Request for Guidance: Adding Ewellix Lift Column Configuration to Panther Robot (ROS2 Humble)

[sharaf-roboking]

Hi,

I am currently using the Panther robot in my project and would like to add a new configuration for a lift column. I found the package for the lift column here: https://github.com/clearpathrobotics/ewellix_lift.

Could you please provide guidance or recommended steps to integrate this lift column configuration into the Panther robot?

Setup details:

ROS 2 distribution: Humble

Robot: Panther

Thank you for your support.

[KmakD]

Hi,

General approach for adding non standard devices and creating valid TF tree would be as follow:

1. Create device URDF. Looks like the lift description package already have that.
2. Publish robot state using robot_state_publisher. Here is official tutorial from ROS.
3. Use static_transform_publisher to create transform between the Panther and the device

[sharaf-roboking]

Hi everyone,
I’ve modified the URDF files (base.urdf.xacro and panther_macro.urdf.xacro) to add two links connected by a prismatic joint. The setup is working visually — I can see the two links in both Gazebo and RViz, and the TF tree also looks correct (see attached photos).

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

  <xacro:macro
    name="body"
    params="wheel_radius imu_xyz imu_rpy">

    <joint name="base_to_body_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <parent link="base_link" />
      <child link="body_link" />
    </joint>

    <link name="base_link" />

    <link name="body_link">
      <visual>
        <geometry>
          <mesh filename="package://husarion_ugv_description/meshes/panther/base.dae" />
        </geometry>
      </visual>

      <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        <geometry>
          <mesh filename="package://husarion_ugv_description/meshes/panther/base_collision.stl" />
        </geometry>
      </collision>

      <inertial>
        <origin xyz="-0.008 0.01 0.029" rpy="0.0 0.0 0.0" />
        <mass value="43.0" />
        <inertia ixx="2.630036" ixy="-0.023480" ixz="0.052320"
                                iyy="2.463509"  iyz="0.009337"
                                                izz="4.611945" />
      </inertial>
    </link>

    <joint name="body_to_footprint_joint" type="fixed">
      <origin xyz="0.0 0.0 -${wheel_radius}" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="base_footprint" />
    </joint>

    <link name="base_footprint" />

    <joint name="body_to_imu_joint" type="fixed">
      <origin xyz="${imu_xyz}" rpy="${imu_rpy}" />
      <parent link="body_link" />
      <child link="imu_link" />
    </joint>

    <link name="imu_link" />

    <joint name="body_to_front_bumper_joint" type="fixed">
      <origin xyz="0.362 0.0 0.0" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="front_bumper_link" />
    </joint>

    <link name="front_bumper_link" />

    <joint name="front_bumper_to_lights_channel_1_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0185" rpy="0.0 0.0 0.0" />
      <parent link="front_bumper_link" />
      <child link="lights_channel_1_link" />
    </joint>

    <link name="lights_channel_1_link" />

    <joint name="body_to_rear_bumper_joint" type="fixed">
      <origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
      <parent link="body_link" />
      <child link="rear_bumper_link" />
    </joint>

    <link name="rear_bumper_link" />

    <joint name="rear_bumper_to_lights_channel_2_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0185" rpy="0.0 0.0 0.0" />
      <parent link="rear_bumper_link" />
      <child link="lights_channel_2_link" />
    </joint>

    <link name="lights_channel_2_link" />

    <joint name="body_to_cover_joint" type="fixed">
      <origin xyz="0.0 0.0 0.14" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="cover_link" />
    </joint>

    <link name="cover_link" />

    <joint name="cover_to_mount_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0315" rpy="0.0 0.0 0.0" />
      <parent link="cover_link" />
      <child link="mount_link" />
    </joint>

    <link name="mount_link" />
    
                <!-- add the column lift -->
    
     <joint name="mount_to_lift_joint" type="fixed">
      <origin xyz="-0.2 0.0 0.0315" rpy="0.0 0.0 0.0" />
      <parent link="mount_link" />
      <child link="lift_link" />
    </joint>

