Hello Robotics_community,
I am trying to make a drone with meshes and i want to controll it with Ros2-Controller (Keyboard) just to make sure i am a beginner with it. The problem i got is that i cannot controll my drone at all. i searched everywhere and tried everything i can but i could not find the problem.
Can someone help me to make it move at least in +Z Axis and -Z Axis so i can say i finally did something.
i am using Ubuntu Humble with Ros2 and Gazebo. i hope i gave every needed details so someone can help me out.
rsp.launch.py:
> import os from ament_index_python.packages import
> get_package_share_directory from launch import LaunchDescription from
> launch.actions import DeclareLaunchArgument from launch.substitutions
> import LaunchConfiguration from launch_ros.actions import Node from
> launch.substitutions import Command, PathJoinSubstitution from
> launch_ros.substitutions import FindPackageShare
>
> def generate_launch_description():
> use_sim_time = LaunchConfiguration('use_sim_time')
>
> pkg_path = FindPackageShare('my_bot')
> xacro_file = PathJoinSubstitution([pkg_path, 'description', 'robot.urdf.xacro'])
>
> robot_description_config = Command(['xacro ', xacro_file])
> params = {'robot_description': robot_description_config, 'use_sim_time': use_sim_time}
>
> node_robot_state_publisher = Node(
> package='robot_state_publisher',
> executable='robot_state_publisher',
> output='screen',
> parameters=[params]
> )
>
> return LaunchDescription([
> DeclareLaunchArgument(
> 'use_sim_time',
> default_value='false',
> description='Use sim time if true'
> ),
> node_robot_state_publisher
> ])
launcher_sim.launch.py:
> import os
> from ament_index_python.packages import get_package_share_directory
> from launch import LaunchDescription
> from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction
> from launch.launch_description_sources import PythonLaunchDescriptionSource
> from launch_ros.actions import Node
> from launch.substitutions import LaunchConfiguration
>
> def generate_launch_description():
> package_name = 'my_bot'
>
> rsp = IncludeLaunchDescription(
> PythonLaunchDescriptionSource([os.path.join(
> get_package_share_directory(package_name), 'launch', 'rsp.launch.py'
> )]), launch_arguments={'use_sim_time': 'true'}.items()
> )
>
> gazebo = IncludeLaunchDescription(
> PythonLaunchDescriptionSource([os.path.join(
> get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py'
> )]),
> )
>
> spawn_entity = Node(
> package='gazebo_ros', executable='spawn_entity.py',
> arguments=['-topic', 'robot_description', '-entity', 'my_bot'],
> output='screen'
> )
>
> joint_state_broadcaster_spawner = Node(
> package="controller_manager",
> executable="spawner",
> arguments=["joint_state_broadcaster"],
> output="screen"
> )
>
> velocity_controller_spawner = Node(
> package="controller_manager",
> executable="spawner",
> arguments=["velocity_controller"],
> output="screen"
> )
>
> use_sim_time = LaunchConfiguration('use_sim_time')
>
> joy_params = os.path.join(get_package_share_directory('my_bot'), 'config', 'joystick.yaml')
>
> joy_node = Node(
> package='joy',
> executable='joy_node',
> parameters=[joy_params, {'use_sim_time': use_sim_time}],
> )
>
> teleop_node = Node(
> package='teleop_twist_joy',
> executable='teleop_node',
> name='teleop_node',
> parameters=[joy_params, {'use_sim_time': use_sim_time}],
> remappings=[('/cmd_vel','/new_cmd_vel')]
> )
>
> teleop_twist_keyboard = Node(
> package='teleop_twist_keyboard',
> executable='teleop_twist_keyboard',
> name='teleop_twist_keyboard',
> output='screen',
> remappings=[('/cmd_vel', '/new_cmd_vel')]
> )
>
> return LaunchDescription([
> rsp,
