Fix/urdf to ignition

littlebot_control/CMakeLists.txt

@@ -5,7 +5,7 @@ project(littlebot_control)
 find_package(ament_cmake REQUIRED)
 
 
-install(DIRECTORY config launch
+install(DIRECTORY config launch rviz
   DESTINATION share/${PROJECT_NAME}
 )
 

littlebot_control/config/control.yaml

@@ -28,7 +28,7 @@ littlebot_velocity_controller:
     twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
 
     open_loop: false
-    enable_odom_tf: false
+    enable_odom_tf: true
 
     cmd_vel_timeout: 0.5
     #publish_limited_velocity: true

littlebot_control/launch/spawn_diffdriver_controller.launch.py

@@ -0,0 +1,46 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+
+
+def generate_launch_description():
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster",
+                   "--controller-manager", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["littlebot_velocity_controller", "--controller-manager",
+                   "/controller_manager"],
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+    )
+
+    delay_robot_controller_after_joint_state_spawner = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
+        )
+    )
+    delay_rviz_after_robot_controller = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=robot_controller_spawner,
+            on_exit=[rviz_node],
+        )
+    )
+
+    return LaunchDescription([
+        joint_state_broadcaster_spawner,
+        delay_robot_controller_after_joint_state_spawner,
+        delay_rviz_after_robot_controller
+    ])

littlebot_control/package.xml

@@ -10,15 +10,17 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>controller_manager</depend>
-  <depend>diff_drive_controller</depend>
-  <depend>interactive_marker_twist_server</depend>
-  <depend>joint_state_broadcaster</depend>
-  <depend>joint_trajectory_controller</depend>
-  <depend>joy</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>teleop_twist_joy</depend>
-  <depend>twist_mux</depend>
+  <!-- <depend>controller_manager</depend> -->
+  <!-- <depend>diff_drive_controller</depend> -->
+  <depend>ros2_control</depend>
+  <depend>ros2_controllers</depend>
+  <!-- <depend>interactive_marker_twist_server</depend> -->
+  <!-- <depend>joint_state_broadcaster</depend> -->
+  <!-- <depend>joint_trajectory_controller</depend> -->
+  <!-- <depend>joy</depend> -->
+  <!-- <depend>robot_state_publisher</depend> -->
+  <!-- <depend>teleop_twist_joy</depend> -->
+  <!-- <depend>twist_mux</depend> -->
 
   <export>
     <build_type>ament_cmake</build_type>

littlebot_control/rviz/diff_drive.rviz

@@ -0,0 +1,235 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 570
+  - 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
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      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
+        caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        free_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          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
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        caster:
+          Value: true
+        chassis_link:
+          Value: true
+        free_wheel:
+          Value: true
+        imu_link:
+          Value: true
+        left_wheel:
+          Value: true
+        odom:
+          Value: true
+        right_wheel:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        odom:
+          base_link:
+            chassis_link:
+              caster:
+                free_wheel:
+                  {}
+              imu_link:
+                {}
+              left_wheel:
+                {}
+              right_wheel:
+                {}
+      Update Interval: 0
+      Value: 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: 5.098728656768799
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0343431793153286
+        Y: 0.13100281357765198
+        Z: -0.0660405084490776
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6753981113433838
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.0353977680206299
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 884
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015f000002ccfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002cc000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ccfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002cc000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054c00000040fc0100000002fb0000000800540069006d006501000000000000054c000002a700fffffffb0000000800540069006d00650100000000000004500000000000000000000002d2000002cc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1356
+  X: 2276
+  Y: 64