gazebo_ros2_control

ROS2 Distro	Build Status	Package build

This is a ROS 2 package for integrating the ros2_control controller architecture with the Gazebo simulator.

This package provides a Gazebo plugin which instantiates a ros2_control controller manager and connects it to a Gazebo model.

Usage

This repository contains the contents for testing gazebo_ros2_control

It is running Gazebo and some other ROS 2 nodes.

Video + Pictures

Running

Modifying or building your own

cd Docker
docker build -t gazebo_ros2_control .

To run the demo

Using Docker

Docker allows us to run the demo without GUI if we don’t configure it properly. The following command runs the demo without GUI:

docker run -it --rm --name gazebo_ros2_control_demo --net host gazebo_ros2_control ros2 launch gazebo_ros2_control_demos cart_example_position.launch.py gui:=false

The in your local machine you can run the Gazebo client:

gzclient

Using Rocker

To run the demo with GUI we are going to use rocker which is a tool to run docker images with customized local support injected for things like nvidia support. And user id specific files for cleaner mounting file permissions. You can install this tool with the following instructions.

The following command will launch Gazebo:

rocker --x11 --nvidia --name gazebo_ros2_control_demo gazebo_ros2_control:latest

The following commands allow to move the cart in the rail:

docker exec -it gazebo_ros2_control_demo bash
source /home/ros2_ws/install/setup.bash
ros2 run gazebo_ros2_control_demos example_position

Add ros2_control tag to a URDF

To use ros2_control with your robot, you need to add some additional elements to your URDF. You should include the tag <ros2_control> to access and control the robot interfaces. We should include

• a specific <plugin> for our robot
• <joint> tag including the robot controllers: commands and states.

<ros2_control name="GazeboSystem" type="system">
  <hardware>
    <plugin>gazebo_ros2_control/GazeboSystem</plugin>
  </hardware>
  <joint name="slider_to_cart">
    <command_interface name="effort">
      <param name="min">-1000</param>
      <param name="max">1000</param>
    </command_interface>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>
</ros2_control>

Using mimic joints in simulation

To use mimic joints in gazebo_ros2_control you should define its parameters to your URDF. We should include:

• <mimic> tag to the mimicked joint ([detailed manual(https://wiki.ros.org/urdf/XML/joint))

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