> gazebo,
> spawn_entity,
>
> TimerAction(
> period=5.0,
> actions=[joint_state_broadcaster_spawner]
> ),
> TimerAction(
> period=10.0,
> actions=[velocity_controller_spawner]
> ),
> DeclareLaunchArgument(
> 'use_sim_time',
> default_value='false',
> description='Use sim time if true',
> ),
> joy_node,
> teleop_node,
> teleop_twist_keyboard,
> ])
drone.urdf.xacro:
> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
>
> <gazebo>
> <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
> <robot_param>robot_description</robot_param>
> <robot_param_node>robot_state_publisher</robot_param_node>
> <parameters>/home/alba/dev_ws/src/my_bot/config/rotor_controller.yaml</parameters>
> </plugin>
> </gazebo>
>
>
> <ros2_control name="GazeboSystem" type="system">
> <hardware>
> <plugin>gazebo_ros2_control/GazeboSystem</plugin>
> </hardware>
>
> <joint name="base_to_b1">
> <command_interface name="velocity"/>
> <state_interface name="velocity"/>
> </joint>
> <joint name="base_to_b2">
> <command_interface name="velocity"/>
> <state_interface name="velocity"/>
> </joint>
> <joint name="base_to_b3">
> <command_interface name="velocity"/>
> <state_interface name="velocity"/>
> </joint>
> <joint name="base_to_b4">
> <command_interface name="velocity"/>
> <state_interface name="velocity"/>
> </joint>
> </ros2_control>
>
> </robot>
rotor_controller.yaml:
> controller_manager:
> ros__parameters:
> update_rate: 50
> use_sim_time: true
> joint_state_broadcaster:
> type: joint_state_broadcaster/JointStateBroadcaster
> velocity_controller:
> type: velocity_controllers/JointGroupVelocityController
>
> velocity_controller:
> ros__parameters:
> joints:
> - base_to_b1
> - base_to_b2
> - base_to_b3
> - base_to_b4
joystick.yaml:
> joy_node:
> ros__parameters:
> device_id: 0
> deadzone: 0.05
> autorepeat_rate: 20.0
>
> teleop_node:
> ros__parameters:
> axis_linear:
> z: 4
> scale_linear:
> z: 2.0
> scale_linear_turbo:
> z: 5.0
>
> axis_linear:
> x: 0
> scale_linear:
> x: 5.0
> scale_linear_turbo:
> x: 10.0
>
> axis_angular:
> yaw: 1
> scale_angular:
> yaw: 5.0
> scale_angular_turbo:
> yaw: 10.0
>
> axis_linear:
> y: 3
> scale_linear:
> y: 5.0
> scale_linear_turbo:
> y: 10.0
>
> enable_turbo_button: 1
>
> require_enable_button: false
and just in case you need the log to make sure:
[INFO] [launch]: All log files can be found below /home/alba/.ros/log/2024-09-19-14-49-18-788212-alba-4163
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4166]
[INFO] [gzserver-2]: process started with pid [4168]
[INFO] [gzclient-3]: process started with pid [4170]
[INFO] [spawn_entity.py-4]: process started with pid [4172]
[INFO] [joy_node-5]: process started with pid [4174]
[INFO] [teleop_node-6]: process started with pid [4176]
[teleop_node-6] [INFO] [1726750161.682192441] [TeleopTwistJoy]: Turbo on button 1.
[teleop_node-6] [INFO] [1726750161.682370041] [TeleopTwistJoy]: Linear axis x on 0 at scale 5.000000.
[teleop_node-6] [INFO] [1726750161.682422641] [TeleopTwistJoy]: Turbo for linear axis x is scale 10.000000.
[teleop_node-6] [INFO] [1726750161.682471641] [TeleopTwistJoy]: Linear axis y on 3 at scale 5.000000.
[teleop_node-6] [INFO] [1726750161.682518341] [TeleopTwistJoy]: Turbo for linear axis y is scale 10.000000.
[teleop_node-6] [INFO] [1726750161.682565141] [TeleopTwistJoy]: Linear axis z on 4 at scale 2.000000.
[teleop_node-6] [INFO] [1726750161.682612841] [TeleopTwistJoy]: Turbo for linear axis z is scale 5.000000.
[teleop_node-6] [INFO] [1726750161.682659641] [TeleopTwistJoy]: Angular axis yaw on 1 at scale 5.000000.
[teleop_node-6] [INFO] [1726750161.682956741] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 10.000000.
