Pacote Ros 2 com o Modelo de um Robô Manipulador

Pacote ROS 2 com o Modelo de um Robô Manipulador Walter Fetter Lages fetter@ece.ufrgs.br Universidade Federal do Rio Grande do Sul Escola de Engenharia Departamento de Sistemas Elétricos de Automação e Energia ENG10026 Robótica A Copyright (c) Walter Fetter Lages – p. 1 Robô Quanser 2DSFJ • Possui juntas flexíveis • Serão consideradas juntas rígidas Copyright (c) Walter Fetter Lages – p. 2 Pacote para Descrever o Robô q2d_description/ CMakeLists.txt LICENSE config/ controller_manager.yaml display.rviz gazebo.yaml env-hooks/ q2d_description.dsv.in launch/ display.launch.xml gazebo.launch.xml ignition.launch.xml q2d.launch.xml ... Copyright (c) Walter Fetter Lages – p. 3 Pacote para Descrever o Robô ... meshes/ base.STL collision/ elbow_active.STL elbow_passive.STL shoulder_active.STL shoulder_passive.STL elbow_active.STL elbow_passive.STL shoulder_active.STL shouder_passive.STL package.xml urdf/ q2d.urdf Copyright (c) Walter Fetter Lages – p. 4 Criação do Pacote source ~/colcon_ws/install/setup.bash cd ~/colcon_ws/src ros2 pkg create q2d_description colcon_ws/ build/ install/ log/ src/ q2d_description/ CMakeLists.txt package.xml Copyright (c) Walter Fetter Lages – p. 5 package.xml • Editar o arquivo package.xml para preenchimento dos meta-dados do pacote • Descrição • Mantenedor • Licença • Dependências • Exportações <export> <build_type>ament_cmake</build_type> <gazebo_ros gazebo_model_path="${prefix}/.."/> </export> cd q2d_description nano package.xml Copyright (c) Walter Fetter Lages – p. 6 CMakeLists.txt • Editar CMakeLists.txt para incluir a tag: install(DIRECTORY config launch urdf meshes rviz DESTINATION share/${PROJECT_NAME} ) ament_environment_hooks("${ CMAKE_CURRENT_SOURCE_DIR}/env−hooks/${ PROJECT_NAME}.dsv.in") Copyright (c) Walter Fetter Lages – p. 7 q2d_description.dsv.in • Deve ser criado no diretório env-hooks • Configura o ambiente para o Ignition encontrar os arquvios de mesh • Força o uso de GL 3.3 prepend−non−duplicate;IGN_GAZEBO_RESOURCE_PATH;share set−if−unset;MESA_GL_VERSION_OVERRIDE;3.3 Copyright (c) Walter Fetter Lages – p. 8 Modelo em URDF • urdf/q2d.urdf <?xml version="1.0"?> <robot name="q2d"> <link name="origin_link"/> <link name="base_link"> <inertial> <origin xyz="0.074571214 −0.00008502114 0.039600060500000"/> <mass value="6.9621272394"/> <inertia ixx="0.12983348950453222" ixy="0.00004414079177225" ixz="−0.03019200341025967" iyy="0.17857934382693791" iyz="0.00000393635720902" izz="0.25812143874621400" /> </inertial> Copyright (c) Walter Fetter Lages – p. 9 Modelo em URDF <visual> <geometry> <mesh filename="package://q2d_description/meshes/base.STL"/> </geometry> <material name="base_material"> <color rgba="0.55 0.45 0.45 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://q2d_description/meshes/base.STL"/> </geometry> </collision> </link> Copyright (c) Walter Fetter Lages – p. 10 Modelo em URDF <joint name="origin_joint" type="fixed"> <parent link="origin_link"/> <child link="base_link"/> </joint> <link name="shoulder_active_link"> <inertial> <origin xyz="0.0252456823 −0.00000002723 0.06470401873"/> <mass value="0.19730261508"/> <inertia ixx="0.00038685518702305" ixy="0.00000000055222416" ixz="−0.00000031340718614" iyy="0.00010241438913870" iyz="−0.00000000015426019" izz="0.00047879093657893" /> </inertial> Copyright (c) Walter Fetter Lages – p. 11 Modelo em URDF <visual> <geometry> <mesh filename="package://q2d_description/meshes/shoulder_active. STL"/> </geometry> <material name="shoulder_active_material"> <color rgba="0.55 0.55 0.45 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://q2d_description/meshes/collision/ shoulder_active.STL"/> </geometry> </collision> </link> Copyright (c) Walter