Create a demo that uses transmissions #226

jordan-palacios · 2023-01-24T12:29:26Z

Based on the base rrbot_system_position_only demo but with transmissions. The goal is to have a system with two simple transmissions that connect the joint1 with the actuator1 and the joint2 with the actuator2. joint1 has a reduction with value 2 and joint2 a reduction with value 4.

The behavior can be easily tracked in the log while the demo is running. Here is a sample:

[ros2_control_node-1] [INFO] [1674563263.738955303] [RRBotTransmissionsSystemPositionOnlyHardware]: Command data:
[ros2_control_node-1] 	joint1: 2.5 --> transmission1(R=2) --> actuator1: 5
[ros2_control_node-1] 	joint2: 5 --> transmission2(R=4) --> actuator2: 20
[ros2_control_node-1] [INFO] [1674563264.838728177] [RRBotTransmissionsSystemPositionOnlyHardware]: State data:
[ros2_control_node-1] 	joint1: 2.49911 <-- transmission1(R=2) <-- actuator1: 4.99822
[ros2_control_node-1] 	joint2: 4.99822 <-- transmission2(R=4) <-- actuator2: 19.9929

TODOs:

Document the demo in the README.

christophfroehlich

Great to see this example, I've got only some minor comments..

ros2_control_demo_hardware/ros2_control_demo_hardware.xml

...n/rrbot_description/ros2_control/rrbot_transmissions_system_position_only.ros2_control.xacro

README.md

...emo_hardware/include/ros2_control_demo_hardware/rrbot_transmissions_system_position_only.hpp

Exact copy of rrbot_system_position_only for now. Using it from the transmission demo

Added a helper object to manage the joint to transmissions to actuator data handling

Checking joint consistency in the description not required. Already done by the parser

demo

christophfroehlich · 2023-02-02T19:12:07Z

...n/rrbot_description/ros2_control/rrbot_transmissions_system_position_only.ros2_control.xacro

+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="rrbot_transmissions_system_position_only" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">


we can further simplify this by deleting use_gazebo, use_fake_hardware, mock_sensor_comands here

Unfortunately this breaks the launch, since we use rrbot_base.launch.py as base. Maybe something that could be addressed in #231.

does it? removing them here and lines 34+35 in rrbot_transmissions_system_position_only.urdf.xacro works for me.

in the interest of merging this prior to the restructure, I'll open a general cleanup issue for xacro parameters

#240

..._demo_description/rrbot_description/urdf/rrbot_transmissions_system_position_only.urdf.xacro

…ansmission demo

jordan-palacios · 2023-02-03T08:58:44Z

@bmagyar As far as I can tell, the failing checks in the CI are not related to the contents of this PR.

bmagyar · 2023-02-14T21:22:08Z

@christophfroehlich happy for me to merge this prior to the restructure PRs? May cause a little trouble there

christophfroehlich · 2023-02-15T05:58:48Z

I'd suggest to merge this now in master, and then merge this into the restructuring branch to restructure that example.

ros2_control_demo_hardware/ros2_control_demo_hardware.xml

bmagyar

Thanks a lot for this, only left some small comments

bmagyar · 2023-02-15T07:24:27Z

...n/rrbot_description/ros2_control/rrbot_transmissions_system_position_only.ros2_control.xacro

+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="rrbot_transmissions_system_position_only" params="name prefix use_gazebo:=^|false use_fake_hardware:=^|true mock_sensor_commands:=^|false slowdown:=2.0">


in the interest of merging this prior to the restructure, I'll open a general cleanup issue for xacro parameters

#240

...emo_hardware/include/ros2_control_demo_hardware/rrbot_transmissions_system_position_only.hpp

bmagyar · 2023-02-15T07:31:53Z

...emo_hardware/include/ros2_control_demo_hardware/rrbot_transmissions_system_position_only.hpp

+    std::string name_;
+    double command_;
+    double state_;
+    double transmission_;


This name is quite confusing. Could you rename this variable please to clarify it's meaning/content?
What does it mean in the joint and in the actuator context?

It's the sink of the Joint/Actuator handle that lives inside the transmission. transmission_passthrough_ maybe?

