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Merge pull request #4 from westonrobot/devel
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2 parents bdb50db + 4fb567e commit 2b4033d

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‎README.md‎

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@@ -80,6 +80,8 @@ Remember to source the ROS Workspace first and optionally set ROS_DOMAIN_ID
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* Bringup Robot
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```bash
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$ sudo ip link set can0 up type can bitrate 500000
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$ sudo ip link set can0 txqueuelen 1000
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$ ros2 launch wr_devkit_robot_bringup wr_devkit_robot_bringup.launch.py
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```
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```bash
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ros2 launch nav2_bringup rviz_launch.py
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```
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## Additional Notes
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* Sample launch files for ultrasonic sensors (not integrated with Nav2)
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* Ranger Mini 2.0
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```bash
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$ ros2 launch wr_devkit_robot_bringup wr_devkit_ultrasonic_bringup.launch.py
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```

‎src/wr_devkit_description/launch/wr_devkit_ultrasonic.launch.py‎

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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import Command, PathJoinSubstitution
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from launch.substitutions.launch_configuration import LaunchConfiguration
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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pkg_dir = get_package_share_directory("wr_devkit_description")
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# Create the launch configuration variables
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namespace = LaunchConfiguration("namespace")
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xacro_file = LaunchConfiguration("xacro_file")
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use_sim_time = LaunchConfiguration("use_sim_time")
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is_scout_mini = LaunchConfiguration("is_scout_mini")
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declare_use_sim_time_cmd = DeclareLaunchArgument(
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"use_sim_time",
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default_value="true",
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description="use_sim_time",
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)
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declare_robot_name_cmd = DeclareLaunchArgument(
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"robot_name", default_value="wr_devkit", description="WR Dev Kit"
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)
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declare_namespace_cmd = DeclareLaunchArgument(
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"namespace",
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default_value=LaunchConfiguration("robot_name"),
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description="Robot namespace",
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)
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declare_is_scout_mini_cmd = DeclareLaunchArgument(
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"is_scout_mini",
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default_value="false",
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description="Is Scout Mini",
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)
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xacro_file = PathJoinSubstitution(
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[pkg_dir, "urdf", "wr_devkit_ultrasonic.urdf.xacro"]
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)
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ultrasonic_tf_publisher = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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name="ultrasonic_tf_publisher",
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output="screen",
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parameters=[
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{"use_sim_time": use_sim_time},
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{
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"robot_description": Command(
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[
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"xacro",
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" ",
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xacro_file,
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" ",
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"namespace:=",
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namespace,
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" ",
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"scout_mini:=",
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is_scout_mini,
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]
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)
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},
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],
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remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Add nodes to LaunchDescription
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ld.add_action(declare_use_sim_time_cmd)
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ld.add_action(declare_robot_name_cmd)
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_is_scout_mini_cmd)
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ld.add_action(ultrasonic_tf_publisher)
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return ld

