Steering odometry library and controllers #484

petkovich · 2022-12-21T16:36:45Z

We have noticed that the current implementations of steering mobile robot controllers (tricycle and ackermann) share much of the functionality but implement it differently. This PR proposes using a base SteeringController class/file and an implementation class/file for each mobile robot configuration. The SteeringOdometry is used for calculating open and closed loop odometry, as well as commands that need to be sent to the hardware. The new odometry fully supports different velocities of traction wheels.

This PR does not encapsulate some features that probably should be implemented in the future, for example:

support ackermann_msg reference messages

…timeout updated template/ updated .hpp of controller

…ryhere is xyz) inside generated parameters.hpp, removed _ros2 from the namespace name, pkg compiles without any error,

…os2 addition in the namespace naming of the parameters.hpp file

…interface

bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp

mergify · 2023-04-29T09:21:45Z

This pull request is in conflict. Could you fix it @petkovich?

ARK3r · 2023-05-09T20:53:31Z

I would like to start testing the ackermann controller (for personal and community gains hopefully) to expedite the process of getting these changes pushed to the repo.

I'm looking at f1tenth car with the urdf provided here.

The model looks like this:

So I'm wondering

firstly if the apache 2.0 is a good license for proceeding with getting this possibly integrated into the ros2_control demos as well and if not what other available models should I go ahead with,
and secondly I tried to build the odometry library branch of ros2_controllers from stogl-robotics-forks with ros2_control main branch and it was failing. What configuration should I use to have it build properly or are there any dockers that help me with the build?

christophfroehlich · 2023-05-10T05:46:36Z

firstly if the apache 2.0 is a good license for proceeding with getting this possibly integrated into the ros2_control demos as well and if not what other available models should I go ahead with,

Apache 2.0 is the same license as others in ros-controls, I think you can use this one.

and secondly I tried to build the odometry library branch of ros2_controllers from stogl-robotics-forks with ros2_control main branch and it was failing. What configuration should I use to have it build properly or are there any dockers that help me with the build?

The problem is that the joint_trajectory_controller does not build since we updated the controller_state message without deprecation period in the rolling branch. Try to merge the master into this branch and it should run, unless @petkovich pushes it to the PR.

steering_controllers_library/doc/userdoc.rst

christophfroehlich · 2023-05-10T06:14:08Z

steering_controllers_library/doc/userdoc.rst

+- <controller_name>/reference  [geometry_msgs/msg/TwistStamped]
+  **NOTE**: Parameter ``use_stamped_vel`` is ``true``.
+- <controller_name>/reference_unstamped   [geometry_msgs/msg/Twist]
+  **NOTE**: Parameter ``use_stamped_vel`` is ``true``.


This list is not rendered properly in rst.

What does the note mean? It expects it to be true, or it will force it to true?

Suggested change

- <controller_name>/reference [geometry_msgs/msg/TwistStamped]

**NOTE**: Parameter ``use_stamped_vel`` is ``true``.

- <controller_name>/reference_unstamped [geometry_msgs/msg/Twist]

**NOTE**: Parameter ``use_stamped_vel`` is ``true``.

- <controller_name>/reference [geometry_msgs/msg/TwistStamped]

- <controller_name>/reference_unstamped [geometry_msgs/msg/Twist]

.. note::

Parameter ``use_stamped_vel`` is ``true``.

ARK3r · 2023-05-10T18:57:02Z

I built the docker image with the steering controllers and made a bare bone ros2 package for the f1tenth urdf. I'm thinking my next step would be to port the urdf to gazebo and configure the Ackermann controller then get it to work with gazebo.

Any possible suggestions how I should alter this course of action? Should I use something besides gazebo classic? I've never used gazebo nor have I set up ros2 control before.

christophfroehlich · 2023-05-10T20:59:38Z

Then I'd suggest that first you should get familiar with the demos from ros2_control_demos. Have a look on example_2, which uses a simple simulation of the DiffBot within the hardware component. You could adapt this component to test the library of this PR.
Because this is rather off topic to this PR, please open a new issue or post it on answers.ros.org if you need further help

* fixed some time-sync related test failures Changed Times to be in RCL_ROS_TIME * needed blank line at the end of file * fully resolved time related test fails * fixed typo

* fixed some time-sync related test failures Changed Times to be in RCL_ROS_TIME * needed blank line at the end of file * fully resolved time related test fails * fixed typo * fixed not initialized test failure * removed trailing whitespace

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

bmagyar

Marking this mammoth to be auto-merged

destogl · 2023-05-27T08:45:10Z

@Mergifyio backport humble

mergify · 2023-05-27T08:45:13Z

backport humble

✅ Backports have been created

#624 Steering odometry library and controllers (backport #484) has been created for branch humble