If you rename plus add this comment about the sink we are done ;)

ros2_control_demo_hardware/src/rrbot_transmissions_system_position_only.cpp

Co-authored-by: Bence Magyar <[email protected]>

bmagyar · 2023-02-15T14:58:08Z

@Mergifyio backport to new-structure-of-master

* add copy for transmission demo and set in the urdf * Renamed to rrbot_transmissions * Changed reduction value of transmission2 * Added the rrbot_transmissions_system_position_only Exact copy of rrbot_system_position_only for now. Using it from the transmission demo * Moved logger into its own variable * Uncrustify * Renamed hw interface to joint. Added actuator interfaces * Formatting. Remove comments * Using transmissions for joint and actuator interfaces Added a helper object to manage the joint to transmissions to actuator data handling * Propagating data between all the interfaces * Cleanup. Added some consts * Simulate motor motion * Added logging to periodically show interface data * Refactored the parameters a bit. Removed unused ones * Added try/catches where needed Checking joint consistency in the description not required. Already done by the parser * Added transmission demo to README * Use clang-format instead * rename transmissions ros2_control macro * Remove unnecessary actuator parameters * Typo * Removed gazebo, mock hardware and fake sensors from the transmission demo * Missing 'explicit' from constructor * Further cleanup of gazebo, mock hardware and fake sensors from the transmission demo * branding fix * Remove pointer definitions Co-authored-by: Bence Magyar <[email protected]> * Fixed comment about reserve Co-authored-by: Bence Magyar <[email protected]> * Renamed member variable and added description --------- Co-authored-by: Noel Jimenez <[email protected]> Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 1007b1d)

mergify · 2023-02-15T14:58:18Z

backport to new-structure-of-master

✅ Backports have been created

Backport to branch to failed: Branch not found
#241 Create a demo that uses transmissions (backport #226) has been created for branch new-structure-of-master

* Create a demo that uses transmissions (#226) * add copy for transmission demo and set in the urdf * Renamed to rrbot_transmissions * Changed reduction value of transmission2 * Added the rrbot_transmissions_system_position_only Exact copy of rrbot_system_position_only for now. Using it from the transmission demo * Moved logger into its own variable * Uncrustify * Renamed hw interface to joint. Added actuator interfaces * Formatting. Remove comments * Using transmissions for joint and actuator interfaces Added a helper object to manage the joint to transmissions to actuator data handling * Propagating data between all the interfaces * Cleanup. Added some consts * Simulate motor motion * Added logging to periodically show interface data * Refactored the parameters a bit. Removed unused ones * Added try/catches where needed Checking joint consistency in the description not required. Already done by the parser * Added transmission demo to README * Use clang-format instead * rename transmissions ros2_control macro * Remove unnecessary actuator parameters * Typo * Removed gazebo, mock hardware and fake sensors from the transmission demo * Missing 'explicit' from constructor * Further cleanup of gazebo, mock hardware and fake sensors from the transmission demo * branding fix * Remove pointer definitions Co-authored-by: Bence Magyar <[email protected]> * Fixed comment about reserve Co-authored-by: Bence Magyar <[email protected]> * Renamed member variable and added description --------- Co-authored-by: Noel Jimenez <[email protected]> Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 1007b1d) * Fix preformatted block * fix header guard --------- Co-authored-by: Jordan Palacios <[email protected]> Co-authored-by: Bence Magyar <[email protected]>

jordan-palacios requested a review from bmagyar January 24, 2023 12:29

jordan-palacios mentioned this pull request Jan 24, 2023

How to apply transmission gear ratio (mechanical_reduction) in hardware_interface #216

Closed

jordan-palacios marked this pull request as ready for review January 24, 2023 17:22

github-actions bot requested review from anfemosa, destogl, harderthan, malapatiravi, peterdavidfagan and rosterloh January 24, 2023 17:23

firesurfer mentioned this pull request Jan 25, 2023

Example for usage of transmission ros-controls/ros2_control#897

Closed

christophfroehlich previously approved these changes Jan 30, 2023

View reviewed changes

ros2_control_demo_hardware/ros2_control_demo_hardware.xml Outdated Show resolved Hide resolved

...n/rrbot_description/ros2_control/rrbot_transmissions_system_position_only.ros2_control.xacro Outdated Show resolved Hide resolved

README.md Show resolved Hide resolved

christophfroehlich reviewed Jan 30, 2023

View reviewed changes

...emo_hardware/include/ros2_control_demo_hardware/rrbot_transmissions_system_position_only.hpp Outdated Show resolved Hide resolved

jordan-palacios dismissed christophfroehlich’s stale review via 65abb2f February 2, 2023 14:20

