Create a demo that uses transmissions (backport #226) (#241)

* Create a demo that uses transmissions (#226) * add copy for transmission demo and set in the urdf * Renamed to rrbot_transmissions * Changed reduction value of transmission2 * Added the rrbot_transmissions_system_position_only Exact copy of rrbot_system_position_only for now. Using it from the transmission demo * Moved logger into its own variable * Uncrustify * Renamed hw interface to joint. Added actuator interfaces * Formatting. Remove comments * Using transmissions for joint and actuator interfaces Added a helper object to manage the joint to transmissions to actuator data handling * Propagating data between all the interfaces * Cleanup. Added some consts * Simulate motor motion * Added logging to periodically show interface data * Refactored the parameters a bit. Removed unused ones * Added try/catches where needed Checking joint consistency in the description not required. Already done by the parser * Added transmission demo to README * Use clang-format instead * rename transmissions ros2_control macro * Remove unnecessary actuator parameters * Typo * Removed gazebo, mock hardware and fake sensors from the transmission demo * Missing 'explicit' from constructor * Further cleanup of gazebo, mock hardware and fake sensors from the transmission demo * branding fix * Remove pointer definitions Co-authored-by: Bence Magyar <[email protected]> * Fixed comment about reserve Co-authored-by: Bence Magyar <[email protected]> * Renamed member variable and added description --------- Co-authored-by: Noel Jimenez <[email protected]> Co-authored-by: Bence Magyar <[email protected]> (cherry picked from commit 1007b1d) * Fix preformatted block * fix header guard --------- Co-authored-by: Jordan Palacios <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Mar 8, 2023 · 0572d28 · 0572d28
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diff --git a/example_1/README.rst b/example_1/README.rst
@@ -5,17 +5,17 @@ TODO(destogl): This is not adjusted yet!!
 
 *RRBot*, or ''Revolute-Revolute Manipulator Robot'', is a simple 3-linkage, 2-joint arm that we will use to demonstrate various features.
 It is essentially a double inverted pendulum and demonstrates some fun control concepts within a simulator and was originally introduced for Gazebo tutorials.
-The *RRBot* URDF files can be found in the `urdf` folder of `rrbot_description` package.
+The *RRBot* URDF files can be found in the ``urdf`` folder of ``rrbot_description`` package.
 
 1. To check that *RRBot* descriptions are working properly use following launch commands:
 
    *RRBot*
    ```
    ros2 launch rrbot_description view_robot.launch.py
    ```
-   **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`.
-   This happens because `joint_state_publisher_gui` node need some time to start.
-   The `joint_state_publisher_gui` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in `Rviz`.
+   **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``.
+   This happens because ``joint_state_publisher_gui`` node need some time to start.
+   The ``joint_state_publisher_gui`` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in ``Rviz``.
 
 
 1. To check that *RRBot* descriptions are working properly use following launch commands:
@@ -24,37 +24,37 @@ The *RRBot* URDF files can be found in the `urdf` folder of `rrbot_description`
    ```
    ros2 launch rrbot_description view_robot.launch.py
    ```
-   **NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`.
-   This happens because `joint_state_publisher_gui` node need some time to start.
-   The `joint_state_publisher_gui` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in `Rviz`.
+   **NOTE**: Getting the following output in terminal is OK: ``Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist``.
+   This happens because ``joint_state_publisher_gui`` node need some time to start.
+   The ``joint_state_publisher_gui`` provides a GUI to generate  a random configuration for rrbot. It is immediately displayed in ``Rviz``.
 
 
 1. To start *RRBot* example open a terminal, source your ROS2-workspace and execute its launch file with:
    ```
    ros2 launch ros2_control_demo_bringup rrbot.launch.py
    ```
-   The launch file loads and starts the robot hardware, controllers and opens `RViz`.
+   The launch file loads and starts the robot hardware, controllers and opens ``RViz``.
    In starting terminal you will see a lot of output from the hardware implementation showing its internal states.
    This is only of exemplary purposes and should be avoided as much as possible in a hardware interface implementation.
 
-   If you can see two orange and one yellow rectangle in in `RViz` everything has started properly.
+   If you can see two orange and one yellow rectangle in in ``RViz`` everything has started properly.
    Still, to be sure, let's introspect the control system before moving *RRBot*.
 
 1. Check if the hardware interface loaded properly, by opening another terminal and executing:
    ```
    ros2 control list_hardware_interfaces
    ```
-   You should get:
-   ```
-   command interfaces
+
+   You should get::
+
+    command interfaces
         joint1/position [claimed]
         joint2/position [claimed]
-   state interfaces
-         joint1/position
-         joint2/position
+    state interfaces
+        joint1/position
+        joint2/position
 
-   ```
-   Marker `[claimed]` by command interfaces means that a controller has access to command *RRBot*.
+   Marker ``[claimed]`` by command interfaces means that a controller has access to command *RRBot*.
 
 1. Check is controllers are running:
    ```
@@ -78,7 +78,7 @@ The *RRBot* URDF files can be found in the `urdf` folder of `rrbot_description`
    ```
    ros2 launch ros2_control_demo_bringup test_forward_position_controller.launch.py
    ```
-   You should now see orange and yellow blocks moving in `RViz`.
+   You should now see orange and yellow blocks moving in ``RViz``.
    Also, you should see changing states in the terminal where launch file is started.
 
 
@@ -94,5 +94,5 @@ Files used for this demos:
 
 
 Controllers from this demo:
-  - `Joint State Broadcaster` ([`ros2_controllers` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/joint_state_broadcaster/doc/userdoc.html)
-  - `Forward Command Controller` ([`ros2_controllers` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/forward_command_controller/doc/userdoc.html)
+  - ``Joint State Broadcaster`` ([``ros2_controllers`` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/joint_state_broadcaster/doc/userdoc.html)
+  - ``Forward Command Controller`` ([``ros2_controllers`` repository](https://github.com/ros-controls/ros2_controllers)): [doc](https://ros-controls.github.io/control.ros.org/ros2_controllers/forward_command_controller/doc/userdoc.html)
diff --git a/example_1/hardware/rrbot.hpp b/example_1/hardware/rrbot.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
-#define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
+#ifndef EXAMPLE_1__HARDWARE__RRBOT_HPP_
+#define EXAMPLE_1__HARDWARE__RRBOT_HPP_
 
 #include <memory>
 #include <string>
@@ -78,4 +78,4 @@ class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterfa
 
 }  // namespace ros2_control_demo_hardware
 
-#endif  // ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
+#endif  // EXAMPLE_1__HARDWARE__RRBOT_HPP_