Create descriptions for robots from examples

[destogl]

• There should be one description for each robot in the roadmap example - see ros-controls/roadmap#17.

Following should be done (add additional items if needed):

• [x] define description for rrbot in the description folder (existing 2dof can be reused)
• [ ] create *.ros2_control.xacro for each robot type
• [x] prepare full xacro for the robot

[destogl]

Check descriptions of demo_robot.yaml demo_robot_minimal.yaml in #21 @olivier-stasse : how does this looks to you?

[destogl]

@olivier-stasse here is something I would need help with, so if you have some time I would be very thankful :)

Current state

• in #4 there is initial implementation of DemoRobot with URDF and xacro file
• I had problems with parsing xacro files in ROS2, therefore is comment about that in ros2_control_demo_robot/launch/minimal_robot.launch.py
• I solved it by generating URDF in ROS1 and then using it directly

What are next steps

• [x] Use xacro file directly in ROS2
• [x] Launch also robot_state_publisher
• [x] ~~Visualizes the MinimalRobot in rviz and check if the description make sense (test using joint_state_publisher is probably the easiest)~~
• [x] ~~Provide some fake funcitonality in DemoRobotHardwareMinimal class~~

When this works we should than concentrate on manager node and adding another examples.

Is this OK for you?

[olivier-stasse]

Sounds good ! I will give it try.

[Karsten1987]

I don't think it makes sense to parse xacro files. I think it makes sense to expect the robot_description to be presented as xml and therefore be parsed as such.

[destogl]

Oh, I wrote that confusing...

I meant not to parse xacro file manually, but to convert it automatically in launch file into URDF file.

this didn‘t work for me with xacro in ROS2 for unknown reasons...

[destogl]

Full list of examples: source

• [x] Industrial Robots with only one interface - #37 and ros-controls/ros2_control#140
• [x] Industrial Robots with multiple interfaces (can not be written at the same time) 2.1. Robots with multiple interfaces used at the same time - the same structure as in (2) - #61
• [x] Industrial Robots with a sensor integrated into the robot's control box - #68
• [x] Industrial Robots with a sensor connected to ROS computer
• [x] Modular Robots with separate communication to each actuator
• [x] Modular Robots with actuators not providing states and additional sensors (simple Transmissions)
• [ ] Modular Robots with separate communication to each "actuator" with multi joints (Transmission Example) - (system component is used)
• [x] Sensor only
• [x] Actuator Only