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WoolfreyWoolfrey
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Merge pull request #2 from Woolfrey/devel
I approve of my own changes.
2 parents 67dae6c + c3d88e3 commit d021655

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‎README.md

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@@ -18,7 +18,6 @@ In essence, it serves as an example of how to implement the [serial_link_action_
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- [Installation](#floppy_disk-installation)
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- [Configuration Files](#gear-configuration-files)
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- [Launch Files](#rocket-launch-files)
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- [Release Notes](#package-release-notes---v100-april-2025)
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- [Contributing](#handshake-contributing)
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- [Citing this Repository](#bookmark_tabs-citing-this-repository)
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- [License](#scroll-license)
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└── src/
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├── client_serial_link/
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├── control_kuka_velocity/
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| ├── config/
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| ├── doc/
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| ├── include/
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| ├── launch/
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| ├── rviz/
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| ├── src/
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| ├── urdf/
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| ├── CMakeLists.txt
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| ├── LICENSE
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| ├── package.xml
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| └── README.md
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├── interface_serial_link/
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├── mujoco_ros2/
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└── server_serial_link/
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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## :package: Release Notes - v1.0.0 (April 2025)
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### :tada: First Release:
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- Implements `FollowTransform`, `FollowTwist`, `TrackCartesianTrajectory`, and `TrackJointTrajectory` actions.
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- Enables joystick control of robot endpoint,
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- Enables pose control with interactive marker, and
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- Config files for changing control parameters.
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[:top: Back to Top.](#joystick-kuka-velocity-control)
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## :handshake: Contributing
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Contributions to this repositore are welcome! Feel free to:

‎config/iiwa_endpoint_poses.yaml

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ros__parameters:
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pose_names: ["up", "down", "left", "right", "fore", "aft", "round"] # We need to declare them here so we can search them by name
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up:
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poses: [0.0, 0.0, 0.2, 0.0, 0.0, 0.0]
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poses: [0.0, 0.0, 0.3, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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down:
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poses: [0.0, 0.0, -0.2, 0.0, 0.0, 0.0]
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poses: [0.0, 0.0, -0.3, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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left:
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poses: [0.0, 0.2, 0.0, 0.0, 0.0, 0.0]
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poses: [0.0, 0.3, 0.0, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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right:
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poses: [0.0, -0.2, 0.0, 0.0, 0.0, 0.0]
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poses: [0.0, -0.3, 0.0, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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fore:
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poses: [0.2, 0.0, 0.0, 0.0, 0.0, 0.0]
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poses: [0.3, 0.0, 0.0, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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aft:
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poses: [-0.2, 0.0, 0.0, 0.0, 0.0, 0.0]
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poses: [-0.3, 0.0, 0.0, 0.0, 0.0, 0.0]
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times: [3.0]
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reference: "relative"
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round:

‎config/tolerances.yaml

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timeout: 0.1 # s
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joint: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] # rad
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pose:
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position: 0.2 # m
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orientation: 0.35 # rad
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position: 0.1 # m
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orientation: 0.5 # rad
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twist:
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linear: 0.5 # m/s
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angular: 1.0 # rad/s

‎doc/.$Diagrams.drawio.bkp

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<mxfile host="Electron" modified="2025-04-09T11:17:09.065Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.1.2 Chrome/114.0.5735.289 Electron/25.9.4 Safari/537.36" etag="KGOS0vix03Ea2TyP0dKb" version="22.1.2" type="device">
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<root>
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<mxCell id="15O87lglnOJkSWuvPD9l-1" value="&lt;b&gt;serial_link_action_client&lt;/b&gt;" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
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<mxGeometry x="20" y="180" width="150" height="120" as="geometry" />
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</mxCell>
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<mxCell id="15O87lglnOJkSWuvPD9l-6" value="interface_serial_link::msg::JointCommands" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.75;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="15O87lglnOJkSWuvPD9l-4" target="15O87lglnOJkSWuvPD9l-5">
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<mxCell id="15O87lglnOJkSWuvPD9l-6" value="serial_link_interfaces::msg::JointCommand" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.75;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="15O87lglnOJkSWuvPD9l-4" target="15O87lglnOJkSWuvPD9l-5">
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<mxGeometry relative="1" as="geometry" />
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</mxCell>
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<mxCell id="15O87lglnOJkSWuvPD9l-23" value="Text" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="15O87lglnOJkSWuvPD9l-6">
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<mxGeometry x="-0.494" y="7" relative="1" as="geometry">
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<mxPoint x="-1" as="offset" />
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</mxGeometry>
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</mxCell>
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<mxCell id="15O87lglnOJkSWuvPD9l-11" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.75;exitDx=0;exitDy=0;entryX=1;entryY=0.75;entryDx=0;entryDy=0;" edge="1" parent="1" source="15O87lglnOJkSWuvPD9l-4" target="15O87lglnOJkSWuvPD9l-1">
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<mxGeometry relative="1" as="geometry" />
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</mxCell>

