Jazzy 2.3 Release

clearpath_common/launch/platform_extras.launch.py

@@ -0,0 +1,56 @@
+# Software License Agreement (BSD)
+#
+# @author    Tony Baltovski <[email protected]>
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., 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 Clearpath Robotics 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.
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+)
+
+ARGUMENTS = [
+    DeclareLaunchArgument(
+        'setup_path',
+        default_value='/etc/clearpath/'
+    ),
+
+    DeclareLaunchArgument(
+        'use_sim_time',
+        choices=['true', 'false'],
+        default_value='false',
+        description='Use simulation time'
+    ),
+
+    DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Robot namespace'
+    ),
+]
+
+def generate_launch_description():
+    ld = LaunchDescription(ARGUMENTS)
+    return ld

clearpath_control/config/a200/control.yaml

@@ -32,15 +32,14 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
     use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
     preserve_turning_radius: true
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/config/a300/control.yaml

@@ -32,14 +32,13 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
     preserve_turning_radius: true
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/config/dd100/control.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50  # Hz
+    update_rate: 20  # Hz
     use_sim_time: False
 
     joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster
@@ -21,7 +21,7 @@ platform_velocity_controller:
     left_wheel_radius_multiplier: 1.0
     right_wheel_radius_multiplier: 1.0
 
-    publish_rate: 50.0
+    publish_rate: 20.0
     odom_frame_id: odom
     base_frame_id: base_link
     pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
@@ -32,15 +32,14 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
     use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
     preserve_turning_radius: true
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/config/dd150/control.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50  # Hz
+    update_rate: 20  # Hz
     use_sim_time: False
 
     joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster
@@ -21,7 +21,7 @@ platform_velocity_controller:
     left_wheel_radius_multiplier: 1.0
     right_wheel_radius_multiplier: 1.0
 
-    publish_rate: 50.0
+    publish_rate: 20.0
     odom_frame_id: odom
     base_frame_id: base_link
     pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
@@ -32,15 +32,14 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
     use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
     preserve_turning_radius: true
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/config/do100/control.yaml

@@ -1,11 +1,11 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50  # Hz
+    update_rate: 20  # Hz
     use_sim_time: False
 
     joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster
 
-    platform_velocity_controller.type: "clearpath_mecanum_drive_controller/MecanumDriveController"
+    platform_velocity_controller.type: "mecanum_drive_controller/MecanumDriveController"
 
 platform_velocity_controller:
   ros__parameters:
@@ -25,7 +25,7 @@ platform_velocity_controller:
     wheel_separation_multiplier: 1.0
     wheel_radius_multiplier: 1.0
 
-    publish_rate: 50.0
+    publish_rate: 20.0
     reference_timeout: 0.1
     use_stamped_vel: False
 

clearpath_control/config/do100/teleop_logitech.yaml

@@ -46,9 +46,10 @@ teleop_twist_joy_node:
     publish_stamped_twist: True
     use_sim_time: False
     axis_linear.x: 1
+    axis_linear.y: 0
     scale_linear.x: 0.4
     scale_linear_turbo.x: 1.0
-    axis_angular.yaw: 0
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.6
     scale_angular_turbo.yaw: 1.0
     enable_button: 4

clearpath_control/config/do100/teleop_ps4.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.4
     enable_button: 4

clearpath_control/config/do100/teleop_ps5.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.4
     enable_button: 4

clearpath_control/config/do100/teleop_xbox.yaml

@@ -53,7 +53,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 3
+    axis_angular.yaw: 2
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.0
     enable_button: 6

clearpath_control/config/do150/control.yaml

@@ -1,11 +1,11 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50  # Hz
+    update_rate: 20  # Hz
     use_sim_time: False
 
     joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster
 
-    platform_velocity_controller.type: "clearpath_mecanum_drive_controller/MecanumDriveController"
+    platform_velocity_controller.type: "mecanum_drive_controller/MecanumDriveController"
 
 platform_velocity_controller:
   ros__parameters:
@@ -25,7 +25,7 @@ platform_velocity_controller:
     wheel_separation_multiplier: 1.0
     wheel_radius_multiplier: 1.0
 
