配置 ros2_control 在Gazebo控制关节运动

接上文在ROS2使用Gazebo控制小车，上文控制小车使用的是libgazebo_ros_diff_drive.so这个插件，输入模型的数据就可以对小车进行差速控制。

本文介绍另外一种控制方式ros2_control

1. ros2_control的配置

当我们想要再Gazebo使用ros2_control 来控制关节运动时，需要配置三个地方:

1. 写关于控制器的yaml：

   1.1 配置Controller manager

    controller_manager:
    ros__parameters:
        update_rate: 10  # Hz
   
        ### Controllers available
        joint_state_broadcaster:
        type: joint_state_broadcaster/JointStateBroadcaster
   
        forward_position_controller:
        type: forward_command_controller/ForwardCommandController
   
        position_trajectory_controller:
        type: joint_trajectory_controller/JointTrajectoryController
   

   1.2. 对我们将要使用的控制器的属性和关节进行定义

    forward_position_controller:
    ros__parameters:
        joints:
        - joint1
        interface_name: position
   
   
    position_trajectory_controller:
    ros__parameters:
        joints:
        - joint1
   
        command_interfaces:
        - position
   
        state_interfaces:
        - position
   
        state_publish_rate: 200.0 # Hz, Defaults to 50
        action_monitor_rate: 20.0 # Hz, Defaults to 20
   
        allow_partial_joints_goal: false # Defaults to false
        open_loop_control: true
        allow_integration_in_goal_trajectories: true
        constraints:
        stopped_velocity_tolerance: 0.01 # Defaults to 0.01
        goal_time: 0.0 # Defaults to 0.0 (start immediately)
   

2. 为了启用ros2_control，我们还必须向描述机器人的XACRO文件中添加一些新的tag. 包括ros2_control 和gazebo的tag

    <ros2_control name="MyRobotSystem" type="system">
        <hardware>
        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>
        
        <joint name="joint1">
        <command_interface name="position">
            <param name="min">-6.28</param>
            <param name="max">6.28</param>
        </command_interface>
        <state_interface name="position"/>
        <state_interface name="velocity"/>
        <state_interface name="effort"/>
        </joint>
    </ros2_control>
   
    <!-- Gazebo's ros2_control plugin -->
    <gazebo>
        <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
        <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
        <parameters>$(find my_robot_bringup)/config/controller_configuration.yaml</parameters>
        </plugin>
    </gazebo>
   

3. 最后是在launch文件中添加启动项

    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["joint_state_broadcaster",
                "--controller-manager", "/controller_manager"],
    )
   
        robot_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["forward_position_controller", "-c", "/controller_manager"],
    )
   
    return LaunchDescription([
    RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=spawn_entity,
            on_exit=[joint_state_broadcaster_spawner],
        )
    ),
    RegisterEventHandler(
        event_handler=OnProcessExit(
            target_action=joint_state_broadcaster_spawner,
            on_exit=[robot_controller_spawner],
        )
    ),
    spawn_entity,
    node_robot_state_publisher,
    ])
   

值得一提的是
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[robot_controller_spawner],
)
意思是等启动完joint_state_broadcaster_spawner，再启动 robot_controller_spawner。

之后会介绍一下 controller_manager 以及 如何在真实机器人上使用ros2_control