ros-controls · destogl · Mar 3, 2023 · Feb 23, 2023 · Feb 23, 2023 · Feb 23, 2023
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -23,10 +23,13 @@ jobs:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
-            diffbot_description
-            ros2_control_demo_bringup
-            ros2_control_demo_hardware
-            rrbot_description
+            ros2_control_demo_example_1
+            ros2_control_demo_example_2
+            ros2_control_demo_example_3
+            ros2_control_demo_example_4
+            ros2_control_demo_example_5
+            ros2_control_demo_example_6
+            ros2_control_demo_example_8
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control_demos-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -18,11 +18,13 @@ jobs:
         distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-          diffbot_description
-          ros2_control_demo_bringup
-          ros2_control_demo_hardware
-          rrbot_description
-
+          ros2_control_demo_example_1
+          ros2_control_demo_example_2
+          ros2_control_demo_example_3
+          ros2_control_demo_example_4
+          ros2_control_demo_example_5
+          ros2_control_demo_example_6
+          ros2_control_demo_example_8
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
@@ -40,7 +42,10 @@ jobs:
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-          diffbot_description
-          ros2_control_demo_bringup
-          ros2_control_demo_hardware
-          rrbot_description
+          ros2_control_demo_example_1
+          ros2_control_demo_example_2
+          ros2_control_demo_example_3
+          ros2_control_demo_example_4
+          ros2_control_demo_example_5
+          ros2_control_demo_example_6
+          ros2_control_demo_example_8
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -32,10 +32,13 @@ jobs:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
           package-name:
-            diffbot_description
-            ros2_control_demo_bringup
-            ros2_control_demo_hardware
-            rrbot_description
+            ros2_control_demo_example_1
+            ros2_control_demo_example_2
+            ros2_control_demo_example_3
+            ros2_control_demo_example_4
+            ros2_control_demo_example_5
+            ros2_control_demo_example_6
+            ros2_control_demo_example_8
 
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos

diff --git a/README.md b/README.md
@@ -43,17 +43,15 @@ The important files to check in each example are:
 The concepts in this package are demonstrated on the examples of *RRBot* and *DiffBot*.
 Those two world-known imaginary robots are trivial simulations to demonstrate and test `ros2_control` concepts.
 
-
 ## What you can Find in This Repository and Example Description
 
 This repository demonstrates the following `ros2_control` concepts:
 
-* Creating a `*HardwareInterface` for a System, Sensor, and Actuator.
+* Creating a `HardwareInterface` for a System, Sensor, and Actuator.
 * Creating a robot description in the form of URDF files.
 * Loading the configuration and starting a robot using launch files.
 * Control of a differential mobile base *DiffBot*.
 * Control of two joints of *RRBot*.
-* Using simulated robots and starting `ros2_control` with Gazebo simulator.
 * Implementing a controller switching strategy for a robot.
 * Using joint limits and transmission concepts in `ros2_control`.
 
@@ -63,37 +61,36 @@ This repository demonstrates the following `ros2_control` concepts:
 Check README file inside each example folder for detailed description.
 
 
-##### Example 1
+##### Example 1: RRBot
 
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface.
+*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with one hardware interface. This example also demonstrates the switching between different controllers.
 
 
-##### Example 2
+##### Example 2: Diffbot
 
 *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
 The robot is basically a box moving according to differential drive kinematics.
 
 
-##### Example 3
+##### Example 3: "RRBot with multiple interfaces"
 
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' with multiple interfaces
+*RRBot* with multiple interfaces.
 
 
 ##### Example 4: "Industrial robot with integrated sensor"
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an integrated sensor.
+*RRBot* with an integrated sensor.
 
 
 ##### Example 5: "Industrial Robots with externally connected sensor"
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - a simple position controlled robot with an externally connected sensor.
+*RRBot* with an externally connected sensor.
 
 
 ##### Example 6: "Modular Robots with separate communication to each actuator"
-
 The example shows how to implement robot hardware with separate communication to each actuator.
 
