'urdf', 'curiosity_mars_rover.xacro')
+
+    mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world')
+
+    doc = xacro.process_file(urdf_model_path)
+    robot_description = {'robot_description': doc.toxml()}
+
+    # Arm
+    # arm_node = Node(
+    #     package="mars_rover",
+    #     executable="move_arm",
+    #     output='screen'
+    # )
+    # Sensor mast
+    # mast_node = Node(
+    #     package="mars_rover",
+    #     executable="move_mast",
+    #     output='screen'
+    # )
+    # Wheel groups
+    wheel_node = Node(
+        package="mars_rover",
+        executable="move_wheel",
+        output='screen'
+    )
+    # Node to take teleop
+    teleop_rover_node = Node(
+        package="mars_rover",
+        executable="teleop_rover",
+        output='screen'
+    )
+    # Publish odometry
+    # odom_node = Node(
+    #     package="mars_rover",
+    #     executable="odom_tf_publisher",
+    #     output='screen'
+    # )
+
+    # Fire up Gazebo Ignition
+    start_world = ExecuteProcess(
+        cmd=['ign gazebo', mars_world_model, '-r'],
+        output='screen',
+        additional_env=env,
+        shell=True
+    )
+    # Publish various joint positions and link orientation
+    # This is crucial for simulation
+    robot_state_publisher = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description])
+    # Bridge communication between ROS 2 and the Ignition Gazebo simulation
+    ros_gz_bridge = Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            arguments=[
+                '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+                '/model/curiosity_mars_rover/odometry@nav_msgs/msg/[email protected]',
+                '/scan@sensor_msgs/msg/[email protected]',
+            ],
+            output='screen')
+    # Connect image messages from Gazebo to ROS2
+    image_bridge = Node(
+            package='ros_gz_image',
+            executable='image_bridge',
+            arguments=['/image_raw', '/image_raw'],
+            output='screen')
+    # Spawn curiosity rover into the world.
+    spawn = Node(
+        package='ros_ign_gazebo', executable='create',
+        arguments=[
+            '-name', 'curiosity_mars_rover',
+            '-topic', robot_description,
+            '-z', '-7.5'
+        ],
+        output='screen'
+    )
+
+    # Control Components
+    component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}'
+
+    # TODO what bug was resolved with this hack?
+    # Set hardware_interface state to active
+    set_hardware_interface_active = ExecuteProcess(
+        cmd=['ros2', 'service', 'call', 
+            'controller_manager/set_hardware_component_state',
+            'controller_manager_msgs/srv/SetHardwareComponentState',
+            component_state_msg]
+    )
+
+    # Controller to broadcast all joint states
+    load_joint_state_broadcaster = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'joint_state_broadcaster'],
+        output='screen'
+    )
+
+    # Controller for arm
+    load_arm_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'arm_joint_trajectory_controller'],
+        output='screen'
+    )
+
+    # Controller for sensor mast
+    load_mast_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'mast_joint_trajectory_controller'],
+        output='screen'
+    )
+
+    # Controller for wheel
+    load_wheel_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'wheel_velocity_controller'],
+        output='screen'
+    )
+    # Controller for steering
+    load_steer_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'steer_position_controller'],
+        output='screen'
+    )
+    # Controller for suspension joints
+    load_suspension_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'wheel_tree_position_controller'],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        #start_world,
+        #robot_state_publisher,
+        #spawn,
+        # arm_node,
+        # mast_node,
+        wheel_node,
+        teleop_rover_node, # Renamed from run_node
+        # odom_node,
+        #ros_gz_bridge,
+        #image_bridge,
+
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=spawn,
+                on_exit=[set_hardware_interface_active],
+            )
+        ),
+        # After the hardware interface is activated, 
+        # the joint state broadcaster is loaded.
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=set_hardware_interface_active,
+                on_exit=[load_joint_state_broadcaster],
+            )
+        ),
+        # After the joint state broadcaster is loaded, 
+        # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated.
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=load_joint_state_broadcaster,
+                on_exit=[
+                        # load_arm_joint_traj_controller,
+                        # load_mast_joint_traj_controller,
+                        load_wheel_joint_traj_controller,
+                        load_steer_joint_traj_controller,
+                        load_suspension_joint_traj_controller],
+            )
+        ),
+    ])

mars_rover/nodes/teleop_rover

@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+
+"""
+Implementation of the TeleOpRover class.
+
+This node acts as an interface between user sent service call to publishing
+twist message that is then subscribed too by the controller
+
+Primary author:
+Space-ROS
+
+Docstrings and comments added by:
+Azmyin Md. Kamal,
+Ph.D. student in MIE, iCORE Lab,
+Louisiana State University, Louisiana, USA
+
+Date: August 29th, 2024
+Version: 1.0
+AI: ChatGPT 4.o
+
+"""
+
+# Imports
+import rclpy
+from rclpy.node import Node
+
+# from std_msgs.msg import String, Float64MultiArray
+from geometry_msgs.msg import Twist
+
+# import math
+# from random import randint
+from std_srvs.srv import Empty
+
+class TeleOpRover(Node):
+    """Node that converts user's service request / input device commands to Twist messages."""
+
+    def __init__(self) -> None:
+        super().__init__('teleop_node')
+        # Setup publishers
+        self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.o3de_motion_publisher_ = self.create_publisher(Twist, '/rover/cmd_vel', 10)
+        # Setup services
+        self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback)
+        self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback)
+        self.left_srv = self.create_service(Empty, 'turn_left', self.turn_left_callback)
+        self.right_srv = self.create_service(Empty, 'turn_right', self.turn_right_callback)
+        self.stopped = True
+        timer_period = 0.1
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.curr_action = Twist()
+
+    def timer_callback(self):
+        """Periodically publish velocity of rover in 3D space as Twist messages."""
+        if (not self.stopped):
+            # Experimental
+            self.o3de_motion_publisher_.publish(self.curr_action)
+            # self.motion_publisher_.publish(self.curr_action)
+
+
+    def move_forward_callback(self, request, response):
+        """Print message when moving forward."""
+        self.get_logger().info("Moving forward")
+        action = Twist()
+        # action.linear.x = 2.0
+        action.linear.x = 2.0 # Not sure but negative value makes it move forward
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+    def move_stop_callback(self, request, response):
+        """Print message when stopped."""
+        # stop timer from publishing
+        self.stopped = True
+        self.get_logger().info("Stopping")
+        self.curr_action = Twist()
+        # publish once to ensure we stop
+        self.motion_publisher_.publish(self.curr_action)
+        self.o3de_motion_publisher_.publish(self.curr_action)
+        return response
+
+    def turn_left_callback(self, request, response):
+        """Print message when turning left."""
+        self.get_logger().info("Turning left")
+        action = Twist()
+        action.linear.x = 1.0
+        action.angular.z = 0.4
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+    def turn_right_callback(self, request, response):
+        """Print message when turning right."""
+        self.get_logger().info("Turning right")
+        self.stopped = False
+        action = Twist()
+        #action.linear.x = 1.0
+        action.linear.x = 0.5
+        action.angular.z = -1.5
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+def main(args=None):
+    """Run main."""
+    rclpy.init(args=args)
+    teleop_node = TeleOpRover()
+    rclpy.spin(teleop_node)
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    teleop_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()