-    publish_rate: 50.0
+    publish_rate: 20.0
     reference_timeout: 0.1
     use_stamped_vel: False
 

clearpath_control/config/do150/teleop_logitech.yaml

@@ -46,9 +46,10 @@ teleop_twist_joy_node:
     publish_stamped_twist: True
     use_sim_time: False
     axis_linear.x: 1
+    axis_linear.y: 0
     scale_linear.x: 0.4
     scale_linear_turbo.x: 1.0
-    axis_angular.yaw: 0
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.6
     scale_angular_turbo.yaw: 1.0
     enable_button: 4

clearpath_control/config/do150/teleop_ps4.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.0
     enable_button: 4

clearpath_control/config/do150/teleop_ps5.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.0
     enable_button: 4

clearpath_control/config/do150/teleop_xbox.yaml

@@ -53,7 +53,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 1.0
     scale_linear_turbo.y: 1.0
-    axis_angular.yaw: 3
+    axis_angular.yaw: 2
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 1.0
     enable_button: 6

clearpath_control/config/j100/control.yaml

@@ -32,15 +32,14 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
     use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
     # Preserve turning radius when limiting speed/acceleration/jerk
     preserve_turning_radius: true
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/config/r100/control.yaml

@@ -1,11 +1,11 @@
 controller_manager:
   ros__parameters:
-    update_rate: 50  # Hz
+    update_rate: 20  # Hz
     use_sim_time: False
 
     joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster
 
-    platform_velocity_controller.type: "clearpath_mecanum_drive_controller/MecanumDriveController"
+    platform_velocity_controller.type: "mecanum_drive_controller/MecanumDriveController"
 
 platform_velocity_controller:
   ros__parameters:
@@ -25,7 +25,7 @@ platform_velocity_controller:
     wheel_separation_multiplier: 1.0
     wheel_radius_multiplier: 1.0
 
-    publish_rate: 50.0
+    publish_rate: 20.0
     reference_timeout: 0.1
     use_stamped_vel: False
 

clearpath_control/config/r100/teleop_logitech.yaml

@@ -46,9 +46,10 @@ teleop_twist_joy_node:
     publish_stamped_twist: True
     use_sim_time: False
     axis_linear.x: 1
+    axis_linear.y: 0
     scale_linear.x: 0.4
     scale_linear_turbo.x: 1.0
-    axis_angular.yaw: 0
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.6
     scale_angular_turbo.yaw: 1.0
     enable_button: 4

clearpath_control/config/r100/teleop_ps4.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 0.4
     scale_linear_turbo.y: 0.4
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 0.5
     enable_button: 4

clearpath_control/config/r100/teleop_ps5.yaml

@@ -64,7 +64,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 0.4
     scale_linear_turbo.y: 0.4
-    axis_angular.yaw: 4
+    axis_angular.yaw: 3
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 0.5
     enable_button: 4

clearpath_control/config/r100/teleop_xbox.yaml

@@ -53,7 +53,7 @@ teleop_twist_joy_node:
     scale_linear.y: 0.4
     scale_linear_turbo.x: 0.4
     scale_linear_turbo.y: 0.4
-    axis_angular.yaw: 3
+    axis_angular.yaw: 2
     scale_angular.yaw: 0.5
     scale_angular_turbo.yaw: 0.5
     enable_button: 6

clearpath_control/config/w200/control.yaml

@@ -32,7 +32,6 @@ platform_velocity_controller:
     tf_frame_prefix_enable: false
 
     cmd_vel_timeout: 0.25
-    #publish_limited_velocity: true
     use_stamped_vel: true
     #velocity_rolling_window_size: 10
 
@@ -43,7 +42,7 @@ platform_velocity_controller:
     # position_feedback: false
 
     # Publish limited velocity
-    publish_cmd: true
+    publish_limited_velocity: true
 
     # Publish wheel data
     publish_wheel_data: true

clearpath_control/launch/control.launch.py

@@ -43,7 +43,10 @@
     ('joint_states', 'platform/joint_states'),
     ('dynamic_joint_states', 'platform/dynamic_joint_states'),
     ('platform_velocity_controller/odom', 'platform/odom'),
+    ('platform_velocity_controller/odometry', 'platform/odom'),
     ('platform_velocity_controller/cmd_vel', 'platform/cmd_vel'),
+    ('platform_velocity_controller/cmd_vel_out', 'platform/cmd_vel_out'),
+    ('platform_velocity_controller/reference', 'platform/cmd_vel'),
     ('platform_velocity_controller/transition_event', 'platform/transition_event'),
     ('/diagnostics', 'diagnostics'),
     ('/tf', 'tf'),

clearpath_control/package.xml

@@ -19,7 +19,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>clearpath_bt_joy</exec_depend>
-  <!--<exec_depend>clearpath_mecanum_drive_controller</exec_depend>-->
+  <exec_depend>mecanum_drive_controller</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>