Draft: Galactic-Devel (Help wanted) #96
Conversation
…space removed mobile_base_controller namespace
Added headless launch file to mir_driver in galactic-devel
* using NavFn planner + DWB local planner
* added custom behavior tree for MiR
* added robot footprint
* adapted a few parameters
* visualization updates in rviz
|
Thanks a lot for all this work! I'll review it as soon as possible (I'm pretty swamped with work right now). Just a quick comment on one of your points:
This is really unfortunate. The problem with merging the laserscans like that is that you lose the information which frame a particular point was recorded from. At least in mapping and navigation there's some ray tracing going on between the sensor frame and the point (to determine free space), so that'll probably be a problem. Perhaps for pure localization it's going to work. I remember having to do the same hack because |
Thank you. I'm looking forward to get this one fully ported!
I used it on MiR for mapping and navigation and also SLAM with a what I called |
* Added mir_ready service as a workaround for lifecycle nodes (pythoN)
* add namespace for simulation and teleop * add namespace to gazebo entity * change to prefix only in urdfs * enable ns for joint_state_publisher * add namespace support to mir_navigation + ns instructions to readme * switched namespaces to remappings in urdfs * resolved gazeboplugin namespace errors * fixes for namespace support driver * added navigation config namespace examples * minor fixes for namespace launch and adaptions in rviz configs * fixed tf namespace bug in driver * split up of driver launch files * fixed params filename + added namespace args in nav launch * enabled qos settings for ros2 topics in driver * removed unused rviz parameter
* initial commit: added restapi state of work * added mir_ready publisher * added reliable QOS for mir_bridge_ready topic * added mir_bridge_ready=false on crash/shutdown * attribute bugfix * added readiness polling and simplified ready publishing * uneccesary main->publish_mir_ready_state: button checks bridge alive * uneccesary main->publish_mir_ready_state: button checks bridge alive * changed mir_ready pub/sub to Trigger-service * possible bugfix * changed response to success=True always and message=True/False * Revert "changed response to success=True always and message=True/False" This reverts commit f31efb8. * added custom CheckReady srv-definition * find bug in service * renamed interface to match usb_pushbutton * fixed dependency * fixed another dependency * Revert "Merge pull request #2 from niemsoen/mir-bridge-as-service-server" This reverts commit cf0f5c1, reversing changes made to 39e025e. * Use std_srvs/Trigger as mir-ready-service Type * changed structure to service-client communication * fix for build error? * wrong directory name * added logging output * bugfix * better logging * added message to response of service call * bugfix * added auth as parameter * catch token not set * bugfix response * added check for error in setting as response to service call * better log * introduced parameters for hostname and auth-token * make sure api handle is setup at launch * better function names * file rename * launch of mir driver triggers launch of restapi_server * mir_bridge creates restapi_client node * import error in mir_bridge for MirRestAPIClient * include test client for rest api * add sleep for test call * working, launch file not needed * add client in mir_bridge.py * trying to fix import * Revert "trying to fix import" This reverts commit 1a97c70. * fix for import bug * fix message type error * try to fix connection refusal of rosbridge after restapi * try to replace sleep after setTime waiting for reboot * catch CannotSendRequest * replace print with logger * disable status call * try output of get status call * wait for restapi restart working * make waiting for availability more elegant * clean-up * removed unused imports * add potential fix * Call mir_restapi_server in tendobot_driver * Added api-call abstarction layer & tested api call while bridge connected (#5) * init (#6) Co-authored-by: Sönke Niemann <[email protected]> * readme section: time sync in ros2 /w restapi * remove automatic time sync call at driver start * improved naming style in mir_restapi * catch case of no api token set, warn user * added more untested calls * added waiting condition for honking * failed try to find system time in restapi * added client for time sync * wait for service available * added requested changes Co-authored-by: relffok <[email protected]> Co-authored-by: soenke.niemann <[email protected]> Co-authored-by: Niemann <[email protected]> Co-authored-by: Sönke Niemann <[email protected]>
* fix python setuptools install error * created twist_stamper fork with fixed setuptools Co-authored-by: Sönke Niemann <[email protected]>
Co-authored-by: Sönke Niemann <[email protected]>
|
@ros-pull-request-builder retest this please |
|
That doesn't seem to have worked. Closing and reopening to trigger retesting. |
This reverts commit 39d13c9.
* separated wheel parts to simplify urdf build * Changed MiR100 mass to 78.2kg * allow urdf to parse collision parameters for gazbeo * cherry-picked intertia from 91952d8 * applied torsional force, updated contact collisons * tuned wheel frictions and contacs more
* added service to execute mission * added exec mission function * formatting outputs
Hi there,
I have started porting this package to ROS2 galactic a while ago. It was a lot of effort so far and there is still heaps to do. I wanted to get further in the development before opening a PR but because of the lack of time I am guessing it would be easiest to all work together (hopefully) on this one to move along. And finally be able to use ROS2 for all the MiR platforms.
It is still pretty rudimentary, but the simulation and driver work together with our MiR100 platform and it is great to be able to use ROS2 package once the driver connection is up and running.
Overview:
Some issues to point out:
To sum up, it is useable for a few tasks, but there is still lots of things to do and bugs to remove. Help wanted and appreciated!