Remove front_steering from steering library #1166

qinqon · 2024-06-08T07:49:40Z

To Accommodate controllers that are not only steering at front or rear
this change remove the front_steering variable from
steering_controller_library, as a byproduct of that the notion of
front or rear wheel radius is also removed from dependant controllers
and the library has know "traction_joints_names" and
"steering_joints_names" instead of "front_wheels_names" and
"rear_wheels_names".

Depends on:

Fix steering controllers library kinematics #1150

christophfroehlich

I support the idea, thanks!

Please deprecate the old parameters and add the new ones to support both temporarily. Then we can also backport such changes.

Additionally, please add migration notes here.

steering_controllers_library/src/steering_controllers_library.yaml

christophfroehlich · 2024-06-08T12:44:01Z

Have you read and considered #692? Ideally, we should solve it with this PR.
I'm not sure if your proposal works for 4WD + 4x steering?

qinqon · 2024-06-08T13:29:35Z

Have you read and considered #692? Ideally, we should solve it with this PR.

The idea is the same, is all about generalize the steering library a little more.

I'm not sure if your proposal works for 4WD + 4x steering?

Next PR will allow that, I am thinking about extending the current ackermann instead of new controller, if you add a pair of traction and steering joints and define the instantaneus center of robot you can have this by modifyting a little the IK and odometry. Also you can keep the current ackermann by configuring the instantaneus centor or robot at the traction joints and using the same IK and odometry.

mergify · 2024-06-19T17:32:17Z

This pull request is in conflict. Could you fix it @qinqon?

qinqon · 2024-06-23T13:35:26Z

Tests working

$ colcon test 
Starting >>> steering_controllers_library
Finished <<< steering_controllers_library [0.44s]          
Starting >>> ackermann_steering_controller
Starting >>> bicycle_steering_controller
Starting >>> tricycle_steering_controller                                                                    
Finished <<< bicycle_steering_controller [1.50s]                                                                                                   
Finished <<< ackermann_steering_controller [1.58s]                                                            
Finished <<< tricycle_steering_controller [1.52s]

Summary: 4 packages finished [3.01s]

christophfroehlich

I unearthed this PR, I changed my mind and think it makes sense to merge this before a possible rewrite of the library.

Thanks @qinqon for the initial work, on top of that I did

add proper backwards compatibility
updated the docs
added migration and release notes
fixed a bug, that with Ackermann kinematics a different wheel track of the steering and traction axle was not supported (although the parameters were there from the beginning).

Timple · 2025-01-03T16:46:05Z

It's hard to see on mobile. But I see a separation between tracked and steered wheels.
Can steered wheels also have traction with this pr? We have a vehicle with an active driven front wheel. Would be nice to use this 👍

christophfroehlich · 2025-01-03T16:59:29Z

It's hard to see on mobile. But I see a separation between tracked and steered wheels. Can steered wheels also have traction with this pr? We have a vehicle with an active driven front wheel. Would be nice to use this 👍

No, this is is not possible yet. I made a proposal once to configure this more freely, but haven't started going in that direction.

bicycle_steering_controller/src/bicycle_steering_controller.cpp

Co-authored-by: Reza Kermani <[email protected]>

qinqon · 2025-01-03T20:06:06Z

I unearthed this PR, I changed my mind and think it makes sense to merge this before a possible rewrite of the library.

Thanks @qinqon for the initial work, on top of that I did

add proper backwards compatibility

updated the docs

added migration and release notes

fixed a bug, that with Ackermann kinematics a different wheel track of the steering and traction axle was not supported (although the parameters were there from the beginning).

@christophfroehlich happy that the PR did help with the effort, let me know on whatever you need.

skasperski · 2025-02-13T16:30:46Z

Hello, I am interested in the work here and would like to see it merged. I am currently testing this branch on jazzy and face some issues, probably due to parameterization. Is there any specific order required for traction_joint_names and steering_joint_names lists? Doesn't it need to know which joints are right and which are left?

@qinqon Are you still working on the 4WD patch? I'd be also willing to contribute or help with testing.

…library

christophfroehlich · 2025-02-13T17:18:30Z

Hello, I am interested in the work here and would like to see it merged. I am currently testing this branch on jazzy and face some issues, probably due to parameterization. Is there any specific order required for traction_joint_names and steering_joint_names lists? Doesn't it need to know which joints are right and which are left?

