Added initial version of gazebo_ros2_control

gazebo_ros2_control/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.0)
+project(gazebo_ros2_control)
+
+find_package(ament_cmake REQUIRED)
+find_package(angles REQUIRED)
+find_package(controller_manager REQUIRED)
+find_package(gazebo_dev REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(joint_limits_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(transmission_interface REQUIRED)
+find_package(urdf REQUIRED)
+find_package(yaml_cpp_vendor REQUIRED)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+include_directories(include)
+
+# Libraries
+add_library(${PROJECT_NAME} SHARED src/gazebo_ros2_control_plugin.cpp)
+ament_target_dependencies(${PROJECT_NAME}
+  controller_manager
+  gazebo_dev
+  hardware_interface
+  pluginlib
+  rclcpp
+  transmission_interface
+  urdf
+  yaml_cpp_vendor
+)
+
+add_library(default_robot_hw_sim SHARED src/default_robot_hw_sim.cpp)
+ament_target_dependencies(default_robot_hw_sim
+  gazebo_dev
+  rclcpp
+  joint_limits_interface
+  transmission_interface
+  hardware_interface
+  angles
+)
+
+## Install
+install(TARGETS default_robot_hw_sim ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(rclcpp)
+ament_export_libraries(${PROJECT_NAME} default_robot_hw_sim)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+pluginlib_export_plugin_description_file(gazebo_ros2_control robot_hw_sim_plugins.xml)
+
+ament_package()

gazebo_ros2_control/README.md

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+# Gazebo ros_control Interfaces
+
+This is a ROS 2 package for integrating the [ros2_control](https://github.com/ros-controls/ros2_control) controller architecture
+with the [Gazebo](http://gazebosim.org/) simulator.
+
+This package provides a Gazebo plugin which instantiates a ros_control
+controller manager and connects it to a Gazebo model.