[robot_state_publisher-1] [WARN] [1726750161.806138669] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-1] [INFO] [1726750161.806511869] [robot_state_publisher]: got segment b1
[robot_state_publisher-1] [INFO] [1726750161.806995869] [robot_state_publisher]: got segment b2
[robot_state_publisher-1] [INFO] [1726750161.807079069] [robot_state_publisher]: got segment b3
[robot_state_publisher-1] [INFO] [1726750161.807158569] [robot_state_publisher]: got segment b4
[robot_state_publisher-1] [INFO] [1726750161.807236669] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1726750161.807315069] [robot_state_publisher]: got segment cam
[robot_state_publisher-1] [INFO] [1726750161.807393269] [robot_state_publisher]: got segment land
[spawn_entity.py-4] [INFO] [1726750163.485488247] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1726750163.490059849] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4] warnings.warn(
[spawn_entity.py-4] [INFO] [1726750163.511889853] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1726750163.548037562] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1726750163.552380363] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-3] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzclient-3] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzclient-3] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzclient-3] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzserver-2] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzserver-2] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzserver-2] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[gzserver-2] Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP address is 127.0.0.1. This should work for local processes, but will almost certainly not work if you have remote processes.Report to the disc-zmq development team to seek a fix.
[spawn_entity.py-4] [INFO] [1726750165.862268983] [spawn_entity]: Calling service /spawn_entity
[INFO] [spawner-7]: process started with pid [4321]
[gzclient-3]
[gzclient-3] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org
[spawn_entity.py-4] [INFO] [1726750166.805391196] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [my_bot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 4172]
[spawner-7] [INFO] [1726750167.796919320] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[gzserver-2] [INFO] [1726750167.913570246] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1726750167.948584454] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1726750167.949257654] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1726750167.968664058] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1726750167.976233760] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1726750167.976625460] [gazebo_ros2_control]: Loading parameter files /home/alba/dev_ws/src/my_bot/config/rotor_controller.yaml
[gzserver-2] [INFO] [1726750168.034078373] [gazebo_ros2_control]: Loading joint: base_to_b1
[gzserver-2] [INFO] [1726750168.034458373] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1726750168.034875573] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.035126073] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1726750168.035369373] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.035621373] [gazebo_ros2_control]: Loading joint: base_to_b2
[gzserver-2] [INFO] [1726750168.036117173] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1726750168.036366973] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.036611973] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1726750168.037036873] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.037300074] [gazebo_ros2_control]: Loading joint: base_to_b3
[gzserver-2] [INFO] [1726750168.037549074] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1726750168.037991274] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.038238174] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1726750168.038482574] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.038944574] [gazebo_ros2_control]: Loading joint: base_to_b4
[gzserver-2] [INFO] [1726750168.039244774] [gazebo_ros2_control]: State:
[gzserver-2] [INFO] [1726750168.039493774] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.039933974] [gazebo_ros2_control]: Command:
[gzserver-2] [INFO] [1726750168.040179774] [gazebo_ros2_control]: velocity
[gzserver-2] [INFO] [1726750168.040526874] [resource_manager]: Initialize hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.041151274] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.042096974] [resource_manager]: 'configure' hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.042257675] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.042413775] [resource_manager]: 'activate' hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.042566575] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1726750168.043140975] [gazebo_ros2_control]: Loading controller_manager
[gzserver-2] [WARN] [1726750168.233546918] [gazebo_ros2_control]: Desired controller update period (0.02 s) is slower than the gazebo simulation period (0.001 s).
[gzserver-2] [INFO] [1726750168.236298719] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gzserver-2] [INFO] [1726750168.314883936] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-7] [INFO] [1726750168.461951169] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[gzserver-2] [INFO] [1726750168.471040171] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[gzserver-2] [INFO] [1726750168.471481972] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-7] [INFO] [1726750168.587148598] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-7]: process has finished cleanly [pid 4321]
[INFO] [spawner-8]: process started with pid [4358]
[gzclient-3] context mismatch in svga_surface_destroy
[gzclient-3] context mismatch in svga_surface_destroy
[gzserver-2] [INFO] [1726750173.484798102] [controller_manager]: Loading controller 'velocity_controller'
[spawner-8] [INFO] [1726750173.815989176] [spawner_velocity_controller]: Loaded velocity_controller
[gzserver-2] [INFO] [1726750173.820977778] [controller_manager]: Configuring controller 'velocity_controller'
[gzserver-2] [INFO] [1726750173.830970380] [velocity_controller]: configure successful
[gzserver-2] [INFO] [1726750173.869233289] [velocity_controller]: activate successful
[spawner-8] [INFO] [1726750173.902301196] [spawner_velocity_controller]: Configured and activated velocity_controller
[INFO] [spawner-8]: process has finished cleanly [pid 4358]
Command what i use to turn it on:
ros2 launch my_bot launch_sim.launch.py
remapping `
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/new_cmd_vel
i thought i have to turn the velocity controller by myself so the rotors start to move:
ros2 topic pub /velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [50.5, 50.5, 50.5, 50.5]"
