MiR 100 hook and cart for ROS Noetic

README.md

@@ -30,13 +30,16 @@ This repo has been tested with the following MiR software versions:
 You can try if it works with other versions, but these are the ones that are
 known to work.
 
+It also supports the MiR hook with a connected cart (docking the cart is not simulated).
+
 
 Package overview
 ----------------
 
 * `mir_actions`: Action definitions for the MiR robot
 * `mir_description`: URDF description of the MiR robot
 * `mir_dwb_critics`: Plugins for the dwb_local_planner used in Gazebo
+* `mir_hook_description`: URDF description of the MiR hook and a cart
 * `mir_driver`: A reverse ROS bridge for the MiR robot
 * `mir_gazebo`: Simulation specific launch and configuration files for the MiR robot
 * `mir_msgs`: Message definitions for the MiR robot
@@ -130,7 +133,8 @@ roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0
 # navigation:
 roslaunch mir_navigation start_planner.launch \
     map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \
-    virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml
+    virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml \
+    mir_hook:=False
 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
 ```
 
@@ -153,6 +157,18 @@ roslaunch mir_navigation move_base.xml with_virtual_walls:=false
 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
 ```
 
+Gazebo demo (MiR with hook and cart)
+----------------------------------------
+
+To start the demo with a MiR robot that uses the hook and has a connected cart
+just add `mir_hook:=True` (note the capitalized *T* ) to the gazebo-command:
+
+```bash
+roslaunch mir_gazebo mir_maze_world.launch mir_hook:=True
+```
+
+you can then run the other commands like you would strat the normal simulation.
+
 Gazebo demo (MiR 250 in warehouse Gazebo world)
 -----------------------------------------------
 
@@ -212,7 +228,9 @@ roslaunch mir_gazebo mir_maze_world.launch tf_prefix:=mir
 roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 tf_prefix:=mir#
 roslaunch mir_navigation start_planner.launch \
         map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \
-        virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml prefix:=mir/
+        mir_hook:=False \
+        virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml \
+        prefix:=mir/
 ROS_NAMESPACE=mir rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
 