 
 ##### Example 8: Using transmissions
-*RRBot* - or ''Revolute-Revolute Manipulator Robot'' - with an exposed transmission interface
+*RRBot* with an exposed transmission interface.
 
 
 ## Quick Hints
@@ -115,7 +112,7 @@ These are some quick hints, especially for those coming from a ROS1 control back
 
 ## Build status
 
-ROS2 Distro | Branch | Build status | Documentation
+ROS 2 Distro | Branch | Build status | Documentation
 :---------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
 **Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build-last-focal.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build-last-focal.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/)
@@ -145,7 +142,7 @@ git clone https://github.com/ros-controls/ros2_controllers
 git clone https://github.com/ros-controls/ros2_control_demos
 ```
 
-**NOTE**: `ros2_control` and `ros2_controllers` packages are released for foxy and can be installed using a package manager.
+**NOTE**: `ros2_control` and `ros2_controllers` packages are released and can be installed using a package manager.
 We provide officially released and maintained debian packages, which can easily be installed via aptitude.
 However, there might be cases in which not-yet released demos or features are only available through a source build in your own workspace.
 
@@ -162,109 +159,10 @@ However, there might be cases in which not-yet released demos or features are on
 * Do not forget to source `setup.bash` from the `install` folder!
 
 
-# Getting Started with demos
-
-This repository provides the following simple example robots: a 2 degrees of freedom manipulator - *RRBot* - and a mobile differential drive base - *DiffBot*.
-The first two examples demonstrate the minimal setup for those two robots to run.
-Later examples show more details about `ros2_control`-concepts and some more advanced use-cases.
-
 # Examples of ros2_control concepts
 
-Each of the described example cases from the [roadmap](https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md) has its own launch and URDF file.
-
-
-### General notes about examples
-
-1. Each example is started with a single launch file which starts up the robot hardware, loads controller configurations and it also opens `RViz`.
-
-   The `RViz` setup can be recreated following these steps:
-
-   - The robot models can be visualized using `RobotModel` display using `/robot_description` topic.
-   - Or you can simply open the configuration from `rviz` folder in `rrbot_description` or `diffbot_description` package manually or directly by executing:
-   ```
-   rviz2 --display-config `ros2 pkg prefix rrbot_description`/share/rrbot_description/config/rrbot.rviz
-   ```
-
-1. To check that robot descriptions are working properly use following launch commands:
-   ```
-   ros2 launch rrbot_description view_robot.launch.py
-   ```
-   Optional arguments for specific example (the robot visualization will be the same for all examples):
-   ```
-   description_file:=rrbot_system_multi_interface.urdf.xacro
-   ```
-
-**NOTE**: Getting the following output in terminal is OK: `Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist`.
-          This happens because `joint_state_publisher_gui` node need some time to start.
-
-
-1. To start an example open a terminal, source your ROS2-workspace and execute a launch file with:
-   ```
-   ros2 launch ros2_control_demo_bringup <example_launch_file>
-   ```
-
-1. To stop RViz2 from auto-start use `start_rviz:=false` launch file argument.
-
-1. To check if the hardware interface loaded properly, open another terminal and execute:
-   ```
-   ros2 control list_hardware_interfaces
-   ```
-   You should get something like:
-   ```
-   command interfaces
-         joint1/position [unclaimed]
-         joint2/position [unclaimed]
-   state interfaces
-         joint1/position
-         joint2/position
-   ```
-
-1. Check which controllers are running using:
-   ```
-   ros2 control list_controllers
-   ```
-   You should get something like:
-   ```
-   forward_position_controller[forward_command_controller/ForwardCommandController] unconfigured
-   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-   ```
-
-1. Check [Controllers and moving hardware](#controllers-and-moving-hardware) section to move *RRBot*.
-
-
-*NOTE:* The examples reuse the same, configurable base-launch file [`rrbot_base.launch.py`](ros2_control_demo_bringup/launch/rrbot_base.launch.py).
-This also demonstrates how launch files are usually reused for different scenarios when working with `ros2_control`.
-
-
-### Example 1: "Industrial Robots with only one interface"
-
-Files:
-  - Launch file: [rrbot_system_position_only.launch.py](ros2_control_demo_bringup/launch/rrbot_system_position_only.launch.py)
-  - Controllers yaml: [rrbot_controllers.yaml](ros2_control_demo_bringup/config/rrbot_controllers.yaml)
-  - URDF:  [rrbot_system_position_only.urdf.xacro](ros2_control_demos/ros2_control_demo_description/rrbot_description/urdf/rrbot_system_position_only.urdf.xacro)
-  - `ros2_control` URDF tag: [rrbot_system_position_only.ros2_control.xacro](ros2_control_demo_description/rrbot_description/ros2_control/rrbot_system_position_only.ros2_control.xacro)
-
-Interfaces:
-  - Command interfaces:
-    - joint1/position
-    - joint2/position
-  - State interfaces:
-    - joint1/position
-    - joint2/position
-
-Available controllers:
-  - `joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster]`
-  - `forward_position_controller[forward_command_controller/ForwardCommandController]` (position)
-
-Moving the robot:
-  - see below description of `forward_position_controller`
 
