WEBVTT 00:00.110 --> 00:07.130 Now that we know what YAML configuration files are and what they are used for, let's see how we can 00:07.130 --> 00:14.330 create a new file that contains the configuration parameters for the Ros2 control library for our robot. 00:14.480 --> 00:20.060 Since this configuration file will contain specific parameters for configuring the control system of 00:20.060 --> 00:24.980 our robot, let's create it inside a new package in our workspace. 00:24.980 --> 00:28.130 So first we need to create a new package. 00:28.280 --> 00:34.310 So let's go to the workspace and to the source folder in which we have already created several packages 00:34.310 --> 00:35.330 for our robot. 00:35.330 --> 00:41.120 And here let's create a new package with the Ros2 package create. 00:41.150 --> 00:44.570 Then let's select the build type. 00:44.570 --> 00:53.360 And for this case let's use the AMD CMake as we are going to insert both Python and C plus plus code 00:53.360 --> 01:00.620 in this package here, and let's call it Arduino bot controller. 01:00.650 --> 01:02.630 So let's press enter. 01:02.630 --> 01:07.670 And now as you can see we have a new package that is called Arduino Bot Controller. 01:07.670 --> 01:14.720 Also we can build the workspace with Colgan Build in order to compile also the new package that we have 01:14.720 --> 01:15.380 created. 01:15.380 --> 01:17.240 So the Arduino bot controller. 01:17.270 --> 01:24.170 Now back in Visual Studio Code, here we have the Arduino bot controller package that we have just created. 01:24.170 --> 01:30.320 And here we can see that we have already some folders, empty folders and the CMake list, and the package 01:30.320 --> 01:33.590 dot XML files that were automatically generated. 01:33.590 --> 01:40.040 And here inside this package let's create a new folder that is called config. 01:40.040 --> 01:50.540 And within this config folder let's create a new file that is called Arduino bot controllers dot YAML. 01:50.570 --> 01:51.170 Perfect. 01:51.200 --> 01:55.790 And so this configuration file here will contain the configuration. 01:55.790 --> 02:03.110 So the parameters for the Ros2 control library as I mentioned in the theoretical lessons about configuration 02:03.110 --> 02:03.710 files. 02:03.740 --> 02:10.490 A YAML file always starts with the name of the node to which the configuration parameter refers. 02:10.520 --> 02:20.360 In our case, we are configuring the node called controller manager and so we are configuring it Ross. 02:22.340 --> 02:25.010 So the Ross parameters of this node. 02:25.010 --> 02:29.210 And let's start now by setting the Ross parameters that we want to set. 02:29.240 --> 02:36.110 So here we can list now all the configuration parameters that we want to set for the controller manager 02:36.110 --> 02:42.560 node, starting with the update rate that we can set to ten. 02:42.590 --> 02:44.900 So we can set it to ten hertz. 02:44.900 --> 02:51.800 And then so this parameter here indicates the frequency at which the control loop will be updated and 02:51.800 --> 02:52.820 executed. 02:52.970 --> 02:58.430 And then let's also add the names of the controllers that we want the controller manager to use for 02:58.430 --> 02:59.330 our robot. 02:59.330 --> 03:07.850 And actually we are just going to use two controllers, One for the arm that is called ARM controller. 03:07.880 --> 03:08.720 Perfect. 03:08.780 --> 03:16.100 And then another one for the gripper that is called gripper Controller. 03:16.130 --> 03:16.700 Perfect. 03:16.700 --> 03:18.350 And now for both of them. 03:18.350 --> 03:25.250 So for these two controllers we need to specify their type, which determines the logic that is going 03:25.250 --> 03:27.800 to be used for the control system. 03:27.800 --> 03:39.500 So here for the ARM controller let's set the type perfect to be a joint. 03:41.570 --> 03:45.320 Trajectory controller. 03:45.320 --> 03:52.790 And so from this package here we want to use the class joint trajectory. 03:55.040 --> 03:56.000 Controller. 03:56.000 --> 03:56.750 Perfect. 03:56.750 --> 04:02.930 And this basically indicates that we want to send trajectory commands to the joints that belongs to 04:02.960 --> 04:03.770 the arm. 04:04.130 --> 04:10.490 So this trajectory here basically will contain a list of points, a list of coordinates in which we 04:10.490 --> 04:13.700 want the joints of the arm to be at any moment in time. 04:13.940 --> 04:16.250 Now for the gripper controller. 04:16.250 --> 04:19.640 So here let's set the type. 04:19.640 --> 04:21.920 So we are also going to use the same type. 04:21.920 --> 04:26.060 We are also going to use this type here for the real robot. 