Create simple robot simulation with a moving simple robot

ros2_ws/.vscode/c_cpp_properties.json

-{
-  "configurations": [
-    {
-      "browse": {
-        "databaseFilename": "${default}",
-        "limitSymbolsToIncludedHeaders": false
-      },
-      "includePath": [
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/impedance_controller/include/**",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_hardware/include/**",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/external_torque_sensor_broadcaster/include/**",
-        "/opt/ros/humble/include/**",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/**",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/**",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_hardware/include/**",
-        "/usr/include/**"
-      ],
-      "name": "ROS",
-      "intelliSenseMode": "gcc-x64",
-      "compilerPath": "/usr/bin/gcc",
-      "cStandard": "gnu11",
-      "cppStandard": "c++14"
-    }
-  ],
-  "version": 4
-}
\ No newline at end of file

ros2_ws/.vscode/settings.json

-{
-    "python.autoComplete.extraPaths": [
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
-    ],
-    "python.analysis.extraPaths": [
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
-        "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
-        "/opt/ros/humble/lib/python3.10/site-packages",
-        "/opt/ros/humble/local/lib/python3.10/dist-packages"
-    ]
-}
\ No newline at end of file

ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py

@@ -122,7 +122,9 @@ def generate_launch_description():
         package='joint_state_publisher',
         executable='joint_state_publisher',
         output = 'both',
-        # parameters=[params]
+        parameters=[
+            {'robot_description': robot_desc}
+        ]
     )
     joint_state_publisher_gui = Node(
         package='joint_state_publisher_gui',
@@ -138,7 +140,7 @@ def generate_launch_description():
         inverse_kinematics_node,
         robot_state_publisher,
         joint_state_publisher,
-        joint_state_publisher_gui
+        # joint_state_publisher_gui
     ]
 
     return LaunchDescription(declared_arguments + nodes)
\ No newline at end of file

ros2_ws/src/simple_robot_1dof/setup.py

@@ -29,7 +29,6 @@ setup(
         'console_scripts': [
             'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
             'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
-            'reference_node_1dof_velocity = simple_robot_1dof.reference_node_1dof_velocity:main',
         ],
     },
 )

ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py

@@ -51,7 +51,7 @@ class Forward_Kinematics_Node_1Dof(Node):
         # create a publisher for the plotjuggler angles
         self.angle_publisher_ = self.create_publisher(Float64, '/simple_robot/angles_1dof/plotjuggler', 10)
         # create a publisher for the pose
-        self.pose_publisher_simple_robot_ = self.create_publisher(PoseStamped, '/simple_robot/target_pose', 10)
+        self.pose_publisher_simple_robot_ = self.create_publisher(Pose, '/simple_robot/target_pose', 10)
         self.pose_publisher_kuka_robot_ = self.create_publisher(Pose, '/kuka_iiwa/target_pose', 10)
         #RViz
         self.path = Path()
@@ -189,17 +189,17 @@ class Forward_Kinematics_Node_1Dof(Node):
 
 
     def publish_pose_simple_robot(self, vector, quaternion):
-        pose_msg = PoseStamped()
-        pose_msg.header.frame_id = "map"
-        pose_msg.header.stamp = self.get_clock().now().to_msg()
-        pose_msg.pose.position.x = vector[0]
-        pose_msg.pose.position.y = vector[1]
-        pose_msg.pose.position.z = vector[2]
-        pose_msg.pose.orientation.x = quaternion[0]
-        pose_msg.pose.orientation.y = quaternion[1]
-        pose_msg.pose.orientation.z = quaternion[2]
-        pose_msg.pose.orientation.w = quaternion[3]
-        self.pose_publisher_simple_robot_.publish(pose_msg)
+        pose_msg_sr = Pose()
+        # pose_msg.header.frame_id = "map"
+        # pose_msg.header.stamp = self.get_clock().now().to_msg()
+        pose_msg_sr.position.x = vector[0]
+        pose_msg_sr.position.y = vector[1]
+        pose_msg_sr.position.z = vector[2]
+        pose_msg_sr.orientation.x = quaternion[0]
+        pose_msg_sr.orientation.y = quaternion[1]
+        pose_msg_sr.orientation.z = quaternion[2]
+        pose_msg_sr.orientation.w = quaternion[3]
+        self.pose_publisher_simple_robot_.publish(pose_msg_sr)
 
     def publish_pose_target_pose(self, vector, quaternion):    
         # Create a Pose message for the target pose

ros2_ws/src/simple_robot_inverse_kinematik/LICENSE

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ros2_ws/src/simple_robot_inverse_kinematik/package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simple_robot_inverse_kinematik</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="uquzq@student.kit.edu">ventsi</maintainer>
+  <license>Apache-2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+
+  <depend>rclpy</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz2</depend>
+  <depend>joint_state_publisher_gui</depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>kdl_parser</depend>
+  <depend>orocos_kdl_vendor</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>urdf</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg

