robotnikautomation / summit_xl_common Goto Github PK

URDF description of the Summit XL and Summit XL HL, platform messages and other files for simulation.

License: BSD 2-Clause "Simplified" License

CMake 11.86% C++ 77.11% Shell 1.85% Python 9.18%

summit_xl_common's Introduction

summit_xl_common

Common packages of the Summit XL: URDF description of the Summit XL, Summi XL Steel and Summit XL HL, platform messages and other files for simulation.

Packages

summit_xl_control

This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the:

Summit XL (4 axes skid steering + 2 axes ptz)
Summit XL OMNI (4 axes skid steering, 4 axes swerve drive)
Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism).

The Summit XL simulation stack follows the gazebo_ros controller manager scheme described in http://gazebosim.org/tutorials

summit_xl_description

The urdf, meshes, and other elements needed in the description are contained here. The standard camera configurations have been included (w/wo sphere_camera, w/wo axis_camera, etc.). This package includes the description of the Summit XL, Summit XL STEEL (and HL versions) mobile platforms. The package includes also some launch files to publish the robot state and to test the urdf files in rviz.

summit_xl_localization

This package contains launch files to use the EKF of the robot_localization package with the Summit XL robots. It contains a node to subscribe to gps data and publish it as odometry to be used as an additional source for odometry.

summit_xl_navigation

This package contains all the configuration files needed to execute the AMCL and SLAM navigation algorithms in simulation.

summit_xl_pad

This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux http://wiki.ros.org/twist_mux so that the final command to the robot can be set by different components (move_base, etc.)

The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files. If modbus_io node is available, the digital outputs (ligths, axes, etc.) can also be controlled with the pad. If ptz camera is available, the pan-tilt-zoom can also be commanded with the pad.

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summit_xl_common's Issues

updating Summit-XL kinetic to melodic

Hi there,

I got many issues with my Summit-XL, some may occur because of using still ROS kinetic.
I would like to update the whole robot to Ubuntu 18.04 and ROS melodic, is there someting like a manual for this? I don´t trust myself with doing it on my own and ending up in a complete mess because of missing dependencies etc.

Thanks in advance!

dependency on a missing package

summit_xl_navigation/launch/amcl.launch depends on map2.yaml argument for the map server, which is part of missing package vinbot_demo

Why the topic of battery is zero?

ROS2 humble compatibility

Hello, I noticed that the humble branch is still on ROS1 state. Is there any upcoming update on it?

Porting over to Eloquent

It would be great if these packages can have a ROS 2 port. Are there any plans for porting the Summit pipeline to ROS 2 Eloquent?

URDF masses and inertias of the summit bases

I would like to express some doubts regarding the accuracy of some masses and inertias in the xacro files. As I am simulating a robotnik kairos in ROS using Rviz and Gazebo, I am relying on an atleast semi-stable gazebo simulation. During tests, I have noticed that the mobile manipulator tends to tip over much more easily than I expected, which lead me to investigating the masses and inertias of the links in the urdf. In the entire urdf tree, two links have caught my attention: ${prefix}base_link and ${prefix}_wheel_link, of which I have listed the important parts of the URDF below (although I have provided urls from the melodic branch, it seems to me that the same code snippets are used in all branches):

<link name="${prefix}base_link">
    <inertial>
      <mass value="125.0" />
      <origin xyz="0 0 0" />
      <inertia  ixx="1.391" ixy="0.004"  ixz="0.0"  iyy="6.853"  iyz="0.0"  izz="6.125" />
    </inertial>
...
</link>

source: https://github.com/RobotnikAutomation/summit_xl_common/blob/melodic-master/summit_xl_description/urdf/bases/summit_xls_base.urdf.xacro

<xacro:property name="omni_wheel_mass" value="6.5" /> <!-- in kg-->

source: https://github.com/RobotnikAutomation/summit_xl_common/blob/melodic-master/summit_xl_description/urdf/wheels/omni_wheel.urdf.xacro

If I am not mistaken, the data sheet for the robot I am working on (SXLSK-190801) and which I have used my calculations is: https://robotnik.eu/wp-content/uploads/2020/06/DATASHEET_RB-KAIROS-16_EN.pdf

As a minor point, there seems to be a discrepancy in total mass, because 125+4*6.5=151, which is 11kg more than in the datasheet which amounts roughly to a relative error of 10%. However I am much more concerned about the axial moments of inertia of the base_link, specifically why ixx (1.4) is four times lower than iyy (6.9) or izz (6.1). I have done some rough calculations with assumptions about the distribution of mass (ixx=6.4, iyy=7.7, izz=5,3), which resulted in a significantly larger ixx while my iyy and izz seem to be around the official values in the URDF.

