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HomeworkRL2

ros2_kdl_package

📦 About

This package contains the tutorial code to create and run your ROS2 C++ node using KDL. It is supposed to be used together with the ros2_iiwa package

🔨 Build

Clone this package in the src folder of your ROS 2 workspace. Check for missing dependencies

rosdep install -i --from-path src --rosdistro humble -y

Build your new package

colcon build --packages-select ros2_kdl_package

Source the setup files

. install/setup.bash

✅ Usage

Run the node

ros2 run ros2_kdl_package ros2_kdl_node

By default the node publishes joint position commands. To use the velocity commands

ros2 run ros2_kdl_package ros2_kdl_node --ros-args -p cmd_interface:=velocity

in this case the robot must be launched with the velocity interface

ros2 launch iiwa_bringup iiwa.launch.py command_interface:="velocity" robot_controller:="velocity_controller"

To use the effort commands

ros2 run ros2_kdl_package ros2_kdl_node --ros-args -p cmd_interface:=effort

in this case the robot must be launched with the velocity interface

ros2 launch iiwa_bringup iiwa.launch.py command_interface:="effort" robot_controller:="effort_controller"

Other parameters are

traj_type:=linear|circular, s_type:=trapezoidal|cubic

For instance, you can execute a cubic polinomial circular trajectory by

ros2 run ros2_kdl_package ros2_kdl_node --ros-args -p cmd_interface:=velocity -p traj_type:=circular -p s_type:=cubic

You can also launch both the robot in rviz and the kdl_node by

ros2 launch ros2_kdl_package iiwa_kdl.launch.py

By default the selected controller is the position one. The kdl_node starts 10 seconds after the simulation. If you want to use one of the velocity controllers, the command becomes

ros2 launch ros2_kdl_package iiwa_kdl.launch.py command_interface:="velocity" robot_controller:="velocity_controller" cmd_interface:=velocity

or

ros2 launch ros2_kdl_package iiwa_kdl.launch.py command_interface:=velocity robot_controller:=velocity_controller cmd_interface:=velocity ctrl:=velocity_null

or

ros2 launch ros2_kdl_package iiwa_kdl.launch.py command_interface:=velocity robot_controller:=velocity_controller cmd_interface:=velocity ctrl:=vision_ctrl

depending on which control law you want to use.

To start the action server

ros2 run ros2_kdl_package ros2_kdl_node

To start the action client

ros2 run ros2_kdl_package action_client

from two other terminals and in this order.

To test the service call, launch the simulation with the launch command and use in another terminal:

ros2 service call /world/aruco_world/set_pose ros_ign_interfaces/srv/SetEntityPose "{entity: {name: 'aruco_marker', type: 2}, pose: {position: {x: 1.0, y: 0.5, z: 0.2}}}"