   <link name="lift_link">
  <visual>
    <geometry>
      <cylinder length="0.5" radius="0.08"/>
    </geometry>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
    <material name="grey">
      <color rgba="0.5 0.5 0.5 1.0"/>
    </material>
  </visual>

  <collision>
    <geometry>
      <cylinder length="0.5" radius="0.08"/>
    </geometry>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
  </collision>

  <inertial>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
    <mass value="2.0"/>
    <inertia ixx="0.01" ixy="0.0" ixz="0.0"
             iyy="0.01" iyz="0.0"
             izz="0.01"/>
  </inertial>
</link>

    <joint name="lift_to_second_lift_joint" type="prismatic">

  <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0" />
  <parent link="lift_link"/>
  <child link="second_lift_link"/>
  <axis xyz="0 0 1"/>
  <limit lower="0.0" upper="0.3" effort="100" velocity="0.2"/>
</joint>

<!-- Define the second lift link -->
<link name="second_lift_link">
  <visual>
    <geometry>
      <cylinder length="0.3" radius="0.05"/>
    </geometry>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
    <material name="silver">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>
  </visual>

  <collision>
    <geometry>
      <cylinder length="0.3" radius="0.05"/>
    </geometry>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
  </collision>

  <inertial>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
    <mass value="1.0"/>
    <inertia ixx="0.01" ixy="0.0" ixz="0.0"
             iyy="0.01" iyz="0.0"
             izz="0.01"/>
  </inertial>
</link>

<transmission name="column_trans">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lift_to_second_lift_joint">
    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="column_motor">
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

  </xacro:macro>
</robot>

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

  <xacro:macro
    name="panther_robot"
    params="wheel_config_file
            controller_config_file
            battery_config_file
            use_sim:=false
            imu_xyz:='0.169 0.025 0.092'
            imu_rpy:='0.0 0.0 -1.57'
            namespace:=''">

    <xacro:if value="${use_sim}">
      <xacro:property name="imu_xyz" value="-0.195 0.010 0.085" />
      <xacro:property name="imu_rpy" value="0.000 -0.000 3.142" />
    </xacro:if>

    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />

    <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
    <xacro:property name="wheelbase" value="0.44" />
    <xacro:property name="wheel_mount_point_y" value="0.2575" />

    <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
    <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/base.urdf.xacro" ns="body" />
    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />

    <!-- BODY DECLARATION -->
    <xacro:body.body
      wheel_radius="${wheel_config['wheel_radius']}"
      imu_xyz="${imu_xyz}"
      imu_rpy="${imu_rpy}" />

    <!-- WHEEL DECLARATION -->
    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="fl" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="fr" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="rl" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="rr" />
	
	<!-- Include the Ewellix lift 
    <xacro:include filename="$(find ewellix_description)/urdf/ewellix_macro.xacro" />

    <xacro:ewellix_lift
      parent="mount_link"  
      tf_prefix="lift_"
      parameters_file="$(find ewellix_description)/config/tlt_x25.yaml"
      generate_ros2_control_tag="true"
      use_fake_hardware="false">
      <origin xyz="0 0 0.2" rpy="0 0 0" />
    </xacro:ewellix_lift>-->


    <ros2_control name="${ns}panther_system" type="system">
      <hardware>
        <xacro:if value="${use_sim}">
          <plugin>husarion_ugv_gazebo/EStopSystem</plugin>
          <param name="e_stop_initial_state">true</param>
        </xacro:if>

        <xacro:unless value="${use_sim}">
          <plugin>husarion_ugv_hardware_interfaces/PantherSystem</plugin>

          <param name="encoder_resolution">1600</param>

          <param name="gear_ratio">30.08</param>
          <param name="gearbox_efficiency">0.75</param>

          <!-- Same as set in the Roboteq driver (TNM parameter) -->
          <param name="motor_torque_constant">0.11</param>

          <!-- Max RPM speed set in the Roboteq driver (MXRPM parameter) -->
          <param name="max_rpm_motor_speed">3600.0</param>

