ros2_hardware_interface_odri

Introduction

This project provides a ros2_control SystemInterface to the master board ODRI. The particularity of this board is to provide a command interface in position, velocity, torque and gains (Kp, Kd).

This package can be used together with a description package in order to provide the mapping between the robot models and the actuator. A robot_config.yaml file is needed.

Installing from source

colcon build --packages-select ros2_hardware_interface_odri
source ./install/setup.bash
ros2 launch ros2_control_odri_bringup system_odri.launch.py

How to use it ?

ros2_control

In your xacro file (used to generate the urdf file) you can add the following hardware block in your ros2_control system:

<ros2_control name="bolt" type="system">
  <hardware>
    <plugin>ros2_control_odri/SystemOdriHardware</plugin>
      <xacro:property name="prop_bolt_config_yaml"
                      value="$(find ros2_description_bolt)/config/bolt_config.yaml" />
        <param name="odri_config_yaml">${prop_bolt_config_yaml}</param>
        <param name="desired_starting_position">0.0 0.0 0.0 0.0 0.0 0.0</param>
        <param name="default_joint_cmd">
          FL_HAA 0.0 0.0 0.0 3.0 0.05
          FR_HAA 0.0 0.0 0.0 3.0 0.05
          FL_KFE 0.0 0.0 0.0 3.0 0.05
          FL_HFE 0.0 0.0 0.0 3.0 0.05
          FR_KFE 0.0 0.0 0.0 3.0 0.05
          FR_HFE 0.0 0.0 0.0 3.0 0.05
        </param>
        <param name="default_joint_state">
          FL_HAA 0.0 0.0 0.0 3.0 0.05
          FR_HAA 0.0 0.0 0.0 3.0 0.05
          FL_KFE 0.0 0.0 0.0 3.0 0.05
          FL_HFE 0.0 0.0 0.0 3.0 0.05
          FR_KFE 0.0 0.0 0.0 3.0 0.05
          FR_HFE 0.0 0.0 0.0 3.0 0.05
        </param>
  </hardware>
  ...
</ros2_control>

The field desired_starting_position should have the same size than the number of joints. Here the robot Bolt has 6 joints set to zero. The field desired_joint_cmd should provide for each joint a list of joint_name position velocity effort Kp Kd. They are the first values send to the master ODRI board. Here the 6 joint commands of the Bolt robot are set to position: 0.0, velocity: 0.0, effort: 0.0, Kp: 3.0, Kd: 0.05

The field desired_state_cmd should provide for each joint a list of joint_name position velocity effort Kp Kd. They are the first values that ros2_control will provides before reading the master ODRI board. Here the 6 joint states of the Bolt robot are set to position: 0.0, velocity: 0.0, effort: 0.0, Kp: 3.0, Kd: 0.05

In system_odri

Inclusion of the odri_control_interface header needed to use Odri.

• start() : Start the robot, set some default values to 0, do the calibration, read sensors data
• stop() : stop the Masterboard, so stop the robot
• read() : send all the sensors data to the computer
• write() : allow the user to send commands to all actuators

---

Tests

The compilation with colcon build --packages-select ros2_hardware_interface_odri is ok

Tested on Bolt.

Credits

• Maxime-Ulrich Fansi (04/2022-09/2022) - First working version of gazebo_bolt_ros2_control
• Benjamin Amsellem (10/2021-02/2022) - First working version of ros2_hardware_bolt
• Paul Rouanet - (03/2021-09/2021) - Building the LAAS Bolt, starting this repo
• Olivier Stasse (03/2021 - Supervision)