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mhubiimhubii
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added dual arm demo draft (#189)
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‎lbr_demos/lbr_dual_arm_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(lbr_dual_arm_description)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(lbr_description REQUIRED)
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install(DIRECTORY ros2_control urdf
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎lbr_demos/lbr_dual_arm_description/doc/lbr_dual_arm_description.rst‎

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lbr_dual_arm_description
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========================
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This demo gives a walk through on using the ``lbr_description`` to generate a custom robot description. In this case, we will be investigating a dual-arm setup.
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.. contents:: Table of Contents
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:depth: 2
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:local:
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:backlinks: none
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Creating the Package
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--------------------
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#. Inside your workspace, create a package:
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.. code-block:: bash
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ros2 pkg create lbr_dual_arm_description \
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--build-type ament_cmake \
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--license Apache-2.0 \
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--maintainer-name mhubii \
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--maintainer-email "m.huber_1994@hotmail.de" \
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--description "A dual LBR description package using lbr_description." \
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--dependencies lbr_description
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#. Remove unused folders and create a Universal Robot Description File (URDF) folder:
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.. code-block:: bash
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cd lbr_dual_arm_description && \
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rm -r lbr_dual_arm_description/include && \
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rm -r lbr_dual_arm_description/src && \
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mkdir urdf
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Creating the Dual-arm Robot Description
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---------------------------------------
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#. Create a dual-arm robot description:
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.. code-block:: bash
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touch urdf/lbr_dual_arm.xacro
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#. Fill it with the following contents (note that `xacro <https://github.com/ros/xacro/tree/ros2>`_:octicon:`link-external` is used):
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.. code-block:: XML
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<?xml version="1.0"?>
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<robot name="lbr_dual_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- include the lbr iiwa macro -->
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<xacro:include filename="$(find lbr_description)/urdf/iiwa7/iiwa7_description.xacro" />
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<!-- add an arguent to allow for mock / hardware / gazebo -->
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<xacro:arg name="mode" default="mock" />
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<!-- add a base / floating link -->
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<link name="base_link" />
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<!-- add robot 1 via macro, note that different lbr_one_system_config.yaml are used (to
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configure port id) -->
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<xacro:iiwa7
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robot_name="lbr_one"
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mode="$(arg mode)"
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system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_one_system_config.yaml" />
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<!-- add robot 2 via macro -->
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<xacro:iiwa7
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robot_name="lbr_two"
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mode="$(arg mode)"
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system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_two_system_config.yaml" />
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</robot>
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#. Create the ROS 2 Control configuration files:
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#. Create a configurations file for the controller manager and respective controllers:
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#. FRI system configurations (only necessary when hardware is used):
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.. code-block:: bash
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cp `ros2 pkg prefix lbr_description`/share/lbr_description/ros2_control/lbr_system_config.yaml ros2_control/lbr_one_system_config.yaml && \
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cp `ros2 pkg prefix lbr_description`/share/lbr_description/ros2_control/lbr_system_config.yaml ros2_control/lbr_two_system_config.yaml
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#. Open ``lbr_two_system_config.yaml``:
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#. Change ``port_id`` to ``30201`` (or as desired, but different from ``lbr_one_system_config.yaml``)
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#. Update ``estimated_ft_sensor`` frames:
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.. code-black:: yaml
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chain_root: lbr_one_link_0 # and lbr_two_link_0 respectively
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chain_tip: lbr_one_link_ee # and lbr_two_link_0 respectively
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#. Add the following to the ``CMakeLists.txt``:
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.. code-block:: cmake
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install(DIRECTORY ros2_control urdf
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DESTINATION share/${PROJECT_NAME}
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)
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.. #. Build the package in your workspace:
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.. .. code-block:: bash
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.. colcon build --packages-select lbr_dual_arm_description --symlink-install

‎lbr_demos/lbr_dual_arm_description/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>lbr_dual_arm_description</name>
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<version>2.1.2</version>
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<description>A dual LBR description package using lbr_description.</description>
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<maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>lbr_description</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎lbr_demos/lbr_dual_arm_description/ros2_control/dual_arm_controllers.yaml‎

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# Use of /** so that the configurations hold for controller
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# managers regardless of their namespace. Usefull in multi-robot setups.
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/**/controller_manager:
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ros__parameters:
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update_rate: 100
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# ROS 2 control broadcasters
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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# # LBR ROS 2 control broadcasters
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# lbr_state_broadcaster:
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# type: lbr_ros2_control/LBRStateBroadcaster
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# ROS 2 control controllers
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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# # LBR ROS 2 control broadcasters
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# /**/lbr_state_broadcaster:
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# ros__parameters:
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# robot_name: lbr
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# ROS 2 control controllers
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/**/joint_trajectory_controller:
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ros__parameters:
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joints:
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# robot one
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- lbr_one_A1
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- lbr_one_A2
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- lbr_one_A3
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- lbr_one_A4
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- lbr_one_A5
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- lbr_one_A6
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- lbr_one_A7
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# robot two
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- lbr_two_A1
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- lbr_two_A2
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- lbr_two_A3
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- lbr_two_A4
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- lbr_two_A5
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- lbr_two_A6
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- lbr_two_A7
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command_interfaces:
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- position
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state_interfaces:
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- position
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- velocity
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state_publish_rate: 50.0
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action_monitor_rate: 20.0