Both my visual intuition (summit base dimensions are roughly in the same order of magnitude) and the rough mathematical estimate are telling me that the values are not correct. Furthermore, I am suspicious that all summit bases have the same inertia values in the URDF.

Robot Not moving

When working with the " summit_xl_sim_bringup summit_xl_complete.launch " I can visualize the robot in Gazebo and in Rviz.
Problem 1: After publishing on "/summit_xl_control/cmd_vel", not able to move the robot.

Problem 2: After working with " teleop_twist_keyboard teleop_twist_keyboard.py ". Also Robot is not moving.

Problem 3: When working with Localization node provided by the summit_xl_common package. It's drifting from its original position which indicated it can localize itself but there is some problem with the TF tree from wheel to body.

Movement speed of Summit XL drops significantly after a mintue

When moving the Summit XL with a joy pad after unplugging the robot from charging, the robot moves decently for about a minute. After that the maximum speed drops significantly to lower than average walking speed. It is still okay, but I want the movement to be faster in general. Which config parameters should i set to move the robot at higher speeds even with longer uptime. Thank you

There is no map topics after slam_gmapping.launch

Hello, I am following the guide to test summit_xl_common' and summit_xl_sim. I clear until this[ progress](https://github.com/RobotnikAutomation/summit_xl_sim/issues/20). So, I can do to control the summit model by keyboard control with summit_xl_pad` package.

Now, I want to make a map using slam_gmapping package for waypoints control.
But, on this step, THERE IS NO MAP TOPICS after launching slam_gmapping.launch file.

I edited the laser topic name, but no changes.
Do I miss some steps??

msi-h310@msih310-H310-Gaming-Trident3-MS-B920:~/Desktop/Summit_xl/catkin_ws$ rostopic echo /map
WARNING: no messages received and simulated time is active.
Is /clock being published?

msi-h310@msih310-H310-Gaming-Trident3-MS-B920:~/Desktop/Summit_xl/catkin_ws$ roslaunch summit_xl_localization slam_gmapping.launch 
... logging to /home/msi-h310/.ros/log/3786d51c-61a4-11e9-b37d-309c23b89cf6/roslaunch-msih310-H310-Gaming-Trident3-MS-B920-7473.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://msih310-H310-Gaming-Trident3-MS-B920:36277/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /slam_gmapping/angularUpdate: 0.1
 * /slam_gmapping/astep: 0.05
 * /slam_gmapping/base_frame: summit_xl_base_link
 * /slam_gmapping/delta: 0.05
 * /slam_gmapping/iterations: 5
 * /slam_gmapping/kernelSize: 1
 * /slam_gmapping/lasamplerange: 0.005
 * /slam_gmapping/lasamplestep: 0.005
 * /slam_gmapping/linearUpdate: 0.2
 * /slam_gmapping/llsamplerange: 0.01
 * /slam_gmapping/llsamplestep: 0.01
 * /slam_gmapping/lsigma: 0.075
 * /slam_gmapping/lskip: 0
 * /slam_gmapping/lstep: 0.05
 * /slam_gmapping/map_frame: summit_xl_map
 * /slam_gmapping/map_udpate_interval: 2.0
 * /slam_gmapping/maxUrange: 16.0
 * /slam_gmapping/odom_frame: summit_xl_odom
 * /slam_gmapping/ogain: 3.0
 * /slam_gmapping/particles: 100
 * /slam_gmapping/resampleThreshold: 0.5
 * /slam_gmapping/sigma: 0.05
 * /slam_gmapping/srr: 0.1
 * /slam_gmapping/srt: 0.2
 * /slam_gmapping/str: 0.1
 * /slam_gmapping/stt: 0.2
 * /slam_gmapping/temporalUpdate: 3.0
 * /slam_gmapping/xmax: 50.0
 * /slam_gmapping/xmin: -50.0
 * /slam_gmapping/ymax: 50.0
 * /slam_gmapping/ymin: -50.0

NODES
  /
    slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

process[slam_gmapping-1]: started with pid [7490]

