Release/Flexiv ROS 2 Humble v1.8 (#52)

Author: munseng-flexiv

.github/workflows/humble-binary-build.yml

@@ -21,6 +21,8 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v3
+        with:
+          submodules: recursive
       - name: Install dependencies
         run: |
           sudo apt-get update && sudo apt-get install -y \
@@ -36,9 +38,18 @@ jobs:
           ros-humble-joint-state-publisher \
           ros-humble-joint-state-publisher-gui \
           ros-humble-robot-state-publisher
+      - name: Build and install flexiv_rdk
+        shell: bash
+        run: |
+          cd flexiv_hardware/rdk/thirdparty
+          bash build_and_install_dependencies.sh ~/rdk_install
+          cd ..
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
+          cmake --build . --target install --config Release
       - name: Build and run tests
         id: action-ros-ci
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           package-name: |
@@ -51,5 +62,12 @@ jobs:
             flexiv_robot_states_broadcaster
             flexiv_test_nodes
             gpio_controller
-            joint_impedance_controller
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [
+                    "-DCMAKE_PREFIX_PATH=~/rdk_install"
+                ]
+              }
+            }
           skip-tests: true

README.md

@@ -113,11 +113,12 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
 
 - `robot_sn` (*required*) - Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
 - `rizon_type` (default: *Rizon4*) - type of the Flexiv Rizon robot. (Rizon4, Rizon4M, Rizon4R, Rizon4s, Rizon10 or Rizon10s)
+- `rdk_control_mode` (default: *joint_position*) - Flexiv RDK control mode for ROS 2 joint position and velocity interfaces. Options: *joint_position* or *joint_impedance*
 - `load_gripper` (default: *false*) - loads the Flexiv Grav gripper as the end-effector of the robot and the gripper control node.
 - `use_fake_hardware` (default: *false*) - starts `FakeSystem` instead of real hardware. This is a simple simulation that mimics joint command to their states.
 - `start_rviz` (deafult: *true*) - starts RViz automatically with the launch file.
 - `fake_sensor_commands` (default: *false*) - enables fake command interfaces for sensors used for simulations. Used only if `use_fake_hardware` parameter is true.
-- `robot_controller` (default: *rizon_arm_controller*) - robot controller to start. Available controllers: *forward_position_controller*, *rizon_arm_controller*, *joint_impedance_controller*.
+- `robot_controller` (default: *rizon_arm_controller*) - robot controller to start. Available controllers: *rizon_arm_controller*
 
 *(Details about other launch files can be found in [`flexiv_bringup`](/flexiv_bringup))*
 
@@ -149,25 +150,6 @@ The main launch file to start the robot driver is the `rizon.launch.py` - it loa
      ```
 
      The joint position goals can be changed in `flexiv_bringup/config/joint_trajectory_position_publisher.yaml`
-   - To test another controller, define it using the `robot_controller` launch argument, for example the `joint_impedance_controller`:
-
-     ```bash
-     ros2 launch flexiv_bringup rizon.launch.py robot_sn:=[robot_sn] robot_controller:=joint_impedance_controller
-     ```
-
-     Open a new terminal and run the launch file:
-
-     ```bash
-     ros2 launch flexiv_bringup sine_sweep_impedance.launch.py robot_sn:=[robot_sn]
-     ```
-
-     The robot should run a sine-sweep motion with joint impedance control.
-
-> [!NOTE]
-> The command starts the robot in the joint torque mode. In this mode, gravity and friction are compensated **only** for the robot **without** any attached objects (e.g. the gripper, camera).
-
-> [!NOTE]
-> Joint impedance control is not supported in fake/simulated hardware.
 
 ### Using MoveIt
 

flexiv_bringup/README.md

@@ -5,7 +5,5 @@ This package contains launch files: the main driver launcher, the MoveIt launch
 - `rizon.launch.py` - the main launcher: starts *ros2_control* node including hardware interface, runs joint states, Flexiv robot states broadcaster, and a controller, and visualizes the current robot pose in RViZ. The default controller is `rizon_arm_controller`, a joint trajectory controller.
 - `rizon_moveit.launch.py` - runs MoveIt together with the main driver. The controller for robot joints started in this launch file is *rizon_arm_controller*.
 - `test_joint_trajectory_controller.launch` - sends joint trajectory goals to the *rizon_arm_controller*.
-- `sine_sweep_position.launch.py` - gets current joint states and then performs a sine-sweep motion with *forward_position_controller*.
-- `sine_sweep_impedance.launch.py` - gets current joint states and then performs a sine-sweep motion with *joint_impedance_controller*.
 