gazebo_ros2_control/include/gazebo_ros2_control/default_robot_hw_sim.hpp

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+// Copyright (c) 2013, Open Source Robotics Foundation. All rights reserved.
+// Copyright (c) 2013, The Johns Hopkins University. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Open Source Robotics Foundation nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/* Author: Dave Coleman, Jonathan Bohren
+   Desc:   Hardware Interface for any simulated robot in Gazebo
+*/
+
+#ifndef GAZEBO_ROS2_CONTROL__DEFAULT_ROBOT_HW_SIM_HPP_
+#define GAZEBO_ROS2_CONTROL__DEFAULT_ROBOT_HW_SIM_HPP_
+
+#include <string>
+#include <vector>
+
+// ros_control
+#if 0  // @todo
+#include <control_toolbox/pid.hpp>
+#endif
+#if 0  // @todo
+#include <hardware_interface/joint_command_interface.hpp>
+#include <hardware_interface/robot_hw.hpp>
+#endif
+
+#include "joint_limits_interface/joint_limits.hpp"
+#include "joint_limits_interface/joint_limits_interface.hpp"
+#include "joint_limits_interface/joint_limits_rosparam.hpp"
+#include "joint_limits_interface/joint_limits_urdf.hpp"
+
+// Gazebo
+#include "gazebo/physics/Model.hh"
+#include "gazebo/physics/Joint.hh"
+
+// ROS
+#include "rclcpp/rclcpp.hpp"
+#include "angles/angles.h"
+#include "pluginlib/class_list_macros.hpp"
+
+// gazebo_ros_control
+#include "gazebo_ros2_control/robot_hw_sim.hpp"
+
+// URDF
+#include "urdf/model.h"
+
+namespace gazebo_ros2_control
+{
+
+class DefaultRobotHWSim : public gazebo_ros2_control::RobotHWSim
+{
+public:
+  virtual bool initSim(
+    const std::string & robot_namespace,
+    rclcpp::Node::SharedPtr & model_nh,
+    gazebo::physics::ModelPtr parent_model,
+    const urdf::Model * const urdf_model,
+    std::vector<transmission_interface::TransmissionInfo> transmissions);
+
+  virtual void readSim(rclcpp::Time time, rclcpp::Duration period);
+
+  virtual void writeSim(rclcpp::Time time, rclcpp::Duration period);
+
+  virtual void eStopActive(const bool active);
+
+  // Methods used to control a joint.
+  enum ControlMethod {EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID};
+
+protected:
+  // Register the limits of the joint specified by joint_name and joint_handle. The limits are
+  // retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also.
+  // Return the joint's type, lower position limit, upper position limit, and effort limit.
+  void registerJointLimits(
+    const std::string & joint_name,
+    const hardware_interface::JointStateHandle & joint_handle,
+    const ControlMethod ctrl_method,
+    const rclcpp::Node::SharedPtr & joint_limit_nh,
+    const urdf::Model * const urdf_model,
+    int * const joint_type, double * const lower_limit,
+    double * const upper_limit, double * const effort_limit,
+    double * const vel_limit);
+
+  unsigned int n_dof_;
+
+#if 0  // @todo
+  hardware_interface::JointStateInterface js_interface_;
+  hardware_interface::EffortJointInterface ej_interface_;
+  hardware_interface::VelocityJointInterface vj_interface_;
+  hardware_interface::PositionJointInterface pj_interface_;
+#endif
+#if 0  // @todo
+  joint_limits_interface::EffortJointSaturationInterface ej_sat_interface_;
+  joint_limits_interface::EffortJointSoftLimitsInterface ej_limits_interface_;
+  joint_limits_interface::PositionJointSaturationInterface pj_sat_interface_;
+  joint_limits_interface::PositionJointSoftLimitsInterface pj_limits_interface_;
+  joint_limits_interface::VelocityJointSaturationInterface vj_sat_interface_;
+  joint_limits_interface::VelocityJointSoftLimitsInterface vj_limits_interface_;
+#endif
+  std::vector<std::string> joint_names_;
+  std::vector<int> joint_types_;
+  std::vector<double> joint_lower_limits_;
+  std::vector<double> joint_upper_limits_;
+  std::vector<double> joint_effort_limits_;
+  std::vector<double> joint_vel_limits_;
+  std::vector<ControlMethod> joint_control_methods_;
+#if 0
+  std::vector<control_toolbox::Pid> pid_controllers_;
+#endif
+  std::vector<double> joint_position_;
+  std::vector<double> joint_velocity_;
+  std::vector<double> joint_effort_;
+  std::vector<double> joint_effort_command_;
+  std::vector<double> joint_position_command_;
+  std::vector<double> last_joint_position_command_;
+  std::vector<double> joint_velocity_command_;
+  std::vector<hardware_interface::OperationMode> joint_opmodes_;
+
+  std::vector<gazebo::physics::JointPtr> sim_joints_;
+
+  std::vector<hardware_interface::JointStateHandle> joint_states_;
+  std::vector<hardware_interface::JointCommandHandle> joint_cmds_;
+  std::vector<hardware_interface::JointCommandHandle> joint_eff_cmdhandle_;
+  std::vector<hardware_interface::JointCommandHandle> joint_vel_cmdhandle_;
+  std::vector<hardware_interface::OperationModeHandle> joint_opmodehandles_;
+
+  // limits
+  std::vector<joint_limits_interface::PositionJointSaturationHandle> joint_pos_limit_handles_;
+  std::vector<joint_limits_interface::PositionJointSoftLimitsHandle>
+  joint_pos_soft_limit_handles_;
+  std::vector<joint_limits_interface::EffortJointSaturationHandle> joint_eff_limit_handles_;
+  std::vector<joint_limits_interface::EffortJointSoftLimitsHandle>
+  joint_eff_soft_limit_handles_;
+  std::vector<joint_limits_interface::VelocityJointSaturationHandle> joint_vel_limit_handles_;
+  std::vector<joint_limits_interface::VelocityJointSoftLimitsHandle> joint_vel_soft_limit_handles_;
+
+  std::string physics_type_;
+
+  // e_stop_active_ is true if the emergency stop is active.
+  bool e_stop_active_, last_e_stop_active_;
+};
+
+typedef boost::shared_ptr<DefaultRobotHWSim> DefaultRobotHWSimPtr;
+
+}  // namespace gazebo_ros2_control
+
+#endif  // GAZEBO_ROS2_CONTROL__DEFAULT_ROBOT_HW_SIM_HPP_

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_ros2_control_plugin.hpp

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+// Copyright (c) 2013, Open Source Robotics Foundation. All rights reserved.
+// Copyright (c) 2013, The Johns Hopkins University. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Open Source Robotics Foundation nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/* Author: Dave Coleman, Jonathan Bohren
+   Desc:   Gazebo plugin for ros_control that allows 'hardware_interfaces' to be plugged in
+           using pluginlib
+*/
+
+#ifndef GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_
+#define GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_
+
+#include <string>
+#include <memory>
+#include <vector>
+
+// ROS
+#include "rclcpp/rclcpp.hpp"
+#include "pluginlib/class_loader.hpp"
+#include "std_msgs/msg/bool.hpp"
+
+// Gazebo
+#include "gazebo/gazebo.hh"
+#include "gazebo/physics/physics.hh"
+#include "gazebo/common/common.hh"
+
+// ros_control
+#include "gazebo_ros2_control/robot_hw_sim.h"
+#include "controller_manager/controller_manager.hpp"
+#include "transmission_interface/transmission_parser.hpp"
+
+namespace gazebo_ros2_control
+{
+class GazeboRosControlPrivate;
+
+class GazeboRosControlPlugin : public gazebo::ModelPlugin
+{
+public:
+  GazeboRosControlPlugin();
+
+  ~GazeboRosControlPlugin();
+
+  // Overloaded Gazebo entry point
+  void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf) override;
+
+private:
+  /// Private data pointer
+  std::unique_ptr<GazeboRosControlPrivate> impl_;
+};
+}  // namespace gazebo_ros2_control
+
+#endif  // GAZEBO_ROS2_CONTROL__GAZEBO_ROS2_CONTROL_PLUGIN_HPP_