Merge pull request #25 from RonaldsonBellande/main
README and Connection with Bellande API
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@ -9,6 +9,10 @@ Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System architecture
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[](https://github.com/sponsors/Robotics-Sensors)
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## 🧑💼 Work with Bellande Models, Algorithms, Systems, Architectures through Bellande Framework!
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[](https://github.com/Robotics-Sensors/bellande_framework)
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## 📢 Mobile and ROS Control System
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- [](https://github.com/Application-UI-UX/bellande_internal_sensor_mobile_ios_api)
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- [](https://github.com/Application-UI-UX/bellande_external_sensor_mobile_ios_api)
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@ -0,0 +1,83 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch command
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_controller", "bellande_controller.launch"] + args
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roslaunch_command.extend([
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"ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.py", "name:=bellande_controller_node"
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])
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_controller", "BellandeController.py", "name:=bellande_controller_class_node"
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])
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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nodes_to_launch = []
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nodes_to_launch.append(Node(
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package='ros_web_api_bellande_adaptive_continuious_controller',
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executable='bellande_controller.py',
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name='bellande_controller_node',
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output='screen',
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parameters=[{
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'gains': LaunchConfiguration('gains'),
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'name': LaunchConfiguration('name'),
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'output_limits': LaunchConfiguration('output_limits')
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}]
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))
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nodes_to_launch.append(Node(
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package='humanoid_robot_intelligence_control_system_controller',
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executable='BellandeController.py',
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name='bellande_controller_class_node',
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output='screen',
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parameters=[{
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'gains': LaunchConfiguration('gains'),
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'name': LaunchConfiguration('name'),
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'output_limits': LaunchConfiguration('output_limits')
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}]
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))
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return LaunchDescription([
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DeclareLaunchArgument('gains', default_value='[1.0, 0.1, 0.05]'),
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DeclareLaunchArgument('name', default_value='BellandeController'),
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DeclareLaunchArgument('output_limits', default_value='[-1000.0, 1000.0]'),
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] + nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,39 @@
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<?xml version="1.0"?>
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<!--
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Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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-->
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<launch>
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<!-- Arguments -->
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<arg name="gains" default="[1.0, 0.1, 0.05]" />
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<arg name="name" default="BellandeController" />
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<arg name="output_limits" default="[-1000.0, 1000.0]" />
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<node name="bellande_controller_class_node"
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pkg="humanoid_robot_intelligence_control_system_controller" type="BellandeController.py"
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output="screen">
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<param name="gains" value="$(arg gains)" />
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<param name="name" value="$(arg name)" />
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<param name="output_limits" value="$(arg output_limits)" />
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</node>
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<include
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file="$(find ros_web_api_bellande_adaptive_continuious_controller)/launch/bellande_controller.launch">
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<arg name="gains" value="$(arg gains)" />
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<arg name="name" value="$(arg name)" />
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<arg name="output_limits" value="$(arg output_limits)" />
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</include>
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</launch>
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