added name for ign_ros2_controller

Signed-off-by: Jakub Delicat <[email protected]>
husarion · Dec 29, 2023 · ec1ce0a · ec1ce0a
1 parent 712cd9d
commit ec1ce0a
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Showing 6 changed files with 40 additions and 8 deletions.
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
@@ -10,7 +10,7 @@ repositories:
   rosbot_controllers:
     type: git
     url: https://github.com/husarion/rosbot_controllers
-    version: main
+    version: update-params
   # Waiting for backporting to the humble version
   # https://github.com/ros-controls/ros2_controllers/pull/726 and
   # https://github.com/ros-controls/ros2_controllers/pull/831

diff --git a/rosbot/rosbot_simulation.repos b/rosbot/rosbot_simulation.repos
@@ -1,7 +1,8 @@
 repositories:
   gazebosim/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
+    # Added feature with control manager name. Waiting on https://github.com/ros-controls/gz_ros2_control/pull/212
+    url: https://github.com/delihus/gz_ros2_control/tree/humble
     version: humble
 
   husarion/husarion_office_gz:

diff --git a/rosbot_controller/config/diff_drive_controller.yaml b/rosbot_controller/config/diff_drive_controller.yaml
@@ -1,3 +1,15 @@
+/**/simulation_controller_manager:
+  ros__parameters:
+    use_sim_time: True
+    update_rate: 20 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    rosbot_base_controller:
+      type: diff_drive_controller/DiffDriveController
+    imu_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
 /**/controller_manager:
   ros__parameters:
     use_sim_time: False
@@ -13,6 +25,7 @@
 /**/imu_broadcaster:
   ros__parameters:
     tf_frame_prefix_enable: false
+    use_namespace_as_sensor_name_prefix: true
 
     sensor_name: imu
     frame_id: imu_link

diff --git a/rosbot_controller/config/mecanum_drive_controller.yaml b/rosbot_controller/config/mecanum_drive_controller.yaml
@@ -1,6 +1,18 @@
+/**/simulation_controller_manager:
+  ros__parameters:
+    use_sim_time: True
+    update_rate: 20 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    rosbot_base_controller:
+      type: mecanum_drive_controller/MecanumDriveController
+    imu_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
 /**/controller_manager:
   ros__parameters:
-    use_sim_time: false
+    use_sim_time: False
     update_rate: 20 # Hz
 
     joint_state_broadcaster:
@@ -13,6 +25,7 @@
 /**/imu_broadcaster:
   ros__parameters:
     tf_frame_prefix_enable: false
+    use_namespace_as_sensor_name_prefix: true
 
     sensor_name: imu
     frame_id: imu_link
@@ -33,9 +46,8 @@
     wheel_separation_y: 0.192
     wheel_radius: 0.047
 
-
-    wheel_separation_multiplier_x: 1.0
-    wheel_separation_multiplier_y: 1.0
+    wheel_separation_x_multiplier: 1.0
+    wheel_separation_y_multiplier: 1.0
 
     wheel_radius_multiplier: 1.0
 

diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -79,9 +79,13 @@ def generate_launch_description():
         ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "/'"]
     )
 
+    in_case_simulation_controller_name = PythonExpression(
+        ["'simulation_controller_manager'", " if '", use_sim, "' else 'controller_manager'"]
+    )
+
     controller_manager_name = LaunchConfiguration(
         "controller_manager_name",
-        default=[namespace_ext, "controller_manager"],
+        default=[namespace_ext, in_case_simulation_controller_name],
     )
 
     # Get URDF via xacro

diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -3,7 +3,7 @@
   <xacro:macro name="rosbot_robot" params="mecanum use_sim use_gpu simulation_engine namespace ">
 
     <xacro:if value="${namespace == 'None'}">
-      <xacro:property name="namespace_ext" value="/" />
+      <xacro:property name="namespace_ext" value="" />
       <xacro:property name="gz_control_namespace" value="/" />
     </xacro:if>
     <xacro:unless value="${namespace == 'None'}">
@@ -132,6 +132,8 @@
               <parameters>$(find rosbot_controller)/config/diff_drive_controller.yaml</parameters>
             </xacro:unless>
 
+            <controller_manager_name>simulation_controller_manager</controller_manager_name>
+
             <ros>
               <namespace>${gz_control_namespace}</namespace>
               <remapping>rosbot_base_controller/cmd_vel_unstamped:=cmd_vel</remapping>