‎lbr_demos/lbr_dual_arm_description/ros2_control/lbr_one_system_config.yaml‎

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# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
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hardware:
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fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
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major_version: 1
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minor_version: 15
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client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
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port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
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remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
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rt_prio: 80 # real-time priority for the control loop
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pid_p: 0.1 # P gain for the joint position (useful for asynchronous control)
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pid_i: 0.0 # I gain for the joint position command
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pid_d: 0.0 # D gain for the joint position command
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pid_i_max: 0.0 # max integral value for the joint position command
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pid_i_min: 0.0 # min integral value for the joint position command
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pid_antiwindup: false # enable antiwindup for the joint position command
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command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
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external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
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measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
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open_loop: true # KUKA works the best in open_loop control mode
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estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
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enabled: true # whether to enable the force-torque estimation
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update_rate: 100 # update rate for the force-torque estimation [Hz] (less or equal to controller manager update rate)
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rt_prio: 30 # real-time priority for the force-torque estimation
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chain_root: lbr_one_link_0
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chain_tip: lbr_one_link_ee
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damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
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force_x_th: 2.0 # x-force threshold. Only if the force exceeds this value, the force will be considered
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force_y_th: 2.0 # y-force threshold. Only if the force exceeds this value, the force will be considered
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force_z_th: 2.0 # z-force threshold. Only if the force exceeds this value, the force will be considered
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torque_x_th: 0.5 # x-torque threshold. Only if the torque exceeds this value, the torque will be considered
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torque_y_th: 0.5 # y-torque threshold. Only if the torque exceeds this value, the torque will be considered
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torque_z_th: 0.5 # z-torque threshold. Only if the torque exceeds this value, the torque will be considered

‎lbr_demos/lbr_dual_arm_description/ros2_control/lbr_two_system_config.yaml‎

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# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
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hardware:
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fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
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major_version: 1
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minor_version: 15
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client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
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port_id: 30201 # port id for the UDP communication. Useful in multi-robot setups
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remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
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rt_prio: 80 # real-time priority for the control loop
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pid_p: 0.1 # P gain for the joint position (useful for asynchronous control)
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pid_i: 0.0 # I gain for the joint position command
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pid_d: 0.0 # D gain for the joint position command
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pid_i_max: 0.0 # max integral value for the joint position command
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pid_i_min: 0.0 # min integral value for the joint position command
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pid_antiwindup: false # enable antiwindup for the joint position command
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command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
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external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
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measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
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open_loop: true # KUKA works the best in open_loop control mode
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estimated_ft_sensor: # estimates the external force-torque from the external joint torque values
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enabled: true # whether to enable the force-torque estimation
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update_rate: 100 # update rate for the force-torque estimation [Hz] (less or equal to controller manager update rate)
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rt_prio: 30 # real-time priority for the force-torque estimation
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chain_root: lbr_two_link_0
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chain_tip: lbr_two_link_ee
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damping: 0.2 # damping factor for the pseudo-inverse of the Jacobian
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force_x_th: 2.0 # x-force threshold. Only if the force exceeds this value, the force will be considered
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force_y_th: 2.0 # y-force threshold. Only if the force exceeds this value, the force will be considered
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force_z_th: 2.0 # z-force threshold. Only if the force exceeds this value, the force will be considered
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torque_x_th: 0.5 # x-torque threshold. Only if the torque exceeds this value, the torque will be considered
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torque_y_th: 0.5 # y-torque threshold. Only if the torque exceeds this value, the torque will be considered
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torque_z_th: 0.5 # z-torque threshold. Only if the torque exceeds this value, the torque will be considered

‎lbr_demos/lbr_dual_arm_description/urdf/lbr_dual_arm.xacro‎

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<?xml version="1.0"?>
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<robot name="lbr_dual_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- include the lbr iiwa macro -->
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<xacro:include filename="$(find lbr_description)/urdf/iiwa7/iiwa7_description.xacro" />
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<!-- add an arguent to allow for mock / hardware / gazebo -->
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<xacro:arg name="mode" default="mock" />
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<!-- add a base / floating link -->
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<link name="base_link" />
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<!-- add joints that connect the robots -->
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<joint name="lbr_one_base_joint" type="fixed">
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<parent link="base_link" />
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<child link="lbr_one_link_0" />
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</joint>
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<joint name="lbr_two_base_joint" type="fixed">
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<parent link="base_link" />
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<child link="lbr_two_link_0" />
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</joint>
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<!-- add robot 1 via macro, note that different lbr_one_system_config.yaml are used (to
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configure port id) -->
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<xacro:iiwa7
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robot_name="lbr_one"
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mode="$(arg mode)"
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system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_one_system_config.yaml" />
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<!-- add robot 2 via macro -->
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<xacro:iiwa7
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robot_name="lbr_two"
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mode="$(arg mode)"
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system_config_path="$(find lbr_dual_arm_description)/ros2_control/lbr_two_system_config.yaml" />
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</robot>

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