Noel215 and others added 17 commits February 2, 2023 15:25

add copy for transmission demo and set in the urdf

ad7928c

Renamed to rrbot_transmissions

75b7d9b

Changed reduction value of transmission2

d92c9a0

Added the rrbot_transmissions_system_position_only

305f287

Exact copy of rrbot_system_position_only for now. Using it from the transmission demo

Moved logger into its own variable

e6a795e

Uncrustify

e0b3c4d

Renamed hw interface to joint. Added actuator interfaces

73ed52e

Formatting. Remove comments

d2f0048

Using transmissions for joint and actuator interfaces

1296d2c

Added a helper object to manage the joint to transmissions to actuator data handling

Propagating data between all the interfaces

6b30b7e

Cleanup. Added some consts

2d7fe62

Simulate motor motion

311f60d

Added logging to periodically show interface data

70d74d8

Refactored the parameters a bit. Removed unused ones

2f095cb

Added try/catches where needed

42cfca8

Checking joint consistency in the description not required. Already done by the parser

Added transmission demo to README

1cd2fb0

Use clang-format instead

3c469c7

jordan-palacios added 2 commits February 2, 2023 15:25

Removed gazebo, mock hardware and fake sensors from the transmission

90fec58

demo

Missing 'explicit' from constructor

af5d961

jordan-palacios force-pushed the add_transmissions_demo branch from 65abb2f to af5d961 Compare February 2, 2023 14:26

jordan-palacios requested a review from christophfroehlich February 2, 2023 14:44

christophfroehlich requested changes Feb 2, 2023

View reviewed changes

destogl linked an issue Feb 2, 2023 that may be closed by this pull request

How to apply transmission gear ratio (mechanical_reduction) in hardware_interface #216

Closed

Further cleanup of gazebo, mock hardware and fake sensors from the tr…

727b079

…ansmission demo

jordan-palacios requested a review from christophfroehlich February 3, 2023 08:46

christophfroehlich previously approved these changes Feb 7, 2023

View reviewed changes

bmagyar reviewed Feb 15, 2023

View reviewed changes

ros2_control_demo_hardware/ros2_control_demo_hardware.xml Outdated Show resolved Hide resolved

branding fix

e769649

bmagyar dismissed christophfroehlich’s stale review via e769649 February 15, 2023 07:11

bmagyar previously approved these changes Feb 15, 2023

View reviewed changes

Remove pointer definitions

79b8272

Co-authored-by: Bence Magyar <[email protected]>

jordan-palacios dismissed bmagyar’s stale review via 79b8272 February 15, 2023 08:28

jordan-palacios and others added 2 commits February 15, 2023 09:40

Fixed comment about reserve

0b00f35

Co-authored-by: Bence Magyar <[email protected]>

Renamed member variable and added description

4e98b53

bmagyar approved these changes Feb 15, 2023

View reviewed changes

bmagyar merged commit 1007b1d into ros-controls:master Feb 15, 2023

mergify bot mentioned this pull request Feb 15, 2023

Create a demo that uses transmissions (backport #226) #241

Merged

christophfroehlich mentioned this pull request Feb 17, 2023

Restructuring for example_8 (transmission interface) #242

Merged

borongyuan mentioned this pull request Apr 11, 2023

One motor runs in wrong direction with diff drive Factor-Robotics/odrive_ros2_control#29

Open

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Create a demo that uses transmissions #226

Create a demo that uses transmissions #226

jordan-palacios commented Jan 24, 2023 •

edited

Loading

christophfroehlich left a comment

christophfroehlich Feb 2, 2023

jordan-palacios Feb 3, 2023

christophfroehlich Feb 5, 2023

bmagyar Feb 15, 2023

jordan-palacios commented Feb 3, 2023

bmagyar commented Feb 14, 2023

christophfroehlich commented Feb 15, 2023

bmagyar left a comment

bmagyar Feb 15, 2023

bmagyar Feb 15, 2023

jordan-palacios Feb 15, 2023

bmagyar Feb 15, 2023

bmagyar commented Feb 15, 2023

mergify bot commented Feb 15, 2023

Create a demo that uses transmissions #226

Create a demo that uses transmissions #226

Conversation

jordan-palacios commented Jan 24, 2023 • edited Loading

christophfroehlich left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

jordan-palacios commented Feb 3, 2023

bmagyar commented Feb 14, 2023

christophfroehlich commented Feb 15, 2023

bmagyar left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

bmagyar commented Feb 15, 2023

mergify bot commented Feb 15, 2023

✅ Backports have been created

jordan-palacios commented Jan 24, 2023 •

edited

Loading