          <param name="can_interface_name">robot_can</param>
          <param name="master_can_id">3</param>
          <param name="front_driver_can_id">1</param>
          <param name="rear_driver_can_id">2</param>
          <param name="sdo_operation_timeout_ms">100</param>

          <!-- Depends on frequency of the controller, more critical motors state are sent with
            higher frequency, other parameters are sent with lower, here allowed time is set
            to be expected period +50% margin -->
          <param name="pdo_motor_states_timeout_ms">15</param>
          <param name="pdo_driver_state_timeout_ms">75</param>

          <!-- It will be rounded to the closest value taking into account current controller frequency -->
          <param name="driver_states_update_frequency">20.0</param>

          <param name="max_roboteq_initialization_attempts">5</param>
          <param name="max_roboteq_activation_attempts">5</param>

          <!-- TODO after all tests update parameters, these ones are quite high for the worst case scenario -->
          <param name="max_write_pdo_cmds_errors_count">2</param>
          <param name="max_read_pdo_motor_states_errors_count">2</param>
          <param name="max_read_pdo_driver_state_errors_count">2</param>
        </xacro:unless>
      </hardware>

      <joint name="fl_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="fr_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="rl_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="rr_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      
    <joint name="lift_to_second_lift_joint">
     <command_interface name="position" />
     <state_interface name="position" />
     <state_interface name="velocity" />
     <state_interface name="effort" />
    </joint>

      <xacro:if value="${use_sim}">
        <sensor name="${ns}imu">
          <state_interface name="orientation.x" />
          <state_interface name="orientation.y" />
          <state_interface name="orientation.z" />
          <state_interface name="orientation.w" />
          <state_interface name="angular_velocity.x" />
          <state_interface name="angular_velocity.y" />
          <state_interface name="angular_velocity.z" />
          <state_interface name="linear_acceleration.x" />
          <state_interface name="linear_acceleration.y" />
          <state_interface name="linear_acceleration.z" />
        </sensor>
      </xacro:if>
    </ros2_control>

    <xacro:unless value="${use_sim}">
      <ros2_control name="${ns}imu" type="sensor">
        <hardware>
          <plugin>husarion_ugv_hardware_interfaces/PhidgetImuSensor</plugin>
          <param name="serial">-1</param>
          <param name="hub_port">0</param>
          <param name="data_interval_ms">8</param>
          <param name="callback_delta_epsilon_ms">1</param>

          <!-- Madgwick Filter Params -->
          <param name="gain">0.00304</param>
          <param name="zeta">0.00151</param>
          <param name="mag_bias_x">0.0</param>
          <param name="mag_bias_y">0.0</param>
          <param name="mag_bias_z">0.0</param>
          <param name="use_mag">true</param>
          <param name="stateless">false</param>
          <param name="remove_gravity_vector">false</param>
          <param name="world_frame">enu</param>
        </hardware>

        <sensor name="${ns}imu">
          <state_interface name="orientation.x" />
          <state_interface name="orientation.y" />
          <state_interface name="orientation.z" />
          <state_interface name="orientation.w" />
          <state_interface name="angular_velocity.x" />
          <state_interface name="angular_velocity.y" />
          <state_interface name="angular_velocity.z" />
          <state_interface name="linear_acceleration.x" />
          <state_interface name="linear_acceleration.y" />
          <state_interface name="linear_acceleration.z" />
        </sensor>
      </ros2_control>
    </xacro:unless>

    <xacro:if value="${use_sim}">
      <xacro:if value="${battery_config_file != ''}">
        <xacro:gazebo.battery config_file="${battery_config_file}" namespace="${namespace}" />
      </xacro:if>
      <xacro:gazebo.controller config_file="${controller_config_file}" namespace="${namespace}" />
      <xacro:gazebo.imu reference_frame="imu_link" namespace="${namespace}" />
      <xacro:gazebo.light reference_frame="lights_channel_1_link" name="lights_channel_1" topic="lights/channel_1_frame" namespace="${namespace}" />
      <xacro:gazebo.light reference_frame="lights_channel_2_link" name="lights_channel_2" topic="lights/channel_2_frame" namespace="${namespace}" />
    </xacro:if>
  </xacro:macro>