04:26.060 --> 04:29.840 So a controller of type joint trajectory controller. 04:29.870 --> 04:35.780 However for the moment let's do a simple test with a different type. 04:35.780 --> 04:42.380 So we can comment this one here for the moment, and we will uncomment this one in the future. 04:42.380 --> 04:46.490 And let's do a simple test using a different type of controller. 04:46.490 --> 05:01.880 That is the forward command controller of type forward command controller. 05:01.880 --> 05:08.740 So this is a simpler controller that simply will allow us to send just a goal to the gripper. 05:08.740 --> 05:13.480 So to send just a command and the gripper will move to the desired position. 05:13.480 --> 05:19.570 So instead of specifying a full trajectory, we will just specify the goal to the gripper and the gripper 05:19.570 --> 05:21.970 will move to the desired position. 05:22.180 --> 05:28.660 Finally, in addition to these two controllers, the controller manager also needs to load a module 05:28.660 --> 05:32.560 that is called joint state. 05:34.660 --> 05:41.920 Broadcaster and this module is responsible for publishing the current state of the joint of the robot 05:41.920 --> 05:43.120 into a topic. 05:43.150 --> 05:49.360 And so then other nodes, for example, can use this topic in order to read the current position of 05:49.360 --> 05:50.350 the joints of the robot. 05:50.380 --> 05:52.540 And so the current position of the arm. 05:52.630 --> 05:55.210 And let's use the type. 05:55.210 --> 06:02.350 So we are going to use the joint state broadcaster. 06:02.350 --> 06:10.900 So from this package we want to load the joint state broadcaster. 06:10.990 --> 06:12.070 Perfect. 06:12.490 --> 06:15.190 So far, however, for the controller manager. 06:15.190 --> 06:19.240 So for this node here we have only indicated the names. 06:19.240 --> 06:25.690 So this one here and also the types this one here of the controllers that we want to load. 06:25.690 --> 06:27.010 And so the arm controller. 06:27.040 --> 06:30.280 The grip controller and the joint state broadcaster. 06:30.310 --> 06:32.290 Now we also need to specify. 06:32.320 --> 06:35.650 So we also need to configure the single controller. 06:35.650 --> 06:40.660 So we need to configure here the ARM controller and also the gripper controller. 06:40.690 --> 06:42.130 We can do it here. 06:42.130 --> 06:43.690 So within the same file. 06:43.690 --> 06:46.990 And we can do it here at the beginning of this file. 06:46.990 --> 06:51.820 So let's configure the R controller. 06:51.820 --> 06:59.140 And we are configuring the cross parameters of this controller here. 06:59.140 --> 07:02.230 And also we can do the same also for the gripper controller. 07:02.230 --> 07:03.460 So let's copy it. 07:03.460 --> 07:04.660 Let's paste it. 07:04.660 --> 07:09.460 And here we are configuring the gripper controller. 07:09.490 --> 07:10.300 Perfect. 07:10.330 --> 07:14.590 Now here let's start with the parameters of the ARM controller. 07:14.590 --> 07:21.250 And we simply need to indicate the name of the joints that belong to this controller so that this controller 07:21.250 --> 07:22.570 will activate. 07:22.570 --> 07:25.660 And these are the joint one. 07:27.850 --> 07:32.350 The joint two and also the joint three. 07:32.350 --> 07:39.490 So these three joints are actually the ones that will activate the robot instead for the gripper. 07:40.750 --> 07:43.090 The joints that will activate the gripper. 07:45.100 --> 07:46.870 Is actually just one joint. 07:46.870 --> 07:48.700 That is the joint number four. 07:48.700 --> 07:55.780 So actually here we don't need to list the joint number five as the joint number five will simply copy. 07:55.780 --> 07:59.620 So we'll simply mimic the behavior of the joint number four. 07:59.650 --> 08:09.310 Now in both cases also we need to indicate apart from the joints we need to indicate the command interfaces 08:09.310 --> 08:10.900 that these joints are using. 08:10.900 --> 08:19.120 And in both cases the command interface is just a position command interface. 08:19.690 --> 08:23.650 So we can copy this parameter also for the gripper. 08:24.040 --> 08:27.580 So also here and now we also want to specify. 08:27.610 --> 08:34.870 So apart from the command interface we want to specify the state interfaces. 08:34.870 --> 08:40.300 So the interfaces that we are going to use in order to receive the feedback from the motors from the 08:40.300 --> 08:40.960 joints. 08:40.960 --> 08:46.180 And also in this case in both cases it is a position interface. 08:46.180 --> 08:49.900 So we are going to receive the current position of each joint. 08:49.930 --> 08:53.140 So let's copy it also for the gripper. 