ros-controls / roscon2022_workshop Goto Github PK

Similar to task 7 (mentioned in #15), we may want to clean up the task branch.

ros2 launch controlko_bringup rrbot.launch.py
[INFO] [launch]: All log files can be found below /home/mark/.ros/log/2023-11-18-10-51-14-714783-mark-desktop-29875
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable '[<launch.substitutions.text_substitution.TextSubstitution object at 0xffffa4d32200>]' not found on the PATH

when i run this command on arm64 computer ,there is the error, and how to solve the ERROR?

Error when running task 7 solution with command below:
ros2 launch controlko_bringup rrbot.launch.py use_mock_hardware:=false

[INFO] [launch]: All log files can be found below /home/wmiii/.ros/log/2023-06-30-18-59-15-063098-wmiii-desktop-273062
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [273065]
[INFO] [robot_state_publisher-2]: process started with pid [273067]
[ros2_control_node-1] [INFO] [1688122755.844726183] [resource_manager]: Loading hardware 'rrbot'
[ros2_control_node-1] [INFO] [1688122755.845473834] [resource_manager]: Initialize hardware 'rrbot'
[ros2_control_node-1] [INFO] [1688122755.845807885] [resource_manager]: Successful initialization of hardware 'rrbot'
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1] what(): Wrong state or command interface configuration.
[ros2_control_node-1] missing state interfaces:
[ros2_control_node-1]
[ros2_control_node-1] missing command interfaces:
[ros2_control_node-1] ' flange_gpios/digital_out_1 ' ' flange_gpios/digital_out_2 '

After changing info_.sensors[0] to info_.gpios[0] in the codes below and build the package, the problem was solved.
https://github.com/ros-controls/roscon2022_workshop/blob/81d162645c7d0cc0d4376fefe49e802e7380e897/controlko_hardware_interface/src/rrbot_hardware_interface.cpp#L113C1-L118C4

Source: https://discourse.ros.org/t/new-packages-for-ros-2-rolling-ridley-2023-01-06/29094

Therefore, installing the repo using rosdep install -y -i --from-paths . is not completely successful.

The command
ros2 launch controlko_bringup rrbot.launch.py
doesn't work for FCC. Instead
ros2 launch controlko_bringup rrbot.launch.py robot_controller:=forward_position_controller
works.

A comparison of the solution and the task branch: 7-robot-hardware-interface/task...7-robot-hardware-interface/solution

After discussing with @destogl , we have the following TODOs for the Task 1:

1. Keep the branches of task and solution and rename them to 1-rrbot-description/task and 1-rrbot-description/solution (Instead of 1-robot-description)

2. In the branch 1-rrbot-description/task,

• the users do not have to create a new package (the current description tells them to do so) -> adjust the description
• the users should create xacro files and write the xacro files from scratch (there are already xacro files in the repo). -> remove all the xacro files and the launch file in this branch

4. The branch '1-rrbot-description/solution' is okay. Adjust the description according to the '1-rrbot-description/task'

5. We may not need the branch '1-rrbot-description' and '1-robot-description', consider deleting them.

6. Adjust the description in the master branch and keep it the same as in 1-rrbot-description/task.

The configuration file soho-12_controllers.yaml for the controller in the package controlko_bringup is empty in all three branches (mater, task, and solution).

It causes the following problem while launching the test:

[ros2_control_node-1] [ERROR] [1677429499.879219694] [controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'.
[spawner-3] [FATAL] [1677429499.880274216] [spawner_joint_state_broadcaster]: Failed loading controller joint_state_broadcaster
[ros2_control_node-1] [ERROR] [1677429503.748211370] [controller_manager]: The 'type' param was not defined for 'displacement_controller'.
[spawner-5] [FATAL] [1677429503.748720147] [spawner_displacement_controller]: Failed loading controller displacement_controller

A link for more details needs to be added at the end of what is ros2_control

The description tells us to implement the hardware_interface from scratch and adjust the URDF file.

However, there seem to be some implementations in the task branch 7-robot-hardware-interface/task. If that is not expected, we may want to remove the following files:

• controlko_hardware_interface/include/controlko_hardware_interface/rrbot_hardware_interface.hpp
• controlko_hardware_interface/src/rrbot_hardware_interface.cpp

For more details, please see the comparison: 7-robot-hardware-interface/task...7-robot-hardware-interface/solution#diff-f8f14cecf04745bc6fe784bf25f31897dac3189eb240d11e3900fc1182fd17c6