/SP2_CONTROL

Framework of a control-system which based on ros2-control and Gazebo.

Primary LanguageC++

SP2_CONTROL

Features

  • 基于ros2_control开发
  • 支持Ignition-Fortress(humble)仿真环境
  • SP_CONTROL在ROS2上的重写，使用逻辑相近
  • 更易使用的底层设备接口

Ignition仿真环境配置

NOTE: 如果使用虚拟机，请关闭设置中的3D加速功能，否则可能引起渲染错误。

  1. 安装Ignition-Fortress(Humble)版本

    sudo apt-get update
sudo apt-get install lsb-release wget gnupg
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install ignition-fortress

  2. 安装ign_ros2_control插件包

    sudo apt-get update
sudo apt-get install ros-humble-ign-ros2-control

  3. 安装ros_gz包

    sudo apt-get update
sudo apt install ros-humble-ros-gz

Ignition仿真环境测试

  1. 运行命令打开仿真环境，等待模型及控制器加载完成

    ros2 launch sp2_description robot_ignition_sim.launch.py

  2. 发布运动控制话题effort_controllers/cmd_vel_unstamped

    ros2 topic pub effort_controllers/cmd_vel_unstamped geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"