feat: add viz code from Tristan's ik_test and add CAD to URDF

.gitignore

@@ -14,3 +14,4 @@ __pycache__/
 
 #Direnv
 .direnv/
+.venv

arm_launch.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch.conditions import IfCondition
+
+
+
+#Prevent making __pycache__ directories
+from sys import dont_write_bytecode
+dont_write_bytecode = True
+
+def launch_setup(context, *args, **kwargs):
+    # Retrieve the resolved value of the launch argument 'mode'
+    mode = LaunchConfiguration('mode').perform(context)
+    nodes = []
+
+    # Arm
+    # package_dir = get_package_share_directory('arm_pkg')
+    package_dir = "/home/david/repos/rover-ros2/src/arm_pkg"  # TODO: copy files to share and point there
+    urdf_file_name = 'arm12.urdf'
+    urdf = os.path.join(package_dir, "urdf", urdf_file_name)
+    # urdf = "/home/david/repos/rover-ros2/src/arm_pkg/urdf/" + urdf_file_name
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+    rviz_config_path = os.path.join(package_dir, 'viz.rviz')
+
+    if mode == 'anchor':
+        nodes.append(
+            Node(
+                package='robot_state_publisher',
+                executable='robot_state_publisher',
+                name='robot_state_publisher',
+                output='both',
+                parameters=[{'robot_description': robot_desc}],
+                arguments=[urdf],
+                on_exit=Shutdown()
+            )
+        )
+        nodes.append(
+            Node(
+                package='arm_pkg',
+                executable='arm',  # change as needed
+                name='arm',
+                output='both',
+                parameters=[{'launch_mode': 'anchor'}],
+                on_exit=Shutdown()
+            )
+        )
+        nodes.append(
+            Node(
+                package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                output='both',
+                arguments=['-d', rviz_config_path],
+                on_exit=Shutdown()
+            )
+        )
+        # nodes.append(
+        #     Node(
+        #         package='anchor_pkg',
+        #         executable='anchor',  # change as needed
+        #         name='anchor',
+        #         output='both',
+        #         parameters=[{'launch_mode': 'anchor'}],
+        #         on_exit=Shutdown()
+        #     )
+        # )
+    else:
+        # If an invalid mode is provided, print an error.
+        print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
+
+    return nodes
+
+def generate_launch_description():
+    declare_arg = DeclareLaunchArgument(
+        'mode',
+        default_value='anchor',
+        description='Launch mode: arm, core, bio, anchor, or ptz'
+    )
+
+    return LaunchDescription([
+        declare_arg,
+        OpaqueFunction(function=launch_setup)
+    ])

src/anchor_pkg/launch/rover.launch.py

@@ -2,7 +2,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction, Shutdown
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
 from launch_ros.actions import Node
 
 
@@ -18,13 +18,18 @@ def launch_setup(context, *args, **kwargs):
 
     if mode == 'anchor':
         # Launch every node and pass "anchor" as the parameter
+        
+        # Arm
+        urdf_file = "/home/david/repos/rover-ros2/src/arm_pkg/urdf/arm12.urdf"
+        robot_description = {'robot_description': open(urdf_file).read()}
         nodes.append(
             Node(
                 package='arm_pkg',
                 executable='arm',  # change as needed
                 name='arm',
                 output='both',
-                parameters=[{'launch_mode': mode}],
+                parameters=[{'launch_mode': mode},
+                            {'robot_description': robot_description}],
                 on_exit=Shutdown()
             )
         )

src/arm_pkg/arm_pkg/arm_node.py

@@ -13,6 +13,9 @@ from ros2_interfaces_pkg.msg import ArmManual
 from ros2_interfaces_pkg.msg import ArmIK
 from ros2_interfaces_pkg.msg import SocketFeedback
 from ros2_interfaces_pkg.msg import DigitFeedback
+from sensor_msgs.msg import JointState
+from tf2_ros import TransformBroadcaster, TransformStamped
+import math
 
 
 # IK-Related imports
@@ -20,10 +23,6 @@ import numpy as np
 import time, math, os
 from math import sin, cos, pi
 from ament_index_python.packages import get_package_share_directory
-# from ikpy.chain import Chain
-# from ikpy.link import OriginLink, URDFLink
-# #import pygame as pyg
-# from scipy.spatial.transform import Rotation as R
 
 from . import astra_arm
 
@@ -64,6 +63,19 @@ class SerialRelay(Node):
 
         self.ik_debug = self.create_publisher(String, '/arm/debug/ik', 10)
 