‎src/wr_devkit_description/urdf/wr_devkit_ultrasonic.urdf.xacro‎

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<?xml version="1.0"?>
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<robot name="ultrasonic_rangermini_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="scout_mini" default="false" />
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<xacro:property name="z_offset" value="0.33" />
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<xacro:property name="x1_offset" value="0.385" />
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<xacro:property name="y1_offset" value="0.165" />
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<xacro:property name="x2_offset" value="0.2725" />
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<xacro:property name="y2_offset" value="0.275" />
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<xacro:if value="$(arg scout_mini)">
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<xacro:property name="z_offset" value="0.20" />
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<xacro:property name="x1_offset" value="0.3" />
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<xacro:property name="y1_offset" value="0.16" />
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<xacro:property name="x2_offset" value="0.2" />
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<xacro:property name="y2_offset" value="0.2" />
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</xacro:if>
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<link name="base_link">
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</link>
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<link name="ultrasonic_link_0">
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</link>
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<link name="ultrasonic_link_1">
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</link>
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<link name="ultrasonic_link_2">
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</link>
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<link name="ultrasonic_link_3">
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</link>
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<link name="ultrasonic_link_4">
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</link>
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<link name="ultrasonic_link_5">
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</link>
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<link name="ultrasonic_link_6">
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</link>
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<link name="ultrasonic_link_7">
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</link>
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<joint name="ultrasonic_joint_0" type="fixed">
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<origin xyz="${x1_offset} -${y1_offset} ${z_offset}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="ultrasonic_link_0" />
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</joint>
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<joint name="ultrasonic_joint_1" type="fixed">
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<origin xyz="${x1_offset} ${y1_offset} ${z_offset}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="ultrasonic_link_1" />
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</joint>
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<joint name="ultrasonic_joint_2" type="fixed">
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<origin xyz="${x2_offset} ${y2_offset} ${z_offset}" rpy="0 0 1.5708" />
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<parent link="base_link" />
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<child link="ultrasonic_link_2" />
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</joint>
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<joint name="ultrasonic_joint_3" type="fixed">
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<origin xyz="-${x2_offset} ${y2_offset} ${z_offset}" rpy="0 0 1.5708" />
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<parent link="base_link" />
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<child link="ultrasonic_link_3" />
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</joint>
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<joint name="ultrasonic_joint_4" type="fixed">
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<origin xyz="-${x1_offset} ${y1_offset} ${z_offset}" rpy="0 0 3.1416" />
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<parent link="base_link" />
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<child link="ultrasonic_link_4" />
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</joint>
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<joint name="ultrasonic_joint_5" type="fixed">
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<origin xyz="-${x1_offset} -${y1_offset} ${z_offset}" rpy="0 0 3.1416" />
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<parent link="base_link" />
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<child link="ultrasonic_link_5" />
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</joint>
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<joint name="ultrasonic_joint_6" type="fixed">
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<origin xyz="-${x2_offset} -${y2_offset} ${z_offset}" rpy="0 0 -1.5708" />
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<parent link="base_link" />
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<child link="ultrasonic_link_6" />
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</joint>
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<joint name="ultrasonic_joint_7" type="fixed">
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<origin xyz="${x2_offset} -${y2_offset} ${z_offset}" rpy="0 0 -1.5708" />
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<parent link="base_link" />
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<child link="ultrasonic_link_7" />
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</joint>
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</robot>

‎src/wr_devkit_robot_bringup/launch/wr_devkit_ultrasonic_bringup.launch.py‎

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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, GroupAction, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node, PushRosNamespace
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition
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def generate_launch_description():
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use_namespace = LaunchConfiguration("use_namespace")
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namespace = LaunchConfiguration("namespace")
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device_path = LaunchConfiguration("device_path")
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declare_use_namespace_cmd = DeclareLaunchArgument(
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"use_namespace",
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default_value="false",
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description="Whether to apply a namespace to nodes",
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)
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declare_namespace_cmd = DeclareLaunchArgument(
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"namespace", default_value="", description="Top-level namespace"
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)
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declare_device_path_cmd = DeclareLaunchArgument(
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"device_path",
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default_value="/dev/ttyS0",
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description="Path to device port",
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)
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ultrasonic_bringup = GroupAction(
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[
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PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("wr_devkit_description"),
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"launch/wr_devkit_ultrasonic.launch.py",
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]
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)
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]
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),
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launch_arguments={}.items(),
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[
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PathJoinSubstitution(
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[
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FindPackageShare("wrp_ros2"),
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"launch/peripheral/ultrasonic_sensor.launch.py",
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]
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)
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]
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),
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launch_arguments={
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"sensor_model": "w200d",
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"device_path": device_path,
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}.items(),
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),
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]
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)
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ld = LaunchDescription()
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ld.add_action(declare_use_namespace_cmd)
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ld.add_action(declare_namespace_cmd)
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ld.add_action(declare_device_path_cmd)
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ld.add_action(ultrasonic_bringup)
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return ld

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