first pass at jazzy implementation of some jackal packages

jackal_control/CHANGELOG.rst

@@ -2,32 +2,39 @@
 Changelog for package jackal_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.8.8 (2023-06-05)
+1.0.4 (2023-04-20)
 ------------------
+* Remove gravitational acceleration in ekf_node
+* Contributors: Roni Kreinin
 
-0.8.7 (2023-04-19)
+1.0.3 (2023-02-08)
 ------------------
 
-0.8.6 (2022-11-16)
+1.0.2 (2023-02-02)
 ------------------
+* Uncomment dependency on imu_filter_madgwick; it is now installable as a deb in Foxy.
+* Contributors: Joey Yang
 
-0.8.5 (2022-05-17)
-------------------
-
-0.8.4 (2022-05-09)
-------------------
-* Disable absolute yaw in default imu configuration
-* Set subst_value=true when loading the control_extras file to allow envar-defined configuration inside the file
-* Contributors: Chris I-B, Chris Iverach-Brereton
-
-0.8.3 (2022-03-08)
+1.0.1 (2022-10-14)
 ------------------
+* [jackal_control] Fixed wrong dependency.
+* Contributors: Tony Baltovski
 
-0.8.2 (2022-02-15)
-------------------
-* Updated control.launch to new microstrain envvars and moved definition of ekf-localization paramaters into it
-* Added Microstrain GX5 to jackal_control
-* Contributors: Luis Camero
+1.0.0 (2022-09-27)
+------------------
+* Updated all packages to 0.8.5.
+* Added sim support
+* Use Substitions for launch files
+  Added back CHANGELOG.rst
+* Fixed imu filter node name
+  Updated scan topic to use /front/scan by default
+* Control fixes
+* Use IMU filter
+* Minor cleanup
+* 50Hz controller
+* ROS2 jackal_control
+* ROS 2 Port
+* Contributors: David V. Lu, Roni Kreinin, Tony Baltovski
 
 0.8.1 (2022-01-18)
 ------------------

jackal_control/CMakeLists.txt

@@ -1,13 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(jackal_control)
 
-find_package(catkin REQUIRED COMPONENTS roslaunch)
-
-catkin_package()
-
-roslaunch_add_file_check(launch/control.launch)
-roslaunch_add_file_check(launch/teleop.launch)
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY config launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
 )
+
+ament_package()

jackal_control/config/control.yaml

@@ -1,40 +1,67 @@
-jackal_joint_publisher:
-  type: "joint_state_controller/JointStateController"
-  publish_rate: 50
+controller_manager:
+  ros__parameters:
+    update_rate: 50  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    jackal_velocity_controller:
+      type: diff_drive_controller/DiffDriveController
 
 jackal_velocity_controller:
-  type: "diff_drive_controller/DiffDriveController"
-  left_wheel: ['front_left_wheel', 'rear_left_wheel']
-  right_wheel: ['front_right_wheel', 'rear_right_wheel']
-  publish_rate: 50
-  pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
-  twist_covariance_diagonal: [0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03]
-  cmd_vel_timeout: 0.25
-
-  k_l: 0.1
-  k_r: 0.1
-
-  # Odometry fused with IMU is published by robot_localization, so
-  # no need to publish a TF based on encoders alone.
-  enable_odom_tf: false
-
-  # Wheel separation and radius multipliers
-  wheel_separation_multiplier: 1.5 # default: 1.0
-  wheel_radius_multiplier    : 1.0 # default: 1.0
-
-  # Velocity and acceleration limits
-  # Whenever a min_* is unspecified, default to -max_*
-  linear:
-    x:
-      has_velocity_limits    : true
-      max_velocity           : 2.0   # m/s
-      has_acceleration_limits: true
-      max_acceleration       : 20.0   # m/s^2
-  angular:
-    z:
-      has_velocity_limits    : true
-      max_velocity           : 4.0   # rad/s
-      has_acceleration_limits: true
-      max_acceleration       : 25.0   # rad/s^2
+  ros__parameters:
+    left_wheel_names: [ "front_left_wheel_joint", "rear_left_wheel_joint" ]
+    right_wheel_names: [ "front_right_wheel_joint", "rear_right_wheel_joint" ]
+
+    wheel_separation: 0.36 
+    wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.098
+
+    wheel_separation_multiplier: 1.5
+    left_wheel_radius_multiplier: 1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 50.0
+    odom_frame_id: odom
+    base_frame_id: base_link
+    pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
+    twist_covariance_diagonal: [1000000.0, 1000000.0, 0.03, 1000000.0, 1000000.0, 0.03]
+
+    open_loop: false
+    enable_odom_tf: false
+
+    cmd_vel_timeout: 0.25
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    #velocity_rolling_window_size: 10
+
+    # Preserve turning radius when limiting speed/acceleration/jerk
+    preserve_turning_radius: true
+
+    # Publish limited velocity
+    publish_cmd: true
+
+    # Publish wheel data
+    publish_wheel_data: true
 