+[develop]
+script_dir=$base/lib/simple_robot_inverse_kinematik
+[install]
+install_scripts=$base/lib/simple_robot_inverse_kinematik

ros2_ws/src/simple_robot_inverse_kinematik/setup.py

+from setuptools import find_packages, setup
+
+package_name = 'simple_robot_inverse_kinematik'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ventsi',
+    maintainer_email='uquzq@student.kit.edu',
+    description='TODO: Package description',
+    license='Apache-2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'simple_robot_inverse = simple_robot_inverse_kinematik.inverse_kinematik:main',
+        ],
+    },
+)

ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py

+import os
+import re
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Pose
+from sensor_msgs.msg import JointState
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from modern_robotics import IKinBody, RpToTrans, FKinBody
+import numpy as np
+from ament_index_python.packages import get_package_share_directory
+from mr_urdf_loader import loadURDF
+from scipy.spatial.transform import Rotation
+from rclpy.clock import Clock
+
+class InverseKinematicsSimpleRobot(Node):
+    def __init__(self):
+        super().__init__('inverse_kinematics_simple_robot')
+        self.subscription = self.create_subscription(
+            Pose,
+            '/simple_robot/target_pose',
+            self.pose_callback,
+            10)
+        self.publisher = self.create_publisher(JointState, '/joint_states', 10)
+
+        urdf_file_path = os.path.join(
+            get_package_share_directory('simple_robot_1dof'), 'urdf', 'simple_robot.urdf')
+        self.get_logger().info(f'Loading URDF from: {urdf_file_path}')
+        self.simple_robot = loadURDF(urdf_file_path)
+
+        self.M = self.simple_robot["M"]
+        self.Slist = self.simple_robot["Slist"]
+        self.Mlist = self.simple_robot["Mlist"]
+        self.Glist = self.simple_robot["Glist"]
+        self.Blist = self.simple_robot["Blist"]
+
+        self.joint_names = [f'joint{i+1}' for i in range(len(self.Slist[0]))]
+
+        self.joint_angles = np.zeros(len(self.Slist[0]))
+
+        T = FKinBody(self.M, self.Blist, self.joint_angles)
+        rotation_matrix = T[:3, :3]
+        quat = Rotation.from_matrix(rotation_matrix).as_quat()
+        position = T[:3, 3]
+        self.get_logger().info('T: "%s":' %T)
+
+        self.get_logger().info(f'Calculated Forward Kinematics Quaternion: {quat}')
+        self.get_logger().info(f'Calculated Forward Kinematics Position: {position}')
+
+    def pose_callback(self, pose: Pose):
+        quat = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]
+        r = Rotation.from_quat(quat)
+        rotation_matrix = r.as_matrix()
+        T_sd = RpToTrans(rotation_matrix, np.array([pose.position.x, pose.position.y, pose.position.z]))
+        eomg = 1e-4  # Fehlergrenze für Winkel
+        ev = 1e-4  # Fehlergrenze für Translation
+
+        joint_angles, success = IKinBody(self.Blist, self.M, T_sd, self.joint_angles, eomg, ev)
+       
+
+        if success:
+            # self.joint_angles = joint_angles
+
+
+            joint_state_msg = JointState()
+            joint_state_msg.header.stamp = Clock().now().to_msg()
+            joint_state_msg.name = self.joint_names
+            joint_state_msg.position = joint_angles.tolist()
+
+            # joint_trajectory_msg = JointTrajectory()
+            # joint_trajectory_msg.joint_names = self.joint_names
+            # point = JointTrajectoryPoint()
+            # point.positions = joint_angles.tolist()
+            # point.time_from_start.sec = 1 # Example time, adjust as needed
+            # point.time_from_start.nanosec = 450000000 # Balint fragen, ob das verbessert werden kann
+            # joint_trajectory_msg.points.append(point)
+
+            # self.publisher.publish(joint_trajectory_msg)
+            self.publisher.publish(joint_state_msg)
+        else:
+            self.get_logger().error("Inverse Kinematics failed to find a solution.")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = InverseKinematicsSimpleRobot()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file

ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py

+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py

+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py

+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'