</robot>

I’ve also created a configuration file (controllers.yaml).

controller_manager:
  ros__parameters:
    update_rate: 100

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    column_controller:
      type: position_controllers/JointGroupPositionController
      joints:
        - lift_to_second_lift_joint

The issue I’m facing is that I cannot configure the system to control both the lift column (prismatic joint) and the mobile robot simultaneously. I believe I’m missing a small step to make it work.
My question is:
How can I control the prismatic joint in Gazebo?
Is it possible to create a dedicated topic to control the height of the column?

The configuration files for the Panther robot are quite complex for me.

Any guidance on how to integrate this with the mobile robot would be greatly appreciated.

[KmakD]

Hi,

There are few things that I can point out in your current setup:

• You are adding lift by hand in base.xacro.yaml file and then import it from ewellix_description in `panthermacro.xacro.urdf. This can cause some conflicts.
• I don't see you are launching controller_manger for the lift. Similar like done in this launch file

[sharaf-roboking]

Hi,
thank you so much for your support,

I added a controller for the lift column (lift_position_controller) after modifying the WH01_controller.yaml file (attached). When I check with ros2 control list_controllers, I see the following:

[INFO] [1754296522.182967013] [_ros2cli_238878]: waiting for service /controller_manager/list_controllers to become available...
joint_state_broadcaster   joint_state_broadcaster/JointStateBroadcaster      active
drive_controller          diff_drive_controller/DiffDriveController          active
lift_position_controller  position_controllers/JointGroupPositionController  active
imu_broadcaster           imu_sensor_broadcaster/IMUSensorBroadcaster        active
 

I also see ROS 2 topics for the lift column:

/lift_position_controller/commands
/lift_position_controller/transition_event

ros2 topic list
/battery/battery_status
/clicked_point
/clock
/cmd_vel
/diagnostics
/dynamic_joint_states
/front1_cam/zed_node/camera_info
/front1_cam/zed_node/depth
/front1_cam/zed_node/depth/points
/front1_cam/zed_node/rgb/camera_info
/front1_cam/zed_node/rgb/image_rect_color
/goal_pose
/hardware/e_stop
/imu/data
/initialpose
/joint_states
/joy
/lift_position_controller/commands
/lift_position_controller/transition_event
/lights/channel_1_frame
/lights/channel_2_frame
/localization/set_pose
/odometry/filtered
/odometry/wheels
/parameter_events
/robot_description
/rosout
/second_lidar/scan
/tf
/tf_static
/third_lidar/ouster/points

When I try to move the lift column using:

ros2 topic pub /lift_position_controller/commands std_msgs/msg/Float64MultiArray "data: [1.5]"

there is no movement in RViz or Gazebo.
this my issue now

and this my final panther_macro.urdf.xacro:

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

  <xacro:macro
    name="panther_robot"
    params="wheel_config_file
            controller_config_file
            battery_config_file
            use_sim:=false
            imu_xyz:='0.169 0.025 0.092'
            imu_rpy:='0.0 0.0 -1.57'
            namespace:=''">

    <xacro:if value="${use_sim}">
      <xacro:property name="imu_xyz" value="-0.195 0.010 0.085" />
      <xacro:property name="imu_rpy" value="0.000 -0.000 3.142" />
    </xacro:if>

    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />

    <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
    <xacro:property name="wheelbase" value="0.44" />
    <xacro:property name="wheel_mount_point_y" value="0.2575" />

    <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
    <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/base.urdf.xacro" ns="body" />
    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />

    <!-- BODY DECLARATION -->
    <xacro:body.body
      wheel_radius="${wheel_config['wheel_radius']}"
      imu_xyz="${imu_xyz}"
      imu_rpy="${imu_rpy}" />

    <!-- WHEEL DECLARATION -->
    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="fl" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="fr" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="rl" />