 Available launch file options:
   - `use_fake_hardware:=true` - start `FakeSystem` instead of hardware.
     This is a simple simulation that mimics joint command to their states.
     This is useful to test *ros2_control* integration and controllers without physical hardware.
-
-
-### Example 1-Sim: "Industrial Robots with only one interface" (Gazebo simulation)
-
-- **TBA**
diff --git a/doc/index.rst b/doc/index.rst
@@ -0,0 +1,7 @@
+.. _ros2_control_demos:
+
+#################
+Demos
+#################
+
+This repository provides templates for the development of ros2_control-enabled robots and a simple simulations to demonstrate and prove ros2_control concepts.
diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt
@@ -1,12 +1,7 @@
-cmake_minimum_required(VERSION 3.5)
-project(ros2_control_demo_example_1)
+cmake_minimum_required(VERSION 3.16)
+project(ros2_control_demo_example_1 LANGUAGES CXX)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   add_compile_options(-Wall -Wextra)
 endif()
 
@@ -27,17 +22,17 @@ endforeach()
 
 ## COMPILE
 add_library(
-  ${PROJECT_NAME}
+  ros2_control_demo_example_1
   SHARED
   hardware/rrbot.cpp
 )
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  hardware/include
+target_compile_features(ros2_control_demo_example_1 PUBLIC cxx_std_17)
+target_include_directories(ros2_control_demo_example_1 PUBLIC
+$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
+$<INSTALL_INTERFACE:include/ros2_control_demo_example_1>
 )
 ament_target_dependencies(
-  ${PROJECT_NAME}
+  ros2_control_demo_example_1 PUBLIC
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
 
@@ -49,35 +44,30 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "ROS2_CONTROL_DEMO_EXAMPLE_1_
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_example_1.xml)
 
 # INSTALL
-install(
-  TARGETS ${PROJECT_NAME}
-  DESTINATION lib
-)
 install(
   DIRECTORY hardware/include/
-  DESTINATION include
+  DESTINATION include/ros2_control_demo_example_1
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/meshes
-  DESTINATION share/${PROJECT_NAME}
+  DIRECTORY description/launch description/ros2_control description/urdf description/rviz
+  DESTINATION share/ros2_control_demo_example_1
 )
 install(
   DIRECTORY bringup/launch bringup/config
-  DESTINATION share/${PROJECT_NAME}
+  DESTINATION share/ros2_control_demo_example_1
+)
+install(TARGETS ros2_control_demo_example_1
+  EXPORT export_ros2_control_demo_example_1
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 endif()
 
 ## EXPORTS
-ament_export_include_directories(
-  include
-)
-ament_export_libraries(
-  ${PROJECT_NAME}
-)
-ament_export_dependencies(
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
-)
+ament_export_targets(export_ros2_control_demo_example_1 HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_package()