‎doc/Diagrams.drawio

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‎doc/follow_transform.gif

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‎doc/follow_twist.gif

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‎doc/.$Diagrams.drawio.dtmp renamed to ‎doc/kuka_control_diagrams.drawio

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<mxfile host="Electron" modified="2025-04-11T13:21:06.528Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/22.1.2 Chrome/114.0.5735.289 Electron/25.9.4 Safari/537.36" etag="uzkI0oECCBojTv9ca5W7" version="22.1.2" type="device">
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<diagram name="Page-1" id="FJ5al01fARjp6G7-FXAw">
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<root>

‎doc/track_trajectory.gif

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‎launch/follow_transform.py

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#!/usr/bin/env python3
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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arguments = [os.path.join(this_directory, 'urdf/iiwa14.urdf'), # URDF location
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'link7', # Endpoint name
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'joint_command_relay', # Topic to publish joint commands to
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'joint_state'] # Joint state topic to subscribe to
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'joint_states'] # Joint state topic to subscribe to
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)
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# Joint command relay
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output = 'screen'
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)
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# Robot State Publisher
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model = Node(
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package = 'robot_state_publisher',
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executable = 'robot_state_publisher',
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name = 'robot_state_publisher',
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output = 'screen',
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parameters = [{'robot_description': open(os.path.join(this_directory, 'urdf/iiwa14.urdf')).read()}]
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)
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# RViz visualization
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rviz = Node(
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package = 'rviz2',
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output = 'screen',
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arguments = ['-d', os.path.join(this_directory, 'rviz/follow_transform.rviz')]
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return LaunchDescription([server, relay, interactive, rviz])
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return LaunchDescription([server, relay, interactive, model, rviz])

‎launch/follow_twist.py

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#!/usr/bin/env python3
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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arguments = [os.path.join(this_directory, 'urdf/iiwa14.urdf'), # URDF location
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'link7', # Endpoint name
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'joint_command_relay', # Topic to publish joint commands to
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'joint_state'] # Joint state topic to subscribe to
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'joint_states'] # Joint state topic to subscribe to
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)
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# Joint command relay
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output = 'screen',
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parameters = [os.path.join(this_directory, 'config/wii_nunchuck.yaml')]
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)
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# Robot State Publisher
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model = Node(
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package = 'robot_state_publisher',
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executable = 'robot_state_publisher',
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name = 'robot_state_publisher',
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output = 'screen',
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parameters = [{'robot_description': open(os.path.join(this_directory, 'urdf/iiwa14.urdf')).read()}]
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)
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# RViz visualization
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rviz = Node(
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package = 'rviz2',
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executable = 'rviz2',
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name = 'rviz2',
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output = 'screen',
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arguments = ['-d', os.path.join(this_directory, 'rviz/follow_twist.rviz')]
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)
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return LaunchDescription([trajectory_tracking, relay, joy, mapper])
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return LaunchDescription([trajectory_tracking, relay, joy, mapper, model, rviz])
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‎launch/mujoco.py

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#!/usr/bin/env python3
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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output = "screen",
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arguments = [xmlScenePath],
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parameters = [
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{"joint_state_topic_name" : "joint_state"},
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{"joint_state_topic_name" : "joint_states"},
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{"joint_command_topic_name" : "joint_commands"},
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{"control_mode" : "VELOCITY"},
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{"simulation_frequency" : 1000},

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