 # spawn second MiR into Gazebo
@@ -222,7 +240,9 @@ roslaunch mir_gazebo mir_gazebo_common.launch robot_x:=-2 robot_y:=-2 tf_prefix:
 roslaunch mir_navigation amcl.launch initial_pose_x:=8.0 initial_pose_y:=8.0 tf_prefix:=mir2
 roslaunch mir_navigation start_planner.launch \
         map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \
-        virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml prefix:=mir2/
+        mir_hook:=False \
+        virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml \
+        prefix:=mir2/
 ROS_NAMESPACE=mir2 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
 ```
 

mir_description/launch/mir_debug_urdf.launch

@@ -2,11 +2,13 @@
 
 <launch>
   <arg name="mir_type" default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="mir_hook"  default="False" doc="Add the MiR Hook." />
   <arg name="gui" default="true" />
 
   <!-- load MiR URDF -->
   <include file="$(find mir_description)/launch/upload_mir_urdf.launch">
     <arg name="mir_type" value="$(arg mir_type)" />
+    <arg name="mir_hook" value="$(arg mir_hook)" />
   </include>
 
   <node if="$(arg gui)"     name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />

mir_description/launch/upload_mir_urdf.launch

@@ -1,7 +1,8 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="mir_type"  default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="mir_hook"  default="False" doc="Add the MiR Hook." />
   <arg name="tf_prefix" default="" doc="TF prefix to use for all of the MiR's TF frames"/>
 
-  <param name="robot_description" command="$(find xacro)/xacro $(find mir_description)/urdf/mir.urdf.xacro mir_type:=$(arg mir_type) tf_prefix:=$(arg tf_prefix)" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find mir_description)/urdf/mir.urdf.xacro mir_type:=$(arg mir_type) tf_prefix:=$(arg tf_prefix) mir_hook:=$(arg mir_hook)" />
 </launch>

mir_description/urdf/mir.urdf.xacro

@@ -6,6 +6,14 @@
   <xacro:include filename="$(find mir_description)/urdf/include/mir_v1.urdf.xacro" />
   <xacro:include filename="$(find mir_description)/urdf/include/common.gazebo.xacro" />
 
+  <!-- MiR hook and cart -->
+  <xacro:property name="mir_hook" value="$(arg mir_hook)" />
+  <xacro:if value="${mir_hook == True}">
+    <xacro:include filename="$(find mir_hook_description)/urdf/include/mir_hook_common.urdf.xacro" />
+    <xacro:include filename="$(find mir_hook_description)/urdf/include/cart.urdf.xacro" />
+    <xacro:include filename="$(find mir_hook_description)/urdf/include/hook.urdf.xacro" />
+  </xacro:if>
+
   <xacro:arg name="tf_prefix" default="" />
   <xacro:property name="tf_prefix_" value="$(arg tf_prefix)" />
   <xacro:if value="${tf_prefix_ == ''}">

mir_gazebo/launch/mir_empty_world.launch

@@ -1,13 +1,20 @@
 <?xml version="1.0" ?>
 <launch>
+  <!-- show Gazebo gui, only start gazebo server if set to false. for headless mode set gui and teleop to false. -->
   <arg name="gui" default="true" />
+  <!-- start rqt_robot_steering to control the robot manually -->
+  <arg name="teleop" default="true" />
+  <!-- run simulation paused -->
+  <arg name="paused" default="true" />
+
   <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable, but can also be an absolute path -->
 
   <arg name="robot_x"   default="0.0" />
   <arg name="robot_y"   default="0.0" />
   <arg name="robot_yaw" default="0.0" />
 
   <arg name="mir_type" default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="mir_hook" default="False" doc="Add the MiR Hook (True/False)" />
 
   <arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
 
@@ -21,18 +28,20 @@
 
       <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="world_name" value="$(arg world_name)"/>
-        <arg name="paused" value="true" />
+        <arg name="paused" value="$(arg paused)" />
         <arg name="gui" value="$(arg gui)" />
       </include>
     </group>
 
     <group ns="$(arg namespace)">
       <!-- spawn robot and bring up controllers etc. -->
       <include file="$(find mir_gazebo)/launch/mir_gazebo_common.launch">
+        <arg name="teleop"   value="$(arg teleop)" />
         <arg name="robot_x"   value="$(arg robot_x)" />
         <arg name="robot_y"   value="$(arg robot_y)" />
         <arg name="robot_yaw" value="$(arg robot_yaw)" />
         <arg name="mir_type"  value="$(arg mir_type)" />
+        <arg name="mir_hook" value="$(arg mir_hook)" />
         <arg name="tf_prefix" value="$(arg tf_prefix)" />
       </include>
     </group>
@@ -48,17 +57,19 @@
 
       <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="world_name" value="$(arg world_name)"/>
-        <arg name="paused" value="true" />
+        <arg name="paused" value="$(arg paused)" />
         <arg name="gui" value="$(arg gui)" />
       </include>
     </group>
 
     <!-- spawn robot and bring up controllers etc. -->
     <include file="$(find mir_gazebo)/launch/mir_gazebo_common.launch">
+      <arg name="teleop"   value="$(arg teleop)" />