    <xacro:wheel.wheel
      config="${wheel_config}"
      mount_point_x="${wheelbase/2.0}"
      mount_point_y="${wheel_mount_point_y}"
      prefix="rr" />
	


    <ros2_control name="${ns}panther_system" type="system">
      <hardware>
        <xacro:if value="${use_sim}">
          <plugin>husarion_ugv_gazebo/EStopSystem</plugin>
          <param name="e_stop_initial_state">true</param>
        </xacro:if>

        <xacro:unless value="${use_sim}">
          <plugin>husarion_ugv_hardware_interfaces/PantherSystem</plugin>

          <param name="encoder_resolution">1600</param>

          <param name="gear_ratio">30.08</param>
          <param name="gearbox_efficiency">0.75</param>

          <!-- Same as set in the Roboteq driver (TNM parameter) -->
          <param name="motor_torque_constant">0.11</param>

          <!-- Max RPM speed set in the Roboteq driver (MXRPM parameter) -->
          <param name="max_rpm_motor_speed">3600.0</param>

          <param name="can_interface_name">robot_can</param>
          <param name="master_can_id">3</param>
          <param name="front_driver_can_id">1</param>
          <param name="rear_driver_can_id">2</param>
          <param name="sdo_operation_timeout_ms">100</param>

          <!-- Depends on frequency of the controller, more critical motors state are sent with
            higher frequency, other parameters are sent with lower, here allowed time is set
            to be expected period +50% margin -->
          <param name="pdo_motor_states_timeout_ms">15</param>
          <param name="pdo_driver_state_timeout_ms">75</param>

          <!-- It will be rounded to the closest value taking into account current controller frequency -->
          <param name="driver_states_update_frequency">20.0</param>

          <param name="max_roboteq_initialization_attempts">5</param>
          <param name="max_roboteq_activation_attempts">5</param>

          <!-- TODO after all tests update parameters, these ones are quite high for the worst case scenario -->
          <param name="max_write_pdo_cmds_errors_count">2</param>
          <param name="max_read_pdo_motor_states_errors_count">2</param>
          <param name="max_read_pdo_driver_state_errors_count">2</param>
        </xacro:unless>
      </hardware>

      <joint name="fl_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="fr_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="rl_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      <joint name="rr_wheel_joint">
        <command_interface name="velocity" />
        <state_interface name="position" />
        <state_interface name="velocity" />
        <state_interface name="effort" />
      </joint>
      
    <joint name="lift_to_second_lift_joint">
     <command_interface name="position" />
     <state_interface name="position" />
     <state_interface name="velocity" />
     <state_interface name="effort" />
    </joint>

      <xacro:if value="${use_sim}">
        <sensor name="${ns}imu">
          <state_interface name="orientation.x" />
          <state_interface name="orientation.y" />
          <state_interface name="orientation.z" />
          <state_interface name="orientation.w" />
          <state_interface name="angular_velocity.x" />
          <state_interface name="angular_velocity.y" />
          <state_interface name="angular_velocity.z" />
          <state_interface name="linear_acceleration.x" />
          <state_interface name="linear_acceleration.y" />
          <state_interface name="linear_acceleration.z" />
        </sensor>
      </xacro:if>
    </ros2_control>

    <xacro:unless value="${use_sim}">
      <ros2_control name="${ns}imu" type="sensor">
        <hardware>
          <plugin>husarion_ugv_hardware_interfaces/PhidgetImuSensor</plugin>
          <param name="serial">-1</param>
          <param name="hub_port">0</param>
          <param name="data_interval_ms">8</param>
          <param name="callback_delta_epsilon_ms">1</param>

          <!-- Madgwick Filter Params -->
          <param name="gain">0.00304</param>
          <param name="zeta">0.00151</param>
          <param name="mag_bias_x">0.0</param>
          <param name="mag_bias_y">0.0</param>
          <param name="mag_bias_z">0.0</param>
          <param name="use_mag">true</param>
          <param name="stateless">false</param>
          <param name="remove_gravity_vector">false</param>
          <param name="world_frame">enu</param>
        </hardware>