 **NOTE**: The example launch files run the demo nodes from the `flexiv_test_nodes` package, with the parameters defined in `/config`.

flexiv_bringup/config/rizon_controllers.yaml

@@ -2,48 +2,18 @@ controller_manager:
   ros__parameters:
     update_rate: 1000  # Hz
 
-    forward_position_controller:
-      type: position_controllers/JointGroupPositionController
-
     rizon_arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    joint_impedance_controller:
-      type: joint_impedance_controller/JointImpedanceController
-
     gpio_controller:
       type: gpio_controller/GPIOController
 
     flexiv_robot_states_broadcaster:
       type: flexiv_robot_states_broadcaster/FlexivRobotStatesBroadcaster
 
-forward_position_controller:
-  ros__parameters:
-    joints:
-      - $(var robot_sn)_joint1
-      - $(var robot_sn)_joint2
-      - $(var robot_sn)_joint3
-      - $(var robot_sn)_joint4
-      - $(var robot_sn)_joint5
-      - $(var robot_sn)_joint6
-      - $(var robot_sn)_joint7
-
-joint_impedance_controller:
-  ros__parameters:
-    joints:
-      - $(var robot_sn)_joint1
-      - $(var robot_sn)_joint2
-      - $(var robot_sn)_joint3
-      - $(var robot_sn)_joint4
-      - $(var robot_sn)_joint5
-      - $(var robot_sn)_joint6
-      - $(var robot_sn)_joint7
-    k_p: [3000.0, 3000.0, 800.0, 800.0, 200.0, 200.0, 200.0]
-    k_d: [80.0, 80.0, 40.0, 40.0, 8.0, 8.0, 8.0]
-
 rizon_arm_controller:
   ros__parameters:
     joints:

flexiv_bringup/config/sine_sweep_impedance_config.yaml

@@ -21,6 +21,7 @@
 def generate_launch_description():
     rizon_type_param_name = "rizon_type"
     robot_sn_param_name = "robot_sn"
+    rdk_control_mode_param_name = "rdk_control_mode"
     start_rviz_param_name = "start_rviz"
     load_gripper_param_name = "load_gripper"
     gripper_name_param_name = "gripper_name"
@@ -48,6 +49,15 @@ def generate_launch_description():
         )
     )
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            rdk_control_mode_param_name,
+            default_value="joint_position",
+            description="RDK control mode for the ROS 2 control joint position and velocity interfaces. Options: joint_position, joint_impedance",
+            choices=["joint_position", "joint_impedance"],
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             start_rviz_param_name,
@@ -101,13 +111,14 @@ def generate_launch_description():
         DeclareLaunchArgument(
             robot_controller_param_name,
             default_value="rizon_arm_controller",
-            description="Robot controller to start. Available: forward_position_controller, rizon_arm_controller, joint_impedance_controller.",
+            description="Robot controller to start. Available: rizon_arm_controller",
         )
     )
 
     # Initialize Arguments
     rizon_type = LaunchConfiguration(rizon_type_param_name)
     robot_sn = LaunchConfiguration(robot_sn_param_name)
+    rdk_control_mode = LaunchConfiguration(rdk_control_mode_param_name)
     start_rviz = LaunchConfiguration(start_rviz_param_name)
     load_gripper = LaunchConfiguration(load_gripper_param_name)
     gripper_name = LaunchConfiguration(gripper_name_param_name)
@@ -135,6 +146,9 @@ def generate_launch_description():
                 "rizon_type:=",
                 rizon_type,
                 " ",
+                "rdk_control_mode:=",
+                rdk_control_mode,
+                " ",
                 "load_gripper:=",
                 load_gripper,
                 " ",
@@ -183,6 +197,7 @@ def generate_launch_description():
             robot_description,
             ParameterFile(robot_controllers, allow_substs=True),
             {"robot_sn": robot_sn},
+            {"rdk_control_mode": rdk_control_mode},
         ],
         remappings=[("joint_states", "flexiv_arm/joint_states")],
         output="both",

flexiv_bringup/config/sine_sweep_position_config.yaml

@@ -47,6 +47,7 @@ def launch_setup(context):
     rizon_type = LaunchConfiguration("rizon_type")
     robot_sn = LaunchConfiguration("robot_sn")
     robot_sn_str = robot_sn.perform(context)
+    rdk_control_mode = LaunchConfiguration("rdk_control_mode")
     start_rviz = LaunchConfiguration("start_rviz")
     load_gripper = LaunchConfiguration("load_gripper")
     gripper_name = LaunchConfiguration("gripper_name")
@@ -75,6 +76,9 @@ def launch_setup(context):
                 "rizon_type:=",
                 rizon_type,
                 " ",
+                "rdk_control_mode:=",
+                rdk_control_mode,
+                " ",
                 "load_gripper:=",
                 load_gripper,
                 " ",
@@ -243,6 +247,7 @@ def launch_setup(context):
             robot_description,
             ParameterFile(robot_controllers, allow_substs=True),
             {"robot_sn": robot_sn},
+            {"rdk_control_mode": rdk_control_mode},
         ],
         remappings=[("joint_states", "flexiv_arm/joint_states")],
         output="both",
@@ -404,6 +409,15 @@ def generate_launch_description():
         )
     )
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rdk_control_mode",
+            default_value="joint_position",
+            description="RDK control mode for the ROS 2 control joint position and velocity interfaces. Options: joint_position, joint_impedance",
+            choices=["joint_position", "joint_impedance"],
+        )
+    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             "start_rviz",