(cherry picked from commit 45d0083)

* Steering odometry library and controllers (#484) (cherry picked from commit 45d0083) * Revert Rolling mean accumulator (#637) * Move reference timeout management into `update_and_write_commands` to have access to the proper time variable. --------- Co-authored-by: Tomislav Petković <51706321+petkovich@users.noreply.github.com> Co-authored-by: Reza Kermani <kermani.areza@gmail.com> Co-authored-by: Denis Štogl <denis@stoglrobotics.de>

Robotgir and others added 30 commits December 3, 2022 21:27

created pkg and setup controller from templates rtw

2c744de

recreated controller setup outside docker to use rtw branch with ref_…

e3be21f

…timeout updated template/ updated .hpp of controller

modified .yaml and controller methods content

c9b1dad

added odometry.hpp

568f723

modified namespace of odometry.hpp and added odometry.cpp

29ef5f8

spotted issue with namespace naming (has xyz_ros2 when namespace eve…

2671377

…ryhere is xyz) inside generated parameters.hpp, removed _ros2 from the namespace name, pkg compiles without any error,

corrected the copy paste error in the .yaml file which created the _r…

9181e18

…os2 addition in the namespace naming of the parameters.hpp file

added tests yet to debug few tests

ff4c3b9

Corrected formatting.

a1cb0bc

Delete services and comment out to compile.

afe5006

Make compilable on humble.

222a40d

Correct interfaces in ackerman controllers.

72c3ca1

all tests pass

d81513c

added test_time_stamp_zero test

82e7cf2

ackermann odometry

4d7fa99

template state publisher

6e9a519

interfaces check

8544e3c

removed publish_period related code

96a5879

compiles, tests passed, publish_period removed

29df374

state publisher

7f36236

new message published

65c69bc

added feedback_type() method to choose position or velocity hardware …

6e52043

…interface

Code optimization.

c8cbd28

Make controller to compile again.

4d6dced

added unstamped twist topic -clean commit -functional changes

4ab177b

using only one realtime buffer handle

8335f95

Debuging ackermann controller.

dc4a590

updated tests to work with twist and twist_stamped cases

0c54190

modifid config files

20f5319

modified cmakelists

0c84ca6

bmagyar added 2 commits April 12, 2023 17:48

fix format

ecdf2a5

Renovate load controller tests

d817144

bmagyar reviewed Apr 26, 2023

View reviewed changes

bicycle_steering_controller/test/test_load_bicycle_steering_controller.cpp Outdated Show resolved Hide resolved

remove typo

79f5102

christophfroehlich requested changes May 10, 2023

View reviewed changes

ARK3r added 2 commits May 19, 2023 21:11

fixed use_stamped_vel doc (#12)

96bcefa

Steering controller time related test fixes (#13)

b9bdf63

* fixed some time-sync related test failures Changed Times to be in RCL_ROS_TIME * needed blank line at the end of file * fully resolved time related test fails * fixed typo

bmagyar changed the title ~~Steering odometry library~~ Steering odometry library and controllers May 22, 2023

bmagyar and others added 2 commits May 22, 2023 20:46

Merge branch 'master' into ackermann-odometry-library

9e9007e

ros-controls deleted a comment from christophfroehlich May 26, 2023

Update style for lists in docs

a27f976

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

bmagyar approved these changes May 26, 2023

View reviewed changes

bmagyar enabled auto-merge (squash) May 26, 2023 20:38

bmagyar disabled auto-merge May 26, 2023 21:34

bmagyar merged commit 45d0083 into ros-controls:master May 26, 2023
10 of 12 checks passed

mergify bot pushed a commit that referenced this pull request May 27, 2023

Steering odometry library and controllers (#484)

4a39971

(cherry picked from commit 45d0083)

mergify bot mentioned this pull request May 27, 2023

Steering odometry library and controllers (backport #484) #624

Merged

christophfroehlich mentioned this pull request May 28, 2023

Fix sphinx for steering odometry library/controllers #626

Merged

destogl pushed a commit to StoglRobotics-forks/ros2_controllers that referenced this pull request May 31, 2023

Steering odometry library and controllers (ros-controls#484)

169ff1c

(cherry picked from commit 45d0083)

christophfroehlich mentioned this pull request Sep 29, 2023

Request: ackermann_steering_controller #194

Closed

christophfroehlich mentioned this pull request Jun 9, 2024

Ackermann preceding reference command interfaces are not correct #1167

Closed

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Steering odometry library and controllers #484

Steering odometry library and controllers #484

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Steering odometry library and controllers #484

Steering odometry library and controllers #484

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✅ Backports have been created

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