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Ronaldson Bellande 2024-07-27 12:23:13 -04:00
parent e1bdebb248
commit 2698a97e98
3 changed files with 31 additions and 32 deletions

View File

@ -31,17 +31,16 @@ def ros1_launch_description():
def ros2_launch_description(): def ros2_launch_description():
# Declare launch arguments # Declare launch arguments
setpoint_arg = DeclareLaunchArgument('setpoint') gains_arg = DeclareLaunchArgument('gains', default_value='[1.0, 0.1, 0.05]')
kp_arg = DeclareLaunchArgument('kp') name_arg = DeclareLaunchArgument('name', default_value='BellandeController')
ki_arg = DeclareLaunchArgument('ki') output_limits_arg = DeclareLaunchArgument('output_limits', default_value='[-1000.0, 1000.0]')
kd_arg = DeclareLaunchArgument('kd')
# Create a list to hold all nodes to be launched # Create a list to hold all nodes to be launched
nodes_to_launch = [] nodes_to_launch = []
# ROS2 specific configurations # ROS2 specific configurations
ros_launch_arguments = [ ros_launch_arguments = [
setpoint_arg, kp_arg, ki_arg, kd_arg, gains_arg, name_arg, output_limits_arg,
] ]
nodes_to_launch.append(Node( nodes_to_launch.append(Node(
@ -50,10 +49,9 @@ def ros2_launch_description():
name='bellande_controller_node', name='bellande_controller_node',
output='screen', output='screen',
parameters=[ parameters=[
{'setpoint': LaunchConfiguration('setpoint')}, {'gains': LaunchConfiguration('gains')},
{'kp': LaunchConfiguration('kp')}, {'name': LaunchConfiguration('name')},
{'ki': LaunchConfiguration('ki')}, {'output_limits': LaunchConfiguration('output_limits')},
{'kd': LaunchConfiguration('kd')},
], ],
)) ))

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@ -1,32 +1,32 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<!--
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
Licensed under the Apache License, Version 2.0 (the "License"); you may not <!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
use this file except in compliance with the License. You may obtain a copy of
the License at
http://www.apache.org/licenses/LICENSE-2.0 T
is program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Unless required by applicable law or agreed to in writing, software This program is distributed in the hope that it will be useful,
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT but WITHOUT ANY WARRANTY; without even the implied warranty of
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
License for the specific language governing permissions and limitations under GNU General Public License for more details.
the License.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
--> -->
<launch> <launch>
<!-- Define arguments --> <!-- Arguments -->
<arg name="setpoint" default="0" /> <arg name="gains" default="[1.0, 0.1, 0.05]"/>
<arg name="kp" default="1.0" /> <arg name="name" default="BellandeController"/>
<arg name="ki" default="0.1" /> <arg name="output_limits" default="[-1000.0, 1000.0]"/>
<arg name="kd" default="0.05" />
<!-- Launch the BellandeController node --> <!-- Launch the BellandeController node -->
<node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller" <node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller" type="bellande_controller.py" output="screen">
type="bellande_controller.py" output="screen"> <param name="gains" value="$(arg gains)"/>
<param name="setpoint" value="$(arg setpoint)" /> <param name="name" value="$(arg name)"/>
<param name="kp" value="$(arg kp)" /> <param name="output_limits" value="$(arg output_limits)"/>
<param name="ki" value="$(arg ki)" />
<param name="kd" value="$(arg kd)" />
</node> </node>
</launch> </launch>

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@ -15,6 +15,7 @@ GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>. along with this program. If not, see <https://www.gnu.org/licenses/>.
--> -->
<package format="3"> <package format="3">
<name>ros_web_api_bellande_adaptive_continuious_controller</name> <name>ros_web_api_bellande_adaptive_continuious_controller</name>
<version>0.0.1</version> <version>0.0.1</version>