ellensohn/cps_rmp220_support
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This commit is contained in:
Björn Ellensohn 2023-07-28 11:07:50 +02:00
parent 691215370a
commit ea164a3acb
4 changed files with 163 additions and 15 deletions
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12
launch/joystick.launch.py
View File

@ -24,16 +24,7 @@ def generate_launch_description():
parameters=[joy_params, {'use_sim_time': use_sim_time}],
remappings=[('/cmd_vel','/cmd_vel_joy')]
)
# twist_stamper = Node(
# package='twist_stamper',
# executable='twist_stamper',
# parameters=[{'use_sim_time': use_sim_time}],
# remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'),
# ('/cmd_vel_out','/diff_cont/cmd_vel')]
# )
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
@ -41,5 +32,4 @@ def generate_launch_description():
description='Use sim time if true'),
joy_node,
teleop_node,
# twist_stamper
])

23
launch/robot_controller.launch.py Executable file
View File

@ -0,0 +1,23 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
control_node = Node(
package='segwayrmp',
executable='SmartCar',
name='SmartCar',
remappings=[('/cmd_vel','/cmd_vel_out')]
)
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use sim time if true'),
control_node
])

135
launch/robot_joystick.launch.py Normal file
View File

@ -0,0 +1,135 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument
from launch_ros.substitutions import FindPackageShare
from launch_ros.descriptions import ParameterValue
from launch_ros.actions import LifecycleNode
import os
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time')
joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
joy_node = Node(
package='joy',
executable='joy_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}],
)
teleop_node = Node(
package='teleop_twist_joy',
executable='teleop_node',
name='teleop_node',
parameters=[joy_params, {'use_sim_time': use_sim_time}],
remappings=[('/cmd_vel','/cmd_vel_joy')]
)
twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
twist_mux = Node(
package="twist_mux",
executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}],
#remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
)
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use sim time if true'),
joy_node,
teleop_node,
])
def generate_launch_description():
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[
FindPackageShare("bot_mini_description"),
"urdf",
"odrive_diffbot.urdf.xacro"
]
),
]
)
robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
robot_controllers = PathJoinSubstitution(
[
FindPackageShare("bot_mini_bringup"),
"config",
"diffbot_controllers.yaml",
]
)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[robot_description, robot_controllers],
output="both",
)
robot_state_pub_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
output="both",
parameters=[robot_description],
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
)
robot_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["diffbot_base_controller", "-c", "/controller_manager"],
)
joystick_spawner = Node(
package="joy",
executable="joy_node"
)
teleop_spawner = Node(
package="rmp220_teleop",
executable="rmp220_teleop",
remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
)
cam_node = Node(
package="ros2_cam_openCV",
executable="cam_node"
)
lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
lidar_node = LifecycleNode(
package='lslidar_driver',
executable='lslidar_driver_node',
name='lslidar_driver_node',
output='screen',
emulate_tty=True,
namespace='',
parameters=[lidar_dir],
)
twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
twist_mux = Node(
package="twist_mux",
executable="twist_mux",
parameters=[twist_mux_params, {'use_sim_time': False}],
remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
)
return LaunchDescription([
twist_mux
])

8
launch/rplidar.launch.py → launch/robot_lidar.launch.py
View File

@ -7,14 +7,14 @@ def generate_launch_description():
return LaunchDescription([
Node(
package='rplidar_ros',
executable='rplidar_composition',
package='sllidar_ros2',
executable='view_sllidar_launch',
output='screen',
parameters=[{
'serial_port': '/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0-port0',
'serial_port': 'usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0',
'frame_id': 'laser_frame',
'angle_compensate': True,
'scan_mode': 'Standard'
'scan_mode': 'Sensitivity'
}]
)
])