        <sensor name="${ns}imu">
          <state_interface name="orientation.x" />
          <state_interface name="orientation.y" />
          <state_interface name="orientation.z" />
          <state_interface name="orientation.w" />
          <state_interface name="angular_velocity.x" />
          <state_interface name="angular_velocity.y" />
          <state_interface name="angular_velocity.z" />
          <state_interface name="linear_acceleration.x" />
          <state_interface name="linear_acceleration.y" />
          <state_interface name="linear_acceleration.z" />
        </sensor>
      </ros2_control>
    </xacro:unless>

    <xacro:if value="${use_sim}">
      <xacro:if value="${battery_config_file != ''}">
        <xacro:gazebo.battery config_file="${battery_config_file}" namespace="${namespace}" />
      </xacro:if>
      <xacro:gazebo.controller config_file="${controller_config_file}" namespace="${namespace}" />

      <xacro:gazebo.imu reference_frame="imu_link" namespace="${namespace}" />
      <xacro:gazebo.light reference_frame="lights_channel_1_link" name="lights_channel_1" topic="lights/channel_1_frame" namespace="${namespace}" />
      <xacro:gazebo.light reference_frame="lights_channel_2_link" name="lights_channel_2" topic="lights/channel_2_frame" namespace="${namespace}" />
    </xacro:if>
  </xacro:macro>

</robot>

base.urdf.xacro:

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">

  <xacro:macro
    name="body"
    params="wheel_radius imu_xyz imu_rpy">

    <joint name="base_to_body_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <parent link="base_link" />
      <child link="body_link" />
    </joint>

    <link name="base_link" />

    <link name="body_link">
      <visual>
        <geometry>
          <mesh filename="package://husarion_ugv_description/meshes/panther/base.dae" />
        </geometry>
      </visual>

      <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        <geometry>
          <mesh filename="package://husarion_ugv_description/meshes/panther/base_collision.stl" />
        </geometry>
      </collision>

      <inertial>
        <origin xyz="-0.008 0.01 0.029" rpy="0.0 0.0 0.0" />
        <mass value="43.0" />
        <inertia ixx="2.630036" ixy="-0.023480" ixz="0.052320"
                                iyy="2.463509"  iyz="0.009337"
                                                izz="4.611945" />
      </inertial>
    </link>

    <joint name="body_to_footprint_joint" type="fixed">
      <origin xyz="0.0 0.0 -${wheel_radius}" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="base_footprint" />
    </joint>

    <link name="base_footprint" />

    <joint name="body_to_imu_joint" type="fixed">
      <origin xyz="${imu_xyz}" rpy="${imu_rpy}" />
      <parent link="body_link" />
      <child link="imu_link" />
    </joint>

    <link name="imu_link" />

    <joint name="body_to_front_bumper_joint" type="fixed">
      <origin xyz="0.362 0.0 0.0" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="front_bumper_link" />
    </joint>

    <link name="front_bumper_link" />

    <joint name="front_bumper_to_lights_channel_1_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0185" rpy="0.0 0.0 0.0" />
      <parent link="front_bumper_link" />
      <child link="lights_channel_1_link" />
    </joint>

    <link name="lights_channel_1_link" />

    <joint name="body_to_rear_bumper_joint" type="fixed">
      <origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
      <parent link="body_link" />
      <child link="rear_bumper_link" />
    </joint>

    <link name="rear_bumper_link" />

    <joint name="rear_bumper_to_lights_channel_2_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0185" rpy="0.0 0.0 0.0" />
      <parent link="rear_bumper_link" />
      <child link="lights_channel_2_link" />
    </joint>

    <link name="lights_channel_2_link" />

    <joint name="body_to_cover_joint" type="fixed">
      <origin xyz="0.0 0.0 0.14" rpy="0.0 0.0 0.0" />
      <parent link="body_link" />
      <child link="cover_link" />
    </joint>

