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Add first example robot (rrbot as system) (#37)
* Implementation of RRBot System Headless Hardware with only position joints. * rrbot system position only after first testing. * Added description of rrbot and example ros2_control_manager. * ROS2 Managers are moved to controller_interface package * Update README.md * Change package names to represent the actual state. * Describe connection to the example URDFs * Add controlle to example 1 and adapt the hardware to provide more sensible example. * Added controller to install path * Change parameter names because deprecated * Reorganize controller's yaml to have correct parameters' namespace. Comment out the name of the node from the roslaunch file to avoid issue with LifecycleNode-Names. Add better robot's movement simulation. * Corrected licence header and add explicit type instead of auto * Update README.md * Update parameter and launch * Update README.md * Reorganize to new RM structure * Update README.md * Updated to new status * Adapt brances and additional output * Add parsing robot_description via xacro. (#45) * Add parsing robot_description via xacro. Co-authored-by: Denis Štogl <denis@stogl.de> * Remove URDF file * Update description * Update linters.yaml * Update ci.yml * Add dependencies * Update ci.yml * Update CMakeLists.txt * Update package.xml * Delete code_coverage.yml * Update ci.yml * Update ci.yml * Update linters.yaml * Update linters.yaml * Update ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> * Update ros2_control_demo_hardware/src/rrbot_system_position_only.cpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com> * Address review comments. Co-authored-by: livanov93 <lovro.ivanov@gmail.com> Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
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‎.github/workflows/ci.yml

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- cron: '28 6 * * *'
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jobs:
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industrial_ci:
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ci_binary:
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name: Foxy binary job
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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- {ROS_DISTRO: foxy, ROS_REPO: main}
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runs-on: ubuntu-latest
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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env:
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UPSTREAM_WORKSPACE: ros2_control_demos/ros2_control_demos.repos
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steps:
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- run: sudo apt-get update -qq && sudo apt-get upgrade
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- uses: actions/checkout@v1
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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ci_source:
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name: Foxy source job
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/setup-ros@0.0.26
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with:
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required-ros-distributions: foxy
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- uses: ros-tooling/action-ros-ci@0.1.0
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with:
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target-ros2-distro: foxy
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# build all packages listed in the meta package
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package-name:
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ros2_control_demo_hardware
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ros2_control_demo_robot
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ros2_control_demos
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos/ros2_control_demos.repos
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/codecov-action@v1.0.14
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

‎.github/workflows/code_coverage.yml

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This file was deleted.

‎.github/workflows/linters.yaml

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name: Linters
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on:
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pull_request:
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push:
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branches:
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- master
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jobs:
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ament_copyright:
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name: ament_copyright
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runs-on: ubuntu-18.04
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steps:
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- uses: actions/checkout@v1
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- uses: ros-tooling/setup-ros@0.0.13
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- uses: ros-tooling/action-ros-lint@0.0.5
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- uses: ros-tooling/setup-ros@0.0.26
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- uses: ros-tooling/action-ros-lint@0.0.6
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with:
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linter: copyright
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package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
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package-name:
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ros2_control_demo_hardware
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ros2_control_demo_robot
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ros2_control_demos
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ament_xmllint:
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name: ament_xmllint
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runs-on: ubuntu-18.04
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steps:
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- uses: actions/checkout@v1
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- uses: ros-tooling/setup-ros@0.0.13
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- uses: ros-tooling/action-ros-lint@0.0.5
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- uses: ros-tooling/setup-ros@0.0.26
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- uses: ros-tooling/action-ros-lint@0.0.6
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with:
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linter: xmllint
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package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
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package-name:
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ros2_control_demo_hardware
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ros2_control_demo_robot
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ros2_control_demos
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ament_lint_cpp:
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name: ament_${{ matrix.linter }}
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linter: [cppcheck, cpplint, uncrustify]
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steps:
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- uses: actions/checkout@v1
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- uses: ros-tooling/setup-ros@0.0.13
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- uses: ros-tooling/action-ros-lint@0.0.5
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- uses: ros-tooling/setup-ros@0.0.26
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- uses: ros-tooling/action-ros-lint@0.0.6
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with:
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linter: ${{ matrix.linter }}
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package-name: ros2_control_demo_communication_gazebo ros2_control_demo_communication_headless ros2_control_demo_hardware ros2_control_demo_robot
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package-name:
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ros2_control_demo_hardware
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ros2_control_demo_robot
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ros2_control_demos