+        # New messages
+        self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10)
+        self.tf_broadcaster = TransformBroadcaster(self)
+        self.joint_state = JointState()
+        self.joint_state.name = ['Axis_0', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Continuous_Joint', 'Wrist_Joint']
+        self.joint_state.position = [0.0] * 6  # Initialize with zeros
+        self.odom_trans = TransformStamped()
+        self.odom_trans.header.frame_id = 'odom'
+        self.odom_trans.child_frame_id = 'base_footprint'
+        self.odom_trans.transform.translation.x = 0.0
+        self.odom_trans.transform.translation.y = 0.0
+        self.odom_trans.transform.translation.z = 0.0
+
         # Topics used in anchor mode
         if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
@@ -302,7 +314,6 @@ class SerialRelay(Node):
             angles_in = parts[3:7]
             # Convert the angles to floats divide by 10.0
             angles = [float(angle) / 10.0 for angle in angles_in]
-            # angles[0] = 0.0 #override axis0 to zero
             #
             #
             #THIS NEEDS TO BE REMOVED LATER
@@ -319,11 +330,19 @@ class SerialRelay(Node):
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
             self.arm_feedback.axis3_angle = angles[3]
-            # self.get_logger().info(f"Angles: {angles}")
+
-            # #debug publish angles
+            # Joint state publisher for URDF visualization
-            # tempMsg = String()
+            self.joint_state.position[0] = math.radians(angles[0])  # Axis 0
-            # tempMsg.data = "Angles: " + str(angles)
+            self.joint_state.position[1] = math.radians(angles[1])  # Axis 1
-            # #self.debug_pub.publish(tempMsg)
+            self.joint_state.position[2] = math.radians(angles[2])  # Axis 2
+            self.joint_state.position[3] = math.radians(angles[3])  # Axis 3
+            self.joint_state.position[4] = math.radians(angles[4])  # Wrist roll
+            self.joint_state.position[5] = math.radians(angles[5])  # Wrist yaw
+            self.joint_state.header.stamp = self.get_clock().now().to_msg()
+            self.joint_state_pub.publish(self.joint_state)
+
+            self.odom_trans.header.stamp = self.get_clock().now().to_msg()
+            self.tf_broadcaster.sendTransform(self.odom_trans)
         else:
             self.get_logger().info("Invalid angle feedback input format")
 

src/arm_pkg/setup.cfg

@@ -2,3 +2,5 @@
 script_dir=$base/lib/arm_pkg
 [install]
 install_scripts=$base/lib/arm_pkg
+[build_scripts]
+executable= /usr/bin/env python3