    <link name="cover_link" />

    <joint name="cover_to_mount_joint" type="fixed">
      <origin xyz="0.0 0.0 0.0315" rpy="0.0 0.0 0.0" />
      <parent link="cover_link" />
      <child link="mount_link" />
    </joint>

    <link name="mount_link" />
    
                <!-- add the column lift -->
    
     <joint name="mount_to_lift_joint" type="fixed">
      <origin xyz="-0.2 0.0 0.0315" rpy="0.0 0.0 0.0" />
      <parent link="mount_link" />
      <child link="lift_link" />
    </joint>

   <link name="lift_link">
  <visual>
    <geometry>
      <cylinder length="0.5" radius="0.08"/>
    </geometry>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
    <material name="grey">
      <color rgba="0.5 0.5 0.5 1.0"/>
    </material>
  </visual>

  <collision>
    <geometry>
      <cylinder length="0.5" radius="0.08"/>
    </geometry>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
  </collision>

  <inertial>
    <origin xyz="0 0 0.25" rpy="0 0 0"/>
    <mass value="2.0"/>
    <inertia ixx="0.01" ixy="0.0" ixz="0.0"
             iyy="0.01" iyz="0.0"
             izz="0.01"/>
  </inertial>
</link>

    <joint name="lift_to_second_lift_joint" type="prismatic">

  <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0" />
  <parent link="lift_link"/>
  <child link="second_lift_link"/>
  <axis xyz="0 0 1"/>
  <limit lower="0.0" upper="1.0" effort="1000" velocity="0.2"/>
</joint>

<!-- Define the second lift link -->
<link name="second_lift_link">
  <visual>
    <geometry>
      <cylinder length="0.3" radius="0.05"/>
    </geometry>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
    <material name="silver">
      <color rgba="0.8 0.8 0.8 1.0"/>
    </material>
  </visual>

  <collision>
    <geometry>
      <cylinder length="0.3" radius="0.05"/>
    </geometry>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
  </collision>

  <inertial>
    <origin xyz="0 0 0.15" rpy="0 0 0"/>
    <mass value="1.0"/>
    <inertia ixx="0.01" ixy="0.0" ixz="0.0"
             iyy="0.01" iyz="0.0"
             izz="0.01"/>
  </inertial>
</link>

<transmission name="lift_transmission">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lift_to_second_lift_joint">
    <command_interface name="position"/>
  </joint>
  <actuator name="lift_motor">
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

  </xacro:macro>
</robot>

[sharaf-roboking]

and this my WH01_controller.yaml file which I modified

/**:
  controller_manager:
    ros__parameters:
      update_rate: 100

      joint_state_broadcaster:
        type: joint_state_broadcaster/JointStateBroadcaster
      drive_controller:
        type: diff_drive_controller/DiffDriveController
      imu_broadcaster:
        type: imu_sensor_broadcaster/IMUSensorBroadcaster
      lift_position_controller:
        type: position_controllers/JointGroupPositionController

  # IMU specification
  imu_broadcaster:
    ros__parameters:
      sensor_name: <namespace>/imu
      frame_id: <namespace>/imu_link
      static_covariance_orientation: [1.8e-3, 0.0, 0.0, 0.0, 1.8e-3, 0.0, 0.0, 0.0, 1.8e-3]
      static_covariance_angular_velocity: [1.0e-4, 0.0, 0.0, 0.0, 1.0e-4, 0.0, 0.0, 0.0, 1.0e-4]
      static_covariance_linear_acceleration: [7.6e-4, 0.0, 0.0, 0.0, 7.6e-4, 0.0, 0.0, 0.0, 7.6e-4]

  drive_controller:
    ros__parameters:
      left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
      right_wheel_names: [fr_wheel_joint, rr_wheel_joint]

      wheel_separation: 0.697
      wheel_radius: 0.1825
      wheel_separation_multiplier: 1.5
      left_wheel_radius_multiplier: 1.0
      right_wheel_radius_multiplier: 1.0
      publish_rate: 100.0
      odom_frame_id: odom
      base_frame_id: base_link
      twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4]
      open_loop: false
      position_feedback: false
      velocity_rolling_window_size: 1
      enable_odom_tf: false
      cmd_vel_timeout: 0.2
      use_stamped_vel: false