       <arg name="robot_x"   value="$(arg robot_x)" />
       <arg name="robot_y"   value="$(arg robot_y)" />
       <arg name="robot_yaw" value="$(arg robot_yaw)" />
-        <arg name="mir_type"  value="$(arg mir_type)" />
+      <arg name="mir_type"  value="$(arg mir_type)" />
+      <arg name="mir_hook"  value="$(arg mir_hook)" />
       <arg name="tf_prefix" value="$(arg tf_prefix)" />
     </include>
   </group>

mir_gazebo/launch/mir_gazebo_common.launch

@@ -5,25 +5,35 @@
   <arg name="robot_yaw" default="0.0" />
 
   <arg name="mir_type" default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="mir_hook" default="False" doc="Add the MiR Hook" />
 
   <arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
 
   <arg name="prefix" value="$(arg tf_prefix)/" if="$(eval tf_prefix != '')" /> <!-- $(arg prefix) is used in all the config files! TODO: For multiple robots, create groups when loading the parameters to overwrite the arg? -->
   <arg name="prefix" value=""                  unless="$(eval tf_prefix != '')" />
 
-  <arg name="model_name" default="mir" doc="Name of the Gazebo robot model (needs to be different for each robot)" />
+  <!-- start rqt_robot_steering to control the robot manually -->
+  <arg name="teleop" default="true" />
 
+  <arg name="model_name" default="mir" doc="Name of the Gazebo robot model (needs to be different for each robot)" />
 
   <!-- Load URDF -->
   <include file="$(find mir_description)/launch/upload_mir_urdf.launch">
     <arg name="mir_type" value="$(arg mir_type)" />
+    <arg name="mir_hook" value="$(arg mir_hook)" />
     <arg name="tf_prefix" value="$(arg tf_prefix)" />
   </include>
 
   <!-- Spawn the robot into Gazebo -->
   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model $(arg model_name)
     -x $(arg robot_x) -y $(arg robot_y) -Y $(arg robot_yaw) " />
 
+  <!-- control params for the hook -->
+  <rosparam command="load"
+    file="$(find mir_hook_description)/urdf/config/gazebo_ros_control_params.yaml"
+    if="$(eval mir_hook == True)" />
+
+
   <!-- Load ros_control controller configurations -->
   <rosparam file="$(find mir_description)/config/joint_state_controller.yaml" command="load" />
   <rosparam file="$(find mir_description)/config/diffdrive_controller.yaml" command="load" subst_value="true" />
@@ -47,7 +57,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />
 
   <!-- Load teleop -->
-  <node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
+  <node if="$(arg teleop)" name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
     <param name="default_topic" value="cmd_vel"/>
     <param name="default_vx_max" value="1.0" />
     <param name="default_vx_min" value="-1.0" />

mir_gazebo/launch/mir_maze_world.launch

@@ -1,12 +1,18 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="gui" default="true" />
-  <arg name="mir_type" default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="paused" default="true" />
+  <arg name="teleop" default="true" />
+  <arg name="mir_type" default="mir_100" doc="The MiR variant. Can be 'mir_100' or 'mir_100' for now." />
+  <arg name="mir_hook" default="False" doc="Add the MiR Hook" />
   <arg name="tf_prefix" default="" doc="tf_prefix to be used by gazebo plugins and in the robot's urdf etc." />
 
   <include file="$(find mir_gazebo)/launch/mir_empty_world.launch">
     <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)" />
+    <arg name="teleop" value="$(arg teleop)" />
     <arg name="mir_type" value="$(arg mir_type)" />
+    <arg name="mir_hook" value="$(arg mir_hook)" />
     <arg name="tf_prefix" value="$(arg tf_prefix)" />
   </include>
 

mir_gazebo/package.xml

@@ -28,4 +28,5 @@
   <exec_depend>rostopic</exec_depend>
   <exec_depend>rqt_robot_steering</exec_depend>
   <exec_depend>topic_tools</exec_depend>
+  <exec_depend>mir_hook_description</exec_depend>
 </package>

mir_hook_description/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.5.1)
+cmake_policy(SET CMP0048 NEW)
+project(mir_hook_description)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+#############
+## Install ##
+#############
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+  meshes
+  urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+# roslaunch_add_file_check(launch)

mir_hook_description/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mir_hook_description</name>
+  <version>1.0.7</version>
+  <description>URDF description of the MiR100 robot with hook and cart</description>
+
+  <maintainer email="[email protected]">Dennis Mronga</maintainer>
+  <author email="[email protected]">Dennis Mronga</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>mir_description</exec_depend>
+</package>

mir_hook_description/urdf/config/gazebo_ros_control_params.yaml

@@ -0,0 +1,10 @@
+gazebo_ros_control:
+  pid_gains:
+    Pan_Axis:
+      p: 1
+      i: 1
+      d: 1
+    Tilt_Axis:
+      p: 1
+      i: 1
+      d: 1