src/arm_pkg/urdf/arm12.urdf

@@ -1,22 +1,26 @@
 <robot name="robot">
+
   <link name="base_footprint"></link>
+
   <joint name="base_joint" type="fixed">
     <parent link="base_footprint" />
     <child link="base_link" />
     <origin xyz="0 0 0.0004048057655643422" rpy="0 0 0" />
   </joint>
+
   <link name="base_link">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.175 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.5 0.5 0.01" />
+        <!-- <box size="0.5 0.5 0.01" /> -->
+        <mesh filename="package://arm_pkg/urdf/Arm Base Plate.STL" scale="1 1 1"/>
       </geometry>
       <material name="base_link-material">
         <color rgba="0 0.6038273388475408 1 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.175 0 0" rpy="0 0 0" />
       <geometry>
         <box size="0.5 0.5 0.01" />
       </geometry>
@@ -27,24 +31,28 @@
       <inertia ixx="0.17" ixy="0" ixz="0" iyy="0.17" iyz="0" izz="0.05" />
     </inertial>
   </link>
-  <joint name="Axis_0_Joint" type="revolute">
+
+  <joint name="Axis_0" type="revolute">
     <parent link="base_link" />
-    <child link="Axis_0" />
+    <child link="Axis_0_Plate" />
     <origin xyz="0 0 0.035" rpy="0 0 0" />
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>  </joint>
+    <limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>
-  <link name="Axis_0">
+  </joint>
+
+  <link name="Axis_0_Plate">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.175 0 0" rpy="0 0 0" />
       <geometry>
-        <cylinder radius="0.15" length="0.059" />
+        <!-- <cylinder radius="0.15" length="0.059" /> -->
+        <mesh filename="package://arm_pkg/urdf/Axis 0 Plate.STL" scale="1 1 1"/>
       </geometry>
       <material name="Axis_0-material">
         <color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.175 0 0" rpy="0 0 0" />
       <geometry>
         <cylinder radius="0.15" length="0.059" />
       </geometry>
@@ -55,17 +63,21 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_1_Joint" type="revolute">
-    <parent link="Axis_0" />
+    <parent link="Axis_0_Plate" />
     <child link="Axis_1" />
     <origin xyz="0 0 0.11189588647115647" rpy="1.5707963267948963 0 0" />
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>  </joint>
+    <limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>
+  </joint>
+
   <link name="Axis_1">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 -0.11 0.005" rpy="-1.6 0 0" />
       <geometry>
-        <cylinder radius="0.082" length="0.1" />
+        <!-- <cylinder radius="0.082" length="0.1" /> -->
+        <mesh filename="package://arm_pkg/urdf/Axis 1.STL" scale="1 1 1"/>
       </geometry>
       <material name="Axis_1-material">
         <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
@@ -83,19 +95,22 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_1_to_Segment_1" type="fixed">
     <parent link="Axis_1" />
     <child link="Segment_1" />
     <origin xyz="0 0.2350831500270899 0" rpy="-1.5707963267948963 0 0" />
   </joint>
+
   <link name="Segment_1">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0.005 0 -0.35" rpy="0 0 0" />
       <geometry>
-        <cylinder radius="0.025" length="0.473" />
+        <!-- <cylinder radius="0.025" length="0.473" /> -->
+        <mesh filename="package://arm_pkg/urdf/Segment 1.STL" scale="1 1 1"/>
       </geometry>
       <material name="Segment_1-material">
-        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+        <color rgba="0.2 0.2 0.2 1" />
       </material>
     </visual>
     <collision>
@@ -110,12 +125,15 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_2_Joint" type="revolute">
     <parent link="Segment_1" />
     <child link="Axis_2" />
     <origin xyz="0 -5.219894517229704e-17 0.2637568842473722" rpy="1.5707963267948963 0 0" />
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>  </joint>
+    <limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>
+  </joint>
+
   <link name="Axis_2">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -138,11 +156,13 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_2_to_Segment_2" type="fixed">
     <parent link="Axis_2" />
     <child link="Segment_2" />
     <origin xyz="0 0.19535682173790003 0" rpy="-1.5707963267948963 0 0" />
   </joint>
+
   <link name="Segment_2">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -165,12 +185,15 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_3_Joint" type="revolute">
     <parent link="Segment_2" />
     <child link="Axis_3" />
     <origin xyz="0 -4.337792830220178e-17 0.199625776257357" rpy="1.5707963267948963 0 0" />
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>
+  </joint>
+
   <link name="Axis_3">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -193,11 +216,13 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_3_to_Segment_3" type="fixed">
     <parent link="Axis_3" />
     <child link="Segment_3" />
     <origin xyz="0 0.06725724726912972 0" rpy="-1.5707963267948963 0 0" />
   </joint>
+
   <link name="Segment_3">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -220,12 +245,15 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Wrist_Joint" type="revolute">
     <parent link="Segment_3" />
     <child link="Axis_4" />
     <origin xyz="0 0 0.0655808825338593" rpy="0 1.5707963267948966 0" />
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>
+  </joint>
+
   <link name="Axis_4">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -248,6 +276,7 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Continuous_Joint" type="revolute">
     <parent link="Axis_4" />
     <child link="Axis_4_C" />
@@ -255,6 +284,7 @@
     <axis xyz="0 0 1"/>
     <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
   </joint>
+
   <link name="Axis_4_C">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -277,11 +307,13 @@
       <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
     </inertial>
   </link>
+
   <joint name="Axis_4_C_to_Effector" type="fixed">
     <parent link="Axis_4_C" />
     <child link="Effector" />
     <origin xyz="0 0 0.06478774571448076" rpy="0 0 0" />
   </joint>
+
   <link name="Effector">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -304,4 +336,5 @@
       <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
     </inertial>
   </link>
+
 </robot>

src/arm_pkg/viz.rviz

@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /RobotModel1
+        - /RobotModel1/Description Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 717
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        arm_link_0:
+          Value: true
+        arm_link_1:
+          Value: true
+        arm_link_2:
+          Value: true
+        arm_link_3:
+          Value: true
+        arm_link_4:
+          Value: true
+        arm_link_5:
+          Value: true
+        arm_link_6:
+          Value: true
+        base_link:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 0.44999998807907104
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        odom:
+          base_link:
+            arm_link_0:
+              arm_link_1:
+                arm_link_2:
+                  arm_link_3:
+                    arm_link_4:
+                      arm_link_5:
+                        arm_link_6:
+                          {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_link_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        arm_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.1002085208892822
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
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+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6997972726821899
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.6954216957092285
+    Saved: ~
+Window Geometry:
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+  Height: 945
+  Hide Left Dock: true
+  Hide Right Dock: true
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+  Tool Properties:
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+  Views:
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+  Width: 1512
+  X: 0
+  Y: 37