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: true
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 2.0
+    linear.x.min_velocity: -2.0
+    linear.x.max_acceleration: 20.0
+    linear.x.min_acceleration: -20.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
 
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 4.0
+    angular.z.min_velocity: -4.0
+    angular.z.max_acceleration: 25.0
+    angular.z.min_acceleration: -25.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0

jackal_control/config/imu_filter.yaml

@@ -0,0 +1,16 @@
+imu_filter_node:
+  ros__parameters:
+    stateless: false
+    use_mag: false
+    publish_tf: false
+    reverse_tf: false
+    fixed_frame: "odom"
+    constant_dt: 0.0
+    publish_debug_topics: false
+    world_frame: "enu"
+    gain: 0.1
+    zeta: 0.0
+    mag_bias_x: 0.0
+    mag_bias_y: 0.0
+    mag_bias_z: 0.0
+    orientation_stddev: 0.0

jackal_control/config/localization.yaml

@@ -0,0 +1,29 @@
+ekf_node:
+  ros__parameters:
+    odom_frame: odom
+    base_link_frame: base_link
+    world_frame: odom
+    publish_tf: true
+    two_d_mode: true
+
+    frequency: 50.0
+
+    # odom0: jackal_velocity_controller/odom
+    odom0: odom
+    odom0_config: [true, true, false,
+                  false, false, true,
+                  true, true, false,
+                  false, false, true,
+                  false, false, false]
+    odom0_differential: false
+    odom0_queue_size: 10
+
+    imu0: sensors/imu_0/data_raw
+    imu0_config: [false, false, false,
+                  false, false, false,
+                  false, false, false,
+                  false, false, true,
+                  true, false, false]
+    imu0_differential: false
+    imu0_queue_size: 10
+    imu0_remove_gravitational_acceleration: true

jackal_control/config/teleop_interactive_markers.yaml

@@ -0,0 +1,7 @@
+twist_server_node:
+  ros__parameters:
+    link_name: base_link
+    robot: jackal
+    linear_scale: 1.0
+    max_positive_linear_velocity: 1.0
+    max_negative_linear_velocity: -1.0

jackal_control/config/teleop_logitech.yaml

@@ -0,0 +1,64 @@
+# Teleop configuration for Logitech F710 Gamepad using the x-pad configuration.
+# Left thumb-stick up/down for velocity, left/right for twist
+# LB for enable
+# RB for enable-turbo
+#
+#         (LB)                                 (RB)
+#         (LT)                                 (RT)
+#       _=====_            D(  .)X            _=====_
+#      / _____ \                             / _____ \
+#    +.-'_____'-.---------------------------.-'_____'-.+
+#   /   |     |  '.                       .'  |      |   \
+#  / ___| /|\ |___ \ (back)(Lgtc)(strt)  / ___| (Y)  |___ \
+# / |      |      | ;  __           __  ; |              | |
+# | | <---   ---> | | (__) .       (__) | | (X)       (B)| |
+# | |___   |   ___| ; MODE         VIBE ; |___       ____| /
+# |\    | \|/ |    /  _     ___      _   \    | (A) |    /|
+# | \   |_____|  .','" "', |___|  ,'" "', '.  |_____|  .' |
+# |  '-.______.-' /       \ANALOG/       \  '-._____.-'   |
+# |               |  LJ   |------|   RJ  |                |
+# |              /\       /      \       /\               |
+# |             /  '.___.'        '.___.'  \              |
+# |            /                            \             |
+#  \          /                              \           /
+#   \________/                                \_________/
+#
+# BUTTON         Value
+#   LB             4
+#   RB             5
+#   A              0
+#   B              1
+#   X              2
+#   Y              3
+#
+#    AXIS        Value
+# Left Horiz.      0
+# Left Vert.       1
+# Right Horiz.     3
+# Right Vert.      4
+# Left Trigger     2
+# Right Trigger    5
+# D-pad Horiz.     6
+# D-pad Vert.      7
+
+joy_teleop/teleop_twist_joy_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.4
+    scale_linear_turbo:
+      x: 1.0
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 0.6
+    scale_angular_turbo:
+      yaw: 1.2
+    enable_button: 4
+    enable_turbo_button: 5
+joy_teleop/joy_node:
+  ros__parameters:
+    deadzone: 0.1
+    autorepeat_rate: 20.0
+    dev: /dev/input/f710