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add Prof. Cui's chassis
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‎decomposition/metav_description/urdf/playground/cjh_chassis.xacro‎

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<?xml version="1.0"?>
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<robot name="standard" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="is_simulation" default="true" />
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<link name="base_footprint">
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</link>
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<!-- raise the robot a bit higher to prevent it from stucking in the ground -->
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<joint name="joint_base_to_footprint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 1" />
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<parent link="base_footprint" />
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<child link="base_link" />
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</joint>
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<xacro:include filename="$(find metav_description)/urdf/standard/standard.chassis.xacro" />
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<xacro:chassis roller_type="none" />
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<ros2_control name="dji_motors_chassis" type="system">
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<hardware>
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<plugin>meta_hardware/MetaRobotDjiMotorNetwork</plugin>
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<param name="can_network_name">can0</param>
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</hardware>
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<xacro:wheel_transmission prefix="front_left" mechanical_reduction="20.0" motor_id="2" />
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<xacro:wheel_transmission prefix="front_right" mechanical_reduction="20.0" motor_id="1" />
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<xacro:wheel_transmission prefix="back_left" mechanical_reduction="20.0" motor_id="3" />
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<xacro:wheel_transmission prefix="back_right" mechanical_reduction="20.0" motor_id="4" />
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<xacro:wheel_transmission prefix="dummy_yaw" mechanical_reduction="36.0" motor_id="5" />
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</ros2_control>
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</robot>

‎meta_bringup/config/cjh_chassis.yaml‎

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# ported from hero
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controller_manager:
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ros__parameters:
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update_rate: 200 # Hz
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omni_chassis_controller:
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type: meta_chassis_controller/OmniChassisController
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wheels_pid_controller:
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type: pid_controller/PidController
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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omni_chassis_controller:
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ros__parameters:
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omni_wheel_joints:
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- wheels_pid_controller/front_left_wheel_joint
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- wheels_pid_controller/front_right_wheel_joint
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- wheels_pid_controller/back_left_wheel_joint
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- wheels_pid_controller/back_right_wheel_joint
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omni_wheel_forward_angles: [0.0, 180.0, 0.0, 180.0]
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omni_wheel_center_x: [0.2, 0.2, -0.2, -0.2]
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omni_wheel_center_y: [0.2, -0.2, 0.2, -0.2]
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omni_wheel_sliding_angles: [-45.0, 45.0, 45.0, -45.0]
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omni_wheel_radius: 0.076
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control_mode: 0
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yaw_gimbal_joint: dummy_yaw_wheel_joint
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follow_pid_gains:
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{ p: 4.0, i: 2.0e-1, d: 0.0, i_clamp_max: 3.0, i_clamp_min: -3.0, antiwindup: true }
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follow_pid_target: 0.0
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reference_timeout: 0.2
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wheels_pid_controller:
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ros__parameters:
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dof_names:
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- front_left_wheel_joint
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- front_right_wheel_joint
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- back_left_wheel_joint
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- back_right_wheel_joint
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command_interface: effort
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reference_and_state_interfaces: ["velocity"]
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gains:
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front_left_wheel_joint:
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{ p: 2.0e-2, i: 1.0e-4, d: 0.0, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
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front_right_wheel_joint:
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{ p: 2.0e-2, i: 1.0e-4, d: 0.0, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
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back_left_wheel_joint:
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{ p: 2.0e-2, i: 1.0e-4, d: 0.0, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
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back_right_wheel_joint:
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{ p: 2.0e-2, i: 1.0e-4, d: 0.0, i_clamp_max: 1.0, i_clamp_min: -1.0, antiwindup: true }
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dbus_control_node:
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ros__parameters:
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dbus_port: "ttyUSB0"
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hero_vehicle:
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ros__parameters:
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enable_ros2_control: true
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aim_topic: "/gimbal_position_controller/reference"
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shoot_topic: "/shoot_controller/reference"
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control:
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trans_vel: 2.5 # m/s
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rot_vel: 3.0 # rad/s
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stick_sens: 5.00 # rad/s
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mouse_sens: 10.0
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deadzone: 0.3 # percentage
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video_link_blank_time: 0.05 # second

‎meta_bringup/launch/cjh_chassis.py‎

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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition, UnlessCondition
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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# Necessary dirty work that lets us import modules from the meta_bringup package
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import os
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import sys
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from ament_index_python.packages import get_package_share_directory
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sys.path.append(os.path.join(get_package_share_directory('meta_bringup'), 'launch'))
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from launch_utils import load_controller, register_loading_order, register_sequential_loading
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ARGUMENTS = [
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DeclareLaunchArgument(
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'enable_simulation',
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default_value='false',
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description='If true, the simulation will be started'),
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]
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def generate_launch_description():
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# Launch Arguments
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enable_simulation = LaunchConfiguration('enable_simulation')
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# Get URDF via xacro
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robot_description_content = Command([
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PathJoinSubstitution([FindExecutable(name='xacro')]),
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' ',
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PathJoinSubstitution([FindPackageShare('metav_description'), 'urdf', 'playground', 'cjh_chassis.xacro']),
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' ',
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'is_simulation:=', enable_simulation,
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])
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node_robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[
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{'use_sim_time': enable_simulation,
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'robot_description': robot_description_content,
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'publish_frequency': 100.0}
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],
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output='both',
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emulate_tty=True
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)
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robot_config = PathJoinSubstitution([FindPackageShare('meta_bringup'), 'config', 'cjh_chassis.yaml'])
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controller_manager = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_config],
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remappings=[
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("~/robot_description", "/robot_description"),
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],
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output='both',
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emulate_tty=True,
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condition=UnlessCondition(enable_simulation)
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)
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load_joint_state_broadcaster = load_controller('joint_state_broadcaster')
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# List of controllers to be loaded sequentially
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# Order in this list is IMPORTANT
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load_controllers = [
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load_controller('wheels_pid_controller'),
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load_controller('omni_chassis_controller'),
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]
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hero_vehicle_node = Node(
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package='hero_vehicle',
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executable='hero_vehicle_node',
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name='hero_vehicle',
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output='both',
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parameters=[robot_config],
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emulate_tty=True
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)
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dbus_control_node = Node(
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package='dbus_control',
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executable='dbus_control_node',
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name='dbus_control_node',
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parameters=[robot_config],
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output='both',
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emulate_tty=True,
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)
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return LaunchDescription([
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# Launch Arguments
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*ARGUMENTS,
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# Load robot state publisher
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node_robot_state_publisher,
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# Launch controller manager (if not in simulation)
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controller_manager,
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# Load joint state broadcaster
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load_joint_state_broadcaster,
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# Load controllers
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*register_sequential_loading(load_joint_state_broadcaster, *load_controllers),
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hero_vehicle_node,
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dbus_control_node
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])

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