ros-toolbox's Introduction

ROS Toolbox

Several control tools: continuous domain state space model solvers, effort feed-forward trajectory controller, gravity compensation controller, Gazebo hardware interface plugin to simulate servo drives and etc.

Dependencies

All packages are built against ROS Noetic. You should have installed: moveit, gazebo_ros packages, ros_controll and ros_controllers packages (TBD)

External dependencies: Eigen, OpenCV

Package details

rnrt_aruco_detector

ROS node for detecting aruco markers. Publishes markers poses and tfs, so they could be processed and viewed via rviz.

rnrt_control_tools

At the moment it contains classes for:

transfer function description
state space model (Euler and RK4 solvers)
linear dynamic system
Butterworth filter
permanent magnet brushed motor
servo motor with current loop
mass-spring-damper model

rnrt_joint_trajectory_controller

Implementation of joint_trajectory_controller with effort feed forward input

rnrt_robot_controllers

Robot-level controllers. Currently has:

gravity compensation controller

rnrt_gazebo_ros_control

Hardware interface plugin to simulate servo motor actuator

Usage

Load parameters to parameter server, see config example

Modify your URDF file:

<gazebo>
  <plugin name="gazebo_ros_control" 
          filename="libgazebo_ros_control.so">
    <robotNamespace>/your_robot_namespace</robotNamespace>
    <robotSimType>gazebo_ros_control/ServoRobotHWSim</robotSimType>
    <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
  </plugin>
</gazebo>

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