08:53.170 --> 08:55.330 Now for both of these joints. 08:55.330 --> 08:58.330 So let's start with the ARM controller. 08:58.330 --> 09:05.440 We can set the open loop control to true. 09:05.440 --> 09:12.880 And this is very important because the real motors that we are going to use on the real robot will not 09:12.880 --> 09:17.320 be able to provide a feedback about the current position of the robot. 09:17.320 --> 09:20.950 And so actually we can use an open loop control. 09:20.950 --> 09:25.480 And also let's set another parameter that is the allow 09:27.340 --> 09:30.880 integration in goal. 09:33.070 --> 09:34.300 Trajectories. 09:34.450 --> 09:37.360 And let's also set this parameter to true. 09:37.360 --> 09:40.060 And let's copy also. 09:40.060 --> 09:43.570 So let's set also this one for the gripper controller. 09:43.570 --> 09:49.060 Now for the moment however these are the parameters that we are going to use for the real robot. 09:49.060 --> 09:54.280 So for the real gripper and also the parameters that we are going to use for the simulation of the gripper 09:54.280 --> 09:57.460 in the following lessons for the moment. 09:57.460 --> 10:04.090 So for our very first test that we are going to do, we can just comment all of these for the gripper. 10:04.090 --> 10:07.810 So from the command interfaces to the last parameter. 10:07.810 --> 10:09.250 We can comment all of these. 10:09.280 --> 10:14.860 And instead we can add a new parameter just for the gripper that is called. 10:15.400 --> 10:20.080 Interface name that we can set to position. 10:20.080 --> 10:26.860 And so this is just for the first test that we want to do and which we want to send a command using 10:26.860 --> 10:27.880 this interface here. 10:27.880 --> 10:31.600 So using the forward command controller to the gripper. 10:31.600 --> 10:34.900 And so for this test here we need this parameter here. 10:34.900 --> 10:38.230 But we are going to remove it at the end of this lesson. 10:38.380 --> 10:40.150 So let's save this file. 10:40.150 --> 10:46.330 And with this our configuration file for the controller manager node of the Ros2 control library is 10:46.330 --> 10:47.020 completed. 10:47.020 --> 10:53.920 And as I said, we will come back to modify this file here in order to change here the gripper controller 10:53.920 --> 10:57.430 to be again a joint trajectory controller. 10:57.430 --> 11:02.200 Now for the moment let's just install this folder here. 11:02.200 --> 11:04.660 So the config folder that we have just created. 11:04.660 --> 11:06.940 So let's go to the CMake list. 11:07.000 --> 11:11.080 Here we can delete all the commented rows. 11:11.350 --> 11:22.840 And here after the Findpackage section we can install and the directory that we want to install is the 11:22.840 --> 11:24.040 config folder. 11:24.040 --> 11:25.690 And we want to install this one. 11:25.690 --> 11:32.740 So this directory in the destination that is the share folder. 11:32.740 --> 11:36.220 And within the subfolder that is called as the package itself. 11:36.220 --> 11:38.710 So that is called Arduino bot controller. 11:38.710 --> 11:45.760 And also we can access this name using the variable project name. 11:45.790 --> 11:46.600 Perfect. 11:46.600 --> 11:48.430 Let's save also this file. 11:48.430 --> 11:55.480 And before testing our controller, remember that in the previous lesson when we configured the Urdf 11:55.480 --> 11:56.860 model of our robot. 11:56.860 --> 12:04.660 So here in the Arduino bot description in the Urdf folder and in the Arduino bot gazebo dot csv file. 12:04.660 --> 12:10.000 So here when we load it loaded the plugin for the gazebo Ros2 control library. 12:10.030 --> 12:15.610 Either if you are using Ros2 humble or if you are using Ros2 Jetson here. 12:15.610 --> 12:19.780 As you remember, we didn't set any parameters for this plugin. 12:19.780 --> 12:23.290 And now finally we have this nice configuration file here. 12:23.290 --> 12:28.750 So the Arduino board controller style that we can use here in order to configure the parameters of the 12:28.750 --> 12:30.310 Ros2 control library. 12:30.430 --> 12:39.340 So let's access let's find the Arduino board controller package. 12:39.340 --> 12:50.140 And from this package from the config folder let's open the Arduino board controllers dot YAML file. 12:50.140 --> 12:57.700 And actually this is the same file that we want to load independently on the plugin that you are using. 12:57.700 --> 13:04.360 So this is the same configuration file that you need either if you are on Ros2 chassis or if you are 13:04.420 --> 13:05.290 on Ros2. 13:05.290 --> 13:05.980 Humble. 13:06.490 --> 13:07.000 Perfect. 