9.浅谈ROS_control

概念

如上图所示，ROS control就是中间的controller + RobotHW部分，在编写完机器人的urdf文件之后，为了使机器人的关节和ros control关联，需要在urdf文件做出一些修改，RobotHW是对机器人硬件的软件抽象，在urdf中定义，对于controller来说，ros_control本身提供一些位置、速度、力控制器。

修改

transmission

    <transmission name="tran1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="head_pan_joint">
            <hardwareInterface>EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor1">
            <hardwareInterface>EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>

gazebo

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/pi_robot</robotNamespace>
            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
        </plugin>
    </gazebo>

launch

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/pi_robot" args="head_pan_joint_position_controller head_tilt_joint_position_controller torso_joint_position_controller left_shoulder_forward_joint_position_controller right_shoulder_forward_joint_position_controller left_shoulder_up_joint_position_controller right_shoulder_up_joint_position_controller left_elbow_joint_position_controller right_elbow_joint_position_controller left_wrist_joint_position_controller right_wrist_joint_position_controller joint_state_controller"/>

这里是运行了controller_manager节点，命令如下：

• load
• unload
• start
• stop
• spawn: load & start
• kill: stop & unload
  文件中选用了spawn。

yaml

pi_robot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  
  # Position Controllers ---------------------------------------
  head_pan_joint_position_controller:
    type: effort_controllers/JointPositionController
    joint: head_pan_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}