Fetter Lages – p. 12 Modelo em URDF <joint name="shoulder_active_joint" type="revolute"> <parent link="base_link"/> <child link="shoulder_active_link"/> <origin xyz="0 0 0.1477"/> <axis xyz="0 0 1"/> <limit lower="−1.570796326794897" upper="1.570796326794897" velocity="2.27" effort="27.94" /> <dynamics damping="29.7914" /> </joint> <link name="shoulder_passive_link"> <inertial> <mass value="1.26475817816"/> <origin xyz="0.16516344805 −0.00048428845 −0.00016382412"/> <inertia ixx="0.00346199967740929" ixy="−0.00010902049981923" ixz="−0.00401182173261703" iyy="0.03314904030482527" iyz="0.00005087359051462" izz="0.03113579694057124" /> </inertial> Copyright (c) Walter Fetter Lages – p. 13 Modelo em URDF <visual> <geometry> <mesh filename="package://q2d_description/meshes/ shoulder_passive.STL"/> </geometry> <material name="shoulder_passive_material"> <color rgba="0.45 0.55 0.45 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://q2d_description/meshes/collision/ shoulder_passive.STL"/> </geometry> </collision> </link> Copyright (c) Walter Fetter Lages – p. 14 Modelo em URDF <joint name="shoulder_passive_joint" type="fixed"> <parent link="shoulder_active_link"/> <child link="shoulder_passive_link"/> </joint> <link name="elbow_active_link"> <inertial> <mass value="0.19712951877"/> <origin xyz="0.02548273493 −0.00000002263 0.05254513577"/> <inertia ixx="0.00038850510800265" ixy="0.00000000052121416" ixz="0.00000404728675587" iyy="0.00010146693248154" iyz="0.00000000002789435" izz="0.00048091942023028" /> </inertial> Copyright (c) Walter Fetter Lages – p. 15 Modelo em URDF <visual> <geometry> <mesh filename="package://q2d_description/meshes/elbow_active. STL"/> </geometry> <material name="elbow_active_material"> <color rgba="0.45 0.55 0.55 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://q2d_description/meshes/collision/ elbow_active.STL"/> </geometry> </collision> </link> Copyright (c) Walter Fetter Lages – p. 16 Modelo em URDF <joint name="elbow_active_joint" type="revolute"> <parent link="shoulder_passive_link"/> <child link="elbow_active_link"/> <origin xyz="0.343 0 0"/> <axis xyz="0 0 1"/> <limit lower="−1.570796326794897" upper="1.570796326794897" velocity="23.08" effort="13.62" /> <dynamics damping="2.6404" /> </joint> <link name="elbow_passive_link"> <inertial> <mass value="0.67529215765"/> <origin xyz="0.06204831581 0.00000013809 0.01489882531"/> <inertia ixx="0.00132247071698947" ixy="−0.00000000605403474" ixz="−0.00090893541574333" iyy="0.00774007102253750" iyz="0.00000000624688369" izz="0.00751638349361413" /> </inertial> Copyright (c) Walter Fetter Lages – p. 17 Modelo em URDF <visual> <geometry> <mesh filename="package://q2d_description/meshes/elbow_passive. STL"/> </geometry> <material name="elbow_passive_material"> <color rgba="0.45 0.45 0.55 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://q2d_description/meshes/collision/ elbow_passive.STL"/> </geometry> </collision> </link> Copyright (c) Walter Fetter Lages – p. 18 Modelo em URDF <joint name="elbow_passive_joint" type="fixed"> <parent link="elbow_active_link"/> <child link="elbow_passive_link"/> </joint> <link name="tool_link"/> <joint name="end_joint" type="fixed"> <parent link="elbow_passive_link"/> <child link="tool_link"/> <origin xyz="0.267 0 0"/> </joint> Copyright (c) Walter Fetter Lages – p. 19 Modelo em URDF <transmission name="shoulder_active_transmission"> <type>transmission_interface/SimpleTransmission</type> <joint name="shoulder_active_joint"> <hardwareInterface>hardware_interface/EffortJointInterface</ hardwareInterface> </joint> <actuator name="shoulder_motor"> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> Copyright (c) Walter Fetter Lages – p. 20 Modelo em URDF <transmission