Does your config work with the current version without this PR? After merging, we have to fix the ackermann_drive_controller of gz_ros2_control_demos, @skasperski maybe you want to work on that and create a PR there? then we can troubleshoot together if something is not working properly.

skasperski · 2025-02-14T08:49:24Z

Ok, I will look into this. For now the parameters are misspelled in the deprecation messages. Can I somehow add commits to this PR?

christophfroehlich · 2025-02-14T08:58:20Z

Ok, I will look into this. For now the parameters are misspelled in the deprecation messages. Can I somehow add commits to this PR?

you can review in the "Files changed" tab, and I can commit the changes.

skasperski · 2025-02-14T09:04:10Z

steering_controllers_library/src/steering_controllers_library.cpp

+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'front_steering', set 'traction_joint_names' or 'steering_joint_names' "


Parameter is actually called "traction_joints_names".

skasperski · 2025-02-14T09:10:54Z

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -172,22 +170,22 @@ class SteeringControllersLibraryFixture : public ::testing::Test
    command_ifs.reserve(joint_command_values_.size());

    command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      rear_wheels_names_[0], traction_interface_name_,
+      traction_joints_names_[0], traction_interface_name_,


Here it is always assumed that there are exactly two joints in the order [right, left]. This is as far as I can tell not documented anywhere.

only for ackermann, and there is this note in the beginning of the test:

// NOTE: Testing steering_controllers_library for Ackermann vehicle configuration only

I added this information to the parameter yaml.

skasperski · 2025-02-14T09:17:42Z

steering_controllers_library/src/steering_controllers_library.cpp

+    }
+  }
+  // END OF DEPRECATED
+


Here it should be tested that traction_joints_names and steering_joints_names have exactly length 2, because it will crash during update if not.

I added checks here.

skasperski · 2025-02-14T10:44:24Z

I am currently unable to compile these packages, because all tests fail to build with this error:

/ros_ws/src/ros2_controllers/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp:34:26: error: ‘struct steering_controllers_library::Params’ has no member named ‘traction_joints_names’
   34 |     controller_->params_.traction_joints_names, testing::ElementsAreArray(traction_joints_names_));

I have no idea why that is, because the generated struct does have this member. Could this be some compatibility issue between jazzy and rolling?

Edit: Never mind, the binary installed version of this package had leaked into the workspace.

…library

christophfroehlich

@skasperski thanks for the hints. I pushed changes, let me know what you think.

christophfroehlich · 2025-02-14T18:13:25Z

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -172,22 +170,22 @@ class SteeringControllersLibraryFixture : public ::testing::Test
    command_ifs.reserve(joint_command_values_.size());

    command_itfs_.emplace_back(hardware_interface::CommandInterface(
-      rear_wheels_names_[0], traction_interface_name_,
+      traction_joints_names_[0], traction_interface_name_,


only for ackermann, and there is this note in the beginning of the test:

// NOTE: Testing steering_controllers_library for Ackermann vehicle configuration only

I added this information to the parameter yaml.

christophfroehlich · 2025-02-14T18:13:39Z

steering_controllers_library/src/steering_controllers_library.cpp

+  {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "DEPRECATED parameter 'front_steering', set 'traction_joint_names' or 'steering_joint_names' "


christophfroehlich · 2025-02-14T18:33:06Z

steering_controllers_library/src/steering_controllers_library.cpp

+    }
+  }
+  // END OF DEPRECATED
+


I added checks here.

…library

github-actions bot requested review from aprotyas, bmagyar, destogl, mcbed, olivier-stasse, progtologist and VanshGehlot June 8, 2024 07:49

qinqon force-pushed the remove_front_steering_param_from_steering_library branch 4 times, most recently from c83dce3 to 71800b2 Compare June 8, 2024 08:32

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qinqon changed the title ~~[WIP] Remove front_steering from steering library~~ Remove front_steering from steering library Jun 8, 2024

qinqon force-pushed the remove_front_steering_param_from_steering_library branch 12 times, most recently from 3965416 to c09d17b Compare June 12, 2024 20:58

qinqon force-pushed the remove_front_steering_param_from_steering_library branch from c09d17b to 41b3219 Compare June 19, 2024 17:22

christophfroehlich added 3 commits January 3, 2025 15:40

Add parameter for traction/steering wheel track

ec89354

Add release and migration notes

9bc443e

Update docs

7584e3a

christophfroehlich previously approved these changes Jan 3, 2025

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christophfroehlich requested review from ARK3r and removed request for VanshGehlot January 3, 2025 16:01

Update format of docs

69eb9ea

christophfroehlich dismissed their stale review via 69eb9ea January 3, 2025 16:07

ARK3r reviewed Jan 3, 2025

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bicycle_steering_controller/src/bicycle_steering_controller.cpp Show resolved Hide resolved

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Co-authored-by: Reza Kermani <[email protected]>

Merge branch 'master' into remove_front_steering_param_from_steering_…

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…library

skasperski suggested changes Feb 14, 2025

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christophfroehlich added 4 commits February 14, 2025 18:04

Fix parameter names in deprecation notices

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Document the expected order of joints in parameters

f9c6dfc

Check size of given joint parameters

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Merge branch 'master' into remove_front_steering_param_from_steering_…

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…library

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christophfroehlich requested a review from skasperski February 14, 2025 18:34

christophfroehlich and others added 2 commits February 14, 2025 21:29

Merge branch 'master' into remove_front_steering_param_from_steering_…

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…library

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Remove front_steering from steering library #1166

Remove front_steering from steering library #1166

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Remove front_steering from steering library #1166

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Remove front_steering from steering library #1166

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