‎README.md

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## Goals
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The repository has two goals:
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The repository has three goals:
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1. Implements the example configuration described in the `ros-controls/roadmap` repository file [components_architecture_and_urdf_examples](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md).
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2. It provides templates for faster start of implementing own hardware and controllers;
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3. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
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1. It provides templates for faster start of implementing own hardware and controllers;
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2. The repository is a validation environment for `ros2_control` concepts, which can only be tested during run-time (e.g., execution of controllers by the controller manager, communication between robot hardware and controllers).
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## Description
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The repository is inspired by [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) repository from Dave Coleman.
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The simulation has three parts/packages:
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1. The first package, `ros2_control_demo_hardware`, implements the hardware interfaces described in the roadmap.
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This implemented examples simulate *RRbot* internally to provide sufficient test and demonstration data, but to reduce amount of package dependencies.
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This package does not have any dependencies except on the `ros2` core packages and can, therefore, be used on SoC-hardware of headless systems.
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2. The second package, `ros2_control_demo_hardware_gazebo`, uses a gazebo simulator to simulate the *RRBot* and its physics.
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This package is useful to test the connection of `ros2_control` to the gazebo simulator and to detect any missing plugins.
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3. The third package `ros2_control_demo_robot` holds examples for *RRbot* URDF-description, launch files and controllers.
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The intention of those files is to simplify start with `ros2_control` and to enable faster integration of new robots and controllers.
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This repository demonstrates the following `ros2_control` concepts:
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* Creating of `*HardwareInterface` for a System, Sensor, and Actuator.
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* Creating a robot description in the form of URDF files
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* Loading configuration and starting robot using launch files
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* Control of two joints of *RRBot*
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* Using simulated robots and starting `ros_control` with gazebo simulator
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* Implementing of controller switching strategy for a robot
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* Using joint limits and transmission concepts in `ros2_control`
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* TBD...
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# Test of the Scenario Before the First Release
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* Checkout [ros-controls/ros2_control](https://github.com/ros-controls/ros2_control) to get the core.
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* Checkout [ros-controls/ros2_controllers](https://github.com/ros-controls/ros2_controllers) to get all the controllers.
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* Checkout [ros-controls/ros2_control_demos](https://github.com/ros-controls/ros2_control_demos) to get example hardware and robot launch files.
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* Install dependencies (maybe you need `sudo`):
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```
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apt install ros-foxy-realtime-tools ros-foxy-xacro ros-foxy-angles
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```
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* Build everything, e.g. with:
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```
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colcon build --symlink-install
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```
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* Do not forget to source `setup.bash` from the `install` folder!
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# Getting Started with ROS2 Control
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Each of the described example cases from the roadmap has its own launch and URDF file.
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## Example 1: "Industrial Robots with only one interface"
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1. Start the roslaunch file:
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```
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ros2 launch ros2_control_demo_robot rrbot_system_position_only.launch.py
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```
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2. Open another terminal and check if `RRBotSystemPositionOnlyHardware` is loaded properly:
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```
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ros2 control list_hardware_interfaces
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```
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You should get something like:
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```
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command interfaces
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joint1/position [unclaimed]
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joint2/position [unclaimed]
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state interfaces
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joint1/position
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joint2/position
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```
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3. Open another terminal and load controllers:
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```
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ros2 control load joint_state_controller
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ros2 control load forward_command_controller_position
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```
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Check if controller is loaded properly:
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```
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ros2 control list
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```
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You should get the response:
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```
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joint_state_controller[joint_state_controller/JointStateController] inactive
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forward_command_controller_position[forward_command_controller/ForwardCommandController] inactive
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```
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4. Starting controller:
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```
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ros2 control switch --start-controllers joint_state_controller forward_command_controller_position
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```
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Check if controllers are activated:
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```
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ros2 control list
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```
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You should get `active` in the response:
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```
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joint_state_controller[joint_state_controller/JointStateController] active
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forward_command_controller_position[forward_command_controller/ForwardCommandController] active
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```
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5. Open another terminal and send a message to the controller:
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```
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ros2 topic pub /forward_command_controller_position/commands std_msgs/msg/Float64MultiArray "data:
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- 0.5
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- 0.5"
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```
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You should see how the example output changes. Look for the following lines
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```
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[RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 0!
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[RRBotSystemPositionOnlyHardware]: Got state 0.0 for joint 1!
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```
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If you echo the `/joint_states` or `/dynamic_joint_states` topics you should also get similar values.
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```
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ros2 topic echo /joint_states
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ros2 topic echo /dynamic_joint_states
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```
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The other launch-files have corresponding names to their coresponding example.
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The URDF files can be found in the `description` folder.

‎ros2_control_demo_hardware/CMakeLists.txt

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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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## COMPILE
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add_library(
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${PROJECT_NAME}
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SHARED
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src/rrbot_system_position_only.cpp
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)
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target_include_directories(
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${PROJECT_NAME}
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PRIVATE
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include
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)
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ament_target_dependencies(
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${PROJECT_NAME}
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hardware_interface
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pluginlib
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rclcpp
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)
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pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml)
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# INSTALL
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install(
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TARGETS ${PROJECT_NAME}
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DESTINATION lib
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)
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install(
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DIRECTORY include/
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DESTINATION include
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## EXPORTS
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ament_export_include_directories(
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include
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)
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ament_export_libraries(
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${PROJECT_NAME}
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)
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ament_export_dependencies(
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hardware_interface
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pluginlib
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rclcpp
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)
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ament_package()

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