name="elbow_active_transmission"> <type>transmission_interface/SimpleTransmission</type> <joint name="elbow_active_joint"> <hardwareInterface>hardware_interface/EffortJointInterface</ hardwareInterface> </joint> <actuator name="elbow_motor"> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> Copyright (c) Walter Fetter Lages – p. 21 Modelo em URDF <gazebo reference="base_link"> <visual> <material> <ambient>0.55 0.45 0.45 1.0</ambient> <diffuse>0.55 0.45 0.45 1.0</diffuse> <specular>0.55 0.45 0.45 1.0</specular> <emissive>0.0 0.0 0.0 0.0</emissive> </material> </visual> </gazebo> Copyright (c) Walter Fetter Lages – p. 22 Modelo em URDF <gazebo reference="shoulder_active_link"> <visual> <material> <ambient>0.55 0.55 0.45 1.0</ambient> <diffuse>0.55 0.55 0.45 1.0</diffuse> <specular>0.55 0.55 0.45 1.0</specular> <emissive>0.0 0.0 0.0 0.0</emissive> </material> </visual> </gazebo> Copyright (c) Walter Fetter Lages – p. 23 Modelo em URDF <gazebo reference="shoulder_passive_link"> <visual> <material> <ambient>0.55 0.45 0.45 1.0</ambient> <diffuse>0.55 0.45 0.45 1.0</diffuse> <specular>0.55 0.45 0.45 1.0</specular> <emissive>0.0 0.0 0.0 0.0</emissive> </material> </visual> </gazebo> Copyright (c) Walter Fetter Lages – p. 24 Modelo em URDF <gazebo reference="elbow_active_link"> <visual> <material> <ambient>0.45 0.55 0.55 1.0</ambient> <diffuse>0.45 0.55 0.55 1.0</diffuse> <specular>0.45 0.55 0.55 1.0</specular> <emissive>0.0 0.0 0.0 0.0</emissive> </material> </visual> </gazebo> Copyright (c) Walter Fetter Lages – p. 25 Modelo em URDF <gazebo reference="elbow_passive_link"> <visual> <material> <ambient>0.45 0.45 0.45 1.0</ambient> <diffuse>0.45 0.45 0.45 1.0</diffuse> <specular>0.45 0.45 0.45 1.0</specular> <emissive>0.0 0.0 0.0 0.0</emissive> </material> </visual> </gazebo> Copyright (c) Walter Fetter Lages – p. 26 Modelo em URDF • Interface de hardware do Gazebo para o ros2_control <ros2_control name="GazeboSystem" type="system"> <hardware> <plugin>gazebo_ros2_control/GazeboSystem</plugin> </hardware> <joint name="shoulder_active_joint"> <command_interface name="effort"> <param name="min">−27.94</param> <param name="max">27.94</param> </command_interface> <state_interface name="position"/> <state_interface name="velocity"/> <state_interface name="effort"/> </joint> Copyright (c) Walter Fetter Lages – p. 27 Modelo em URDF <joint name="elbow_active_joint"> <command_interface name="effort"> <param name="min">−13.62</param> <param name="max">13.62</param> </command_interface> <state_interface name="position"/> <state_interface name="velocity"/> <state_interface name="effort"/> </joint> </ros2_control> Copyright (c) Walter Fetter Lages – p. 28 Modelo em URDF • Plugin do Gazebo para o ros2_control <gazebo> <plugin filename="libgazebo_ros2_control.so" name=" gazebo_ros2_control"> <robot_param>robot_description</robot_param> <robot_param_node>robot_state_publisher</robot_param_node> <parameters>$(find q2d_description)/config/controller_manager.yaml </parameters> </plugin> </gazebo> Copyright (c) Walter Fetter Lages – p. 29 Modelo em URDF • Interface de hardware do Ignition para o ros2_control <!−− <ros2_control name="IgnitionSystem" type="system"> <hardware> <plugin>ign_ros2_control/IgnitionSystem</plugin> </hardware> <joint name="shoulder_active_joint"> <command_interface name="effort"> <param name="min">−27.94</param> <param name="max">27.94</param> </command_interface> <state_interface name="position"/> <state_interface name="velocity"/> <state_interface name="effort"/> </joint> Copyright (c) Walter Fetter Lages – p. 30 Modelo em URDF <joint name="elbow_active_joint"> <command_interface name="effort"> <param name="min">−13.62</param> <param name="max">13.62</param> </command_interface> <state_interface