13:07.020 --> 13:08.580 Let's save all to this file. 13:08.580 --> 13:14.040 And also we need to apply one last change that is here in the launch file. 13:14.040 --> 13:16.410 So in the gazebo dot launch file. 13:16.410 --> 13:20.010 And actually the last change that we need to apply is here. 13:20.010 --> 13:23.640 So when we are creating the robot description variable. 13:23.640 --> 13:28.980 So here as you can see the robot description variable is using the exact command. 13:29.010 --> 13:32.760 This one here in order to convert our model. 13:32.760 --> 13:36.390 So our model that is this one here. 13:36.390 --> 13:42.930 So the Arduino bot dot Urdf dot sacro is using to convert this one into a string, and then is passing 13:42.930 --> 13:45.930 this string here to the robot state publisher node. 13:45.930 --> 13:53.280 And this node here then will be in charge of loading the robot descriptions of making it available in 13:53.280 --> 13:54.540 our Ros two topic. 13:54.660 --> 13:57.300 Now we need to slightly modify this one. 13:57.300 --> 13:59.310 And so we can go here. 13:59.730 --> 14:02.820 And the exact command that we are using. 14:02.820 --> 14:08.970 So we can slightly modify this one here and here after the exact command. 14:08.970 --> 14:10.050 So the exact command. 14:10.080 --> 14:14.100 This one will contain the full path to the Urdf model of our robot. 14:14.610 --> 14:17.910 And here we need to set an additional argument. 14:17.940 --> 14:22.260 That is the is ignition argument. 14:22.260 --> 14:23.910 In fact, as you remember. 14:23.910 --> 14:26.190 So to our Urdf model of our robot. 14:26.190 --> 14:29.490 So to this one here we have set in the previous lesson. 14:29.490 --> 14:33.630 So if we open it here we have set this argument here. 14:33.900 --> 14:39.390 So now we want to set actually a value for this argument depending on the ros2 version that you are 14:39.390 --> 14:40.080 using. 14:40.080 --> 14:47.790 So back in gazebo here, we already know the Ros2 version that is installed on your system by using 14:47.790 --> 14:49.650 the Ros distro variable. 14:49.650 --> 14:55.170 And here we can create a new variable called is ignition. 14:55.170 --> 14:57.120 And we set this one to true. 14:58.500 --> 15:03.660 If your Ros version is humble. 15:05.670 --> 15:13.440 Otherwise if you are on any newer version, let's simply set this variable here to false. 15:13.500 --> 15:19.440 And now that we have here this variable initialized with true or false, depending on the ros2 version 15:19.440 --> 15:24.300 that you are using, we can simply pass it to the command. 15:24.330 --> 15:30.210 So now this exact command will convert our Urdf model using this variable here. 15:30.210 --> 15:32.490 So using this argument here. 15:32.730 --> 15:33.810 Perfect. 15:33.840 --> 15:37.650 So we can save also this file the gazebo launch.py. 15:37.650 --> 15:42.240 And let's finally verify that everything is correctly working. 15:42.360 --> 15:44.400 So let's open a new terminal. 15:45.210 --> 15:47.610 Let's go to the workspace. 15:47.640 --> 15:48.360 Perfect. 15:48.990 --> 15:52.560 And here let's build it with Qualcomm build. 15:53.400 --> 15:54.210 Perfect. 15:54.240 --> 15:58.380 Then in a new window of the terminal let's source the workspace. 15:58.860 --> 16:00.030 So the file setup. 16:00.600 --> 16:05.640 And let's simply start the gazebo simulation of our robot with Ros2. 16:05.670 --> 16:06.660 Launch. 16:07.230 --> 16:09.840 And from the Arduino Description. 16:09.960 --> 16:11.730 Let's start the gazebo. 16:12.000 --> 16:12.900 Launch pi. 16:12.930 --> 16:18.900 So let's press enter and this will start the simulation of our robot in the empty world. 16:18.900 --> 16:22.200 And we can already see that as we spawn our robot. 16:22.230 --> 16:27.120 Now our robot is standing still, so is not falling anymore. 16:27.120 --> 16:29.070 So we can see that it is still. 16:29.070 --> 16:30.360 And this is because. 16:30.360 --> 16:35.730 So this confirms us already that the Ros2 control library has been properly loaded. 16:35.730 --> 16:38.040 And also if we open. 16:38.040 --> 16:44.460 So if we make this terminal a little bit bigger and we go here above, we can see that we have a lot 16:44.460 --> 16:49.020 of logs that are coming from the gazebo Ros2 Control library. 16:49.020 --> 16:54.750 So we can see here that this confirms us, that actually the gazebo Ros2 control library is properly 16:54.750 --> 16:55.470 loaded. 16:55.470 --> 17:01.980 And so our robot now in the simulated environment is properly loading the Ros2 control library, which 17:01.980 --> 17:08.100 we are going to use in the following lesson in order to move the simulated robot here in the simulated 17:08.100 --> 17:08.970 environment.