msi-h310@msih310-H310-Gaming-Trident3-MS-B920:~/Desktop/Summit_xl/catkin_ws$ rostopic list 
/clicked_point
/clock
/diagnostics
/front_laser/scan
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/map
/map_metadata
/map_updates
/rosout
/rosout_agg
/slam_gmapping/entropy
/statistics
/summit_xl_a/cmd_vel
/summit_xl_a/docker/cmd_vel
/summit_xl_a/fix
/summit_xl_a/fix/position/parameter_descriptions
/summit_xl_a/fix/position/parameter_updates
/summit_xl_a/fix/status/parameter_descriptions
/summit_xl_a/fix/status/parameter_updates
/summit_xl_a/fix/velocity/parameter_descriptions
/summit_xl_a/fix/velocity/parameter_updates
/summit_xl_a/fix_velocity
/summit_xl_a/front_laser/scan
/summit_xl_a/front_rgbd_camera/depth/camera_info
/summit_xl_a/front_rgbd_camera/depth/image_raw
/summit_xl_a/front_rgbd_camera/depth/points
/summit_xl_a/front_rgbd_camera/parameter_descriptions
/summit_xl_a/front_rgbd_camera/parameter_updates
/summit_xl_a/front_rgbd_camera/rgb/camera_info
/summit_xl_a/front_rgbd_camera/rgb/image_raw
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressed
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressed/parameter_descriptions
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressed/parameter_updates
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressedDepth
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressedDepth/parameter_descriptions
/summit_xl_a/front_rgbd_camera/rgb/image_raw/compressedDepth/parameter_updates
/summit_xl_a/front_rgbd_camera/rgb/image_raw/theora
/summit_xl_a/front_rgbd_camera/rgb/image_raw/theora/parameter_descriptions
/summit_xl_a/front_rgbd_camera/rgb/image_raw/theora/parameter_updates
/summit_xl_a/imu/data
/summit_xl_a/imu/data/accel/parameter_descriptions
/summit_xl_a/imu/data/accel/parameter_updates
/summit_xl_a/imu/data/bias
/summit_xl_a/imu/data/rate/parameter_descriptions
/summit_xl_a/imu/data/rate/parameter_updates
/summit_xl_a/imu/data/yaw/parameter_descriptions
/summit_xl_a/imu/data/yaw/parameter_updates
/summit_xl_a/initialpose
/summit_xl_a/joint_pan_position_controller/command
/summit_xl_a/joint_pan_position_controller/pid/parameter_descriptions
/summit_xl_a/joint_pan_position_controller/pid/parameter_updates
/summit_xl_a/joint_pan_position_controller/state
/summit_xl_a/joint_states
/summit_xl_a/joint_tilt_position_controller/command
/summit_xl_a/joint_tilt_position_controller/pid/parameter_descriptions
/summit_xl_a/joint_tilt_position_controller/pid/parameter_updates
/summit_xl_a/joint_tilt_position_controller/state
/summit_xl_a/move/cmd_vel
/summit_xl_a/move_base/cmd_vel
/summit_xl_a/move_base_simple/goal
/summit_xl_a/pad_teleop/cmd_vel
/summit_xl_a/particlecloud
/summit_xl_a/robotnik_base_control/cmd_vel
/summit_xl_a/robotnik_base_control/odom
/summit_xl_a/robotnik_base_control/parameter_descriptions
/summit_xl_a/robotnik_base_control/parameter_updates
/summit_xl_a/summit_xl_a_front_ptz_camera/camera_info
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressed
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressed/parameter_descriptions
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressed/parameter_updates
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressedDepth
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressedDepth/parameter_descriptions
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/compressedDepth/parameter_updates
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/theora
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/theora/parameter_descriptions
/summit_xl_a/summit_xl_a_front_ptz_camera/image_raw/theora/parameter_updates
/summit_xl_a/summit_xl_a_front_ptz_camera/parameter_descriptions
/summit_xl_a/summit_xl_a_front_ptz_camera/parameter_updates
/summit_xl_a/summit_xl_hw/emergency_stop
/summit_xl_a/twist_marker
/tf
/tf_static

Porting over to Melodic

Hello, I am wondering if this repo will be packaged as a Melodic package, and if so when? I am interested in getting this code to work in Melodic and I would love to use packages instead of compiling the source code.

About docking

When I use automatic charging, I received a warning:
"I cannot calculate relative twist between summit_xl_base_docking_contact_link -> summit_xl_docking_station_contact, probably due to a high goal averaging time."
Why does this message appear and what results will it cause？And how to solve it ？

Robot movement using Effort Controllers / control using torques

Hello, I have recently started working on a project with a Summit-X vehicle. We would like to control the robot with torque controls on the wheels. I understand how to send velocity commands to the wheels, but we would like to have control over the torques.

Is there a specific rostopic that I need to publish on in order to achieve torque control? I have tried to locate it, but I am at a loss. If anyone can show me how to move the robot using torque controls instead of velocity controls it would be much appreciated.

MotorVelocity Node error

Platform details

Robot: Summit XL
OS: Ubuntu 16.04
ROS version: Kinetic

Problem description:

The node is not being detected correctly. Most likely is a char encoding problem (i.e. non utf-8 char). This often happens when doing copy&paste from pdf's where the " or spaces are affected.