name="position"/> <state_interface name="velocity"/> <state_interface name="effort"/> </joint> </ros2_control> Copyright (c) Walter Fetter Lages – p. 31 Modelo em URDF • Plugin do Ignition para o ros2_control <gazebo> <plugin filename="libign_ros2_control−system.so" name=" ign_ros2_control::IgnitionROS2ControlPlugin"> <robot_param>robot_description</robot_param> <robot_param_node>robot_state_publisher</robot_param_node> <parameters>$(find q2d_description)/config/controller_manager.yaml </parameters> </plugin> </gazebo> −−> </robot> Copyright (c) Walter Fetter Lages – p. 32 Modelo em URDF • Editar o arquivo urdf/q2d.urdf cd ~/colcon_ws/src/q2d_description mkdir urdf cd urdf nano q2d.urdf • Ou baixar o repositório q2d cd ~/colcon_ws/src git clone −b $ROS_DISTRO http://git.ece.ufrgs.br/q2d touch q2d/q2d_bringup/COLCON_IGNORE touch q2d/q2d_teleop/COLCON_IGNORE Copyright (c) Walter Fetter Lages – p. 33 Repositório q2d q2d/ q2d_bringup/ CMakeLists.txt package.xml ... q2d_description/ CMakeLists.txt package.xml ... q2d_teleop/ CMakeLists.txt package.xml ... Copyright (c) Walter Fetter Lages – p. 34 ‘Compilar’ e Reconfigurar o Ambiente cd ~/colcon_ws colcon build −−symlink−install source ~/colcon_ws/install/setup.bash Copyright (c) Walter Fetter Lages – p. 35 Pacote joint_state_publisher_gui • Interface gráfica para obter e publicar as variáveis de junta sudo apt install ros−$ROS_DISTRO−joint−state−publisher−gui Copyright (c) Walter Fetter Lages – p. 36 Nodo joint_state_publisher_gui • Mostra janela com sliders e permite alterar as variáveis de junta • Publica as variáveis de junta no tópico /joint_states • Não se está simulando a dinâmica do robô • É como mover as juntas com a mão • Permite movimentar o robô no Rviz sem usar controlador • Não serve para movimentar o robô no Gazebo • No Gazebo é necessário usar controlador, pois a dinâmica é simulada Copyright (c) Walter Fetter Lages – p. 37 Arquivos de Launch • Arquivos de launch servem para lançar nodos • No ROS 1 são arquivos em XML • No ROS 2 podem ser em XML, Python ou YAML • Em XML e YAML nem todas as funcionalidades do ROS 2 são suportadas • São executados com o comando ros2 launch ros2 launch q2d_description display.launch.xml gui:=true Copyright (c) Walter Fetter Lages – p. 38 q2d.launch.xml • Lança o nodo robot_state_publisher • Publica as transformações entre os sistemas de coordenadas do robô no tópico /tf • Publica a descrição do robô no tópico /robot_description <launch> <arg name="use_sim_time" default="false"/> <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher"> <param name="robot_description" value="$(command ’xacro $( find−pkg−share q2d_description)/urdf/q2d.urdf’)" type="str"/> <param name="use_sim_time" value="$(var use_sim_time)"/> </node> </launch> Copyright (c) Walter Fetter Lages – p. 39 display.launch.xml <launch> <arg name="gui" default="false"/> <node pkg="tf2_ros" exec="static_transform_publisher" name=" q2d_origin_publisher" args="−−frame−id map −−child−frame−id origin_link"/> <node if="$(var gui)" name="joint_state_publisher" pkg=" joint_state_publisher_gui" exec="joint_state_publisher_gui"/> <include file="$(find−pkg−share q2d_description)/launch/q2d. launch.xml"/> <node name="rviz" pkg="rviz2" exec="rviz2" args="−d $(find−pkg −share q2d_description)/config/display.rviz"/> </launch> Copyright (c) Walter Fetter Lages – p. 40 Visualização no Rviz Copyright (c) Walter Fetter Lages – p. 41 Gráfico de Computação • Em outro terminal: source ~/colcon_ws/install/setup.bash rqt_graph & Copyright (c) Walter Fetter Lages – p. 42 ros2 topic • Listar tópicos ros2 topic list • Verificar o tipo da mensagem ros2 topic info /joint_states • Visualizar o que é publicado no tópico ros2 topic echo /joint_states • Obter a taxa com que mensagens são publicadas ros2 topic hz /joint_states Copyright (c) Walter Fetter Lages – p. 43 ros2 topic • Publicar mensagem ros2 topic pub /joint_states sensor_msgs/msg/JointState ’{name: ["shoulder_active_joint"], position: [1.0]}’ • Não é muito prático, em geral se encapsula em um script Copyright (c) Walter Fetter Lages – p. 44 Simulação no Gazebo Classic • Instalação do Gazebo Classic para uso com o ROS 2 sudo apt install gazebo sudo apt install ros−$ROS_DISTRO−gazebo−ros−pkgs Copyright (c) Walter Fetter Lages – p. 45 Simulação no Gazebo Classic • launch/gazebo.launch.xml <launch> <arg name="pause" default="true"/> <arg name="gui" default="true"/> <arg name="use_sim_time" default="true"/> <include file="$(find−pkg−share gazebo_ros)/launch/gazebo.launch.py"> <arg name="pause" value="$(var pause)"/> <arg name="gui" value="$(var gui)"/> <arg name="use_sim_time" value="$(var use_sim_time)"/> <arg name="world" value="worlds/empty_sky.world" /> <arg name="extra_gazebo_args" value="−−ros−args −−params−file $( find−pkg−share q2d_description)/config/gazebo.yaml"/> </include> Copyright (c) Walter Fetter Lages – p. 46 Simulação no Gazebo Classic <include file="$(find−pkg−share q2d_description)/launch/q2d.launch.xml" > <arg name="use_sim_time" value="$(var use_sim_time)"/> </include> <node name="q2d_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="−topic robot_description −entity q2d" /> </launch> • Executar ros2 launch q2d_description gazebo.launch.xml Copyright (c) Walter Fetter Lages – p. 47 gazebo.yaml gazebo: ros__parameters: # This is the /clock update rate publish_rate: 1000.0 Copyright (c) Walter Fetter Lages – p. 48 Simulação no Gazebo Classic Copyright (c) Walter Fetter Lages – p. 49 Gráfico de Computação • rqt_graph Copyright (c) Walter Fetter Lages – p. 50 Simulação no Gazebo Ignition • Gazebo Classic: até a versão 11, descontinuadas • Gazebo Ignition: versão 6 em diante, renomeada para Gazebo • Já instalando na variante desktop-full • Instalação do Gazebo Ignition para uso com o ROS 2 sudo sh −c ’echo "deb [arch=$(dpkg −−print−architecture)] http ://packages.ros.org/ros2/ubuntu $(lsb_release −cs) main" > / etc/apt/sources.list.d/ros2−latest.list’ curl −s https://raw.githubusercontent.com/ros/rosdistro/master/ ros.asc | sudo apt-key add − sudo apt update sudo apt install ros−$ROS_DISTRO−ros−ign Copyright (c) Walter Fetter Lages – p. 51 Simulação no Gazebo Ignition • launch/ignition.launch.xml <launch> <arg name="pause" default="true"/> <arg name="gui" default="true"/> <arg name="use_sim_time" default="true"/> <arg unless="$(var pause)" name="ign_pause" default="−r"/> <arg if="$(var pause)" name="ign_pause" default=""/> <arg unless="$(var gui)" name="ign_gui" default="−s"/> <arg if="$(var gui)" name="ign_gui" default=""/> <include file="$(find−pkg−share ros_ign_gazebo)/launch/ign_gazebo. launch.py"> <arg name="ign_args" value="$(var ign_pause) $(var ign_gui) −v 4 empty.sdf"/> </include> Copyright (c) Walter Fetter Lages – p. 52 Simulação no Gazebo Ignition <include file="$(find−pkg−share q2d_description)/launch/q2d.launch.xml" > <arg name="use_sim_time" value="$(var use_sim_time)"/> </include> <node name="q2d_spawner" pkg="ros_ign_gazebo" exec="create" args=" −topic robot_description −name q2d"/> <node name="clock_bridge" pkg="ros_ign_bridge" exec=" parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition. msgs.Clock"> <param name="use_sim_time" value="$(var use_sim_time)"/> </node> </launch> • Executar ros2 launch q2d_description ignition.launch.xml Copyright (c) Walter Fetter Lages – p. 53 Simulação no Gazebo Ignition Copyright (c) Walter Fetter Lages – p. 54 Gráfico de Computação • rqt_graph Copyright (c) Walter Fetter Lages – p. 55