Support ros2 control (#1)

* ROS2 and ros2_control

* Remove separate visualisation package

* Upgrade CMakeLists and package XML to be ament and colcon compatible
for ROS2

* Collapse rviz files into single view_robot file compatible with rviz2

* Rewrite launch file for visualisation

* Restructure urdf files to use a macro for greater potential
extensibility in future (for example, to support hardware versions)

* Add prefix and connected_to arguments

* Add ros2_control data

* Add port arguments

* Add control and monitoring ports

* Add default values for IP and ports

* Add limit parameters

* Add a velocity timeout parameter that controls the duration in seconds
that a velocity command remains active before the robot automatically
decelerates to a full stop.

* Update acceleration limit to reflect the mecadamic API to be in
percentage units of maximum

* Add velocity limit parameter as a percentage of maximum

* Fix parameter typo

* Remove := from port parameters

* Add missing name argument to launch file

* Add parameter to toggle ros2_control

* Parameter load_ros2_control enables or disables the inclusion
of ros2_control elements in the urdf generation

* meca_500_r3_macro.xacro renamed to just meca_500_r3.xacro

mecademic_description/CMakeLists.txt

@@ -1,10 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(mecademic_description)
 
-find_package(catkin REQUIRED COMPONENTS)
+find_package(ament_cmake REQUIRED)
 
-catkin_package()
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
+install(
+  DIRECTORY launch meshes rviz urdf
+  DESTINATION share/${PROJECT_NAME}
 )
+
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+ament_package()

mecademic_description/launch/.gitignore

@@ -0,0 +1 @@
+__pycache__

mecademic_description/launch/view_meca500_r3.launch.py

@@ -0,0 +1,90 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "name",
+            default_value="meca_500_r3",
+            description="Name of the mecademic robot",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="mecademic_description",
+            description="Description package with robot URDF/XACRO files.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="meca_500_r3.urdf.xacro",
+            description="URDF/XACRO description file with the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "prefix",
+            default_value='""',
+            description="Prefix of the joint names, useful for \
+        multi-robot setup. If changed than also joint names in the controllers' configuration \
+        have to be updated.",
+        )
+    )
+
+    # Initialize Arguments
+    description_package = LaunchConfiguration("description_package")
+    description_file = LaunchConfiguration("description_file")
+    name = LaunchConfiguration("name")
+    prefix = LaunchConfiguration("prefix")
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
+            " ",
+            "name:=",
+            name,
+            " ",
+            "prefix:=",
+            prefix,
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare(description_package), "rviz", "view_robot.rviz"]
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    nodes_to_start = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes_to_start)

mecademic_description/package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>mecademic_description</name>
   <version>1.0.0</version>
   <description>The mecademic_description package</description>
@@ -9,10 +10,14 @@
 
   <license>MIT</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

mecademic_description/rviz/view_robot.rviz

@@ -0,0 +1,196 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 1096
+  - 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
+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:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link_inertia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        upper_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_3_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    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
+      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: 3.493516445159912
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0457618348300457
+        Y: -0.07058511674404144
+        Z: 0.49734944105148315
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.15039828419685364
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.5353983640670776
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1379
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 0
+  Y: 30