      linear:
        x:
          has_velocity_limits: true
          has_acceleration_limits: true
          has_jerk_limits: false
          max_velocity: 2.0 # m/s
          max_acceleration: 2.7 # m/s^2
          max_jerk: 0.0 # m/s^3

      angular:
        z:
          has_velocity_limits: true
          has_acceleration_limits: true
          has_jerk_limits: false
          max_velocity: 4.0 # rad/s
          max_acceleration: 5.74 # rad/s^2
          max_jerk: 0.0 # rad/s^3

  lift_position_controller:
    ros__parameters:
      joints:
        - lift_to_second_lift_joint
      command_interfaces:
        - position

[KmakD]

One more thing that comes to my mind, have you set up the gazebo bridge for the /lift_position_controller/commands topic?

[sharaf-roboking]

Thank you for your response.
No, Where exactly should I add that — which file?
I think I need small step to make it work.
I really appreciate your support.

[KmakD]

You can add it here: robot_bridge.yaml
Here you have more info about gz bridge: https://gazebosim.org/docs/latest/ros2_integration/

[sharaf-roboking]

hi Dawid Kmak,

thank for your support

The joint is now working with the same previous configuration after I installed gazebo-ros2-control:

sudo apt install ros-humble-gazebo-ros2-control

[KmakD]

Is there anything else I can help with or can we close this issue?

[sharaf-roboking]

Hi Dawid,

I am sorry,

After deleting the build, install, and log folders and rebuilding the workspace with colcon build, I'm once again unable to move the column.

Additionally, I couldn't find the robot_bridge.yaml file in my repository. The only files available in the config directory are:

sharaf@sharaf-LOQ:~/IRP_ws/src/husarion_ugv_ros/husarion_ugv_gazebo/config$ tree
.
├── battery_plugin.yaml
├── gz_bridge.yaml
└── teleop_with_estop.config

Can I manually create the robot_bridge.yaml file and add the /lift_position_controller/commands topic to it?

Setup details: ROS 2 distribution: Humble

[sharaf-roboking]

I manually create the robot_bridge.yaml file and added the /lift_position_controller/commands:

# For detailed information on configuring the parameter_bridge, please refer to:
# https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml

- ros_topic_name: /<namespace>/battery/battery_status
  gz_topic_name: /model/<model_name>/battery/<namespace>/battery/state
  ros_type_name: sensor_msgs/msg/BatteryState
  gz_type_name: gz.msgs.BatteryState
  direction: GZ_TO_ROS

- topic_name: /<namespace>/cmd_vel
  ros_type_name: geometry_msgs/msg/TwistStamped
  gz_type_name: gz.msgs.Twist
  direction: GZ_TO_ROS

- topic_name: /<namespace>/lights/channel_1_frame
  ros_type_name: sensor_msgs/msg/Image
  gz_type_name: gz.msgs.Image
  direction: ROS_TO_GZ

- topic_name: /<namespace>/lights/channel_2_frame
  ros_type_name: sensor_msgs/msg/Image
  gz_type_name: gz.msgs.Image
  direction: ROS_TO_GZ
  
  - topic_name: /lift_position_controller/commands
  ros_type_name: std_msgs/msg/Float64MultiArray
  gz_type_name: gz.msgs.Double_V
  direction: ROS_TO_GZ

I have still the same issue

[KmakD]

Additionally, I couldn't find the robot_bridge.yaml file in my repository. The only files available in the config directory are:

sharaf@sharaf-LOQ:~/IRP_ws/src/husarion_ugv_ros/husarion_ugv_gazebo/config$ tree
.
├── battery_plugin.yaml
├── gz_bridge.yaml
└── teleop_with_estop.config

The robot_bridge.yaml exists in jazzy distro, my bad. For humble you can edit the gz_bridge.yaml file from files above it has the same structure.