python-ros-control
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pip3 install rclpy
pip3 install transforms3d # For 3D transformations
pip3 install numpy # For numerical computations
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import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile
import sys
class RobotController(Node):
def __init__(self):
super().__init__('robot_controller')
# Create a QoS profile for reliable communication
qos_profile = QoSProfile(depth=10)
# Initialize controller parameters
self.joint_positions = {}
self.target_positions = {}
self.get_logger().info('Robot Controller initialized')
def main(args=None):
rclpy.init(args=args)
controller = RobotController()
try:
rclpy.spin(controller)
except KeyboardInterrupt:
controller.get_logger().info('Shutting down robot controller...')
finally:
controller.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
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import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from control_msgs.msg import JointTrajectoryControllerState
import math
import time
class JointController(Node):
def __init__(self):
super().__init__('joint_controller')
# Joint names for a humanoid robot
self.joint_names = [
'left_hip_joint', 'left_knee_joint', 'left_ankle_joint',
'right_hip_joint', 'right_knee_joint', 'right_ankle_joint',
'left_shoulder_joint', 'left_elbow_joint', 'left_wrist_joint',
'right_shoulder_joint', 'right_elbow_joint', 'right_wrist_joint'
]
# Current joint states
self.current_positions = {name: 0.0 for name in self.joint_names}
self.current_velocities = {name: 0.0 for name in self.joint_names}
self.current_efforts = {name: 0.0 for name in self.joint_names}
# Publishers and subscribers
self.joint_state_pub = self.create_publisher(JointState, 'joint_states', 10)
self.joint_command_sub = self.create_subscription(
JointTrajectory, 'joint_trajectory', self.joint_command_callback, 10)
# Timer for publishing joint states
self.timer = self.create_timer(0.05, self.publish_joint_states) # 20 Hz
self.get_logger().info(f'Joint Controller initialized with {len(self.joint_names)} joints')
def joint_command_callback(self, msg):
"""Callback for joint trajectory commands"""
self.get_logger().info(f'Received trajectory with {len(msg.points)} points')
# For now, just execute the first point
if msg.points:
point = msg.points[0]
for i, joint_name in enumerate(msg.joint_names):
if joint_name in self.current_positions:
self.current_positions[joint_name] = point.positions[i]
if len(point.velocities) > i:
self.current_velocities[joint_name] = point.velocities[i]
if len(point.effort) > i:
self.current_efforts[joint_name] = point.effort[i]
def publish_joint_states(self):
"""Publish current joint states"""
msg = JointState()
msg.name = list(self.current_positions.keys())
msg.position = list(self.current_positions.values())
msg.velocity = list(self.current_velocities.values())
msg.effort = list(self.current_efforts.values())
msg.header.stamp = self.get_clock().now().to_msg()
msg.header.frame_id = 'base_link'
self.joint_state_pub.publish(msg)
def main(args=None):
rclpy.init(args=args)
controller = JointController()
try:
rclpy.spin(controller)
except KeyboardInterrupt:
controller.get_logger().info('Shutting down joint controller...')
finally:
controller.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
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class PIDController:
def __init__(self, kp=1.0, ki=0.0, kd=0.0, dt=0.01):
self.kp = kp # Proportional gain
self.ki = ki # Integral gain
self.kd = kd # Derivative gain
self.dt = dt # Time step
self.prev_error = 0.0
self.integral = 0.0
def compute(self, setpoint, measurement):
"""Compute control output using PID algorithm"""
error = setpoint - measurement
# Proportional term
p_term = self.kp * error
# Integral term
self.integral += error * self.dt
i_term = self.ki * self.integral
# Derivative term
derivative = (error - self.prev_error) / self.dt
d_term = self.kd * derivative
# Store error for next iteration
self.prev_error = error
# Compute output
output = p_term + i_term + d_term
return output
class JointPIDController(Node):
def __init__(self):
super().__init__('joint_pid_controller')
# Initialize PID controllers for each joint
self.pid_controllers = {}
self.joint_names = [
'left_hip_joint', 'left_knee_joint', 'left_ankle_joint',
'right_hip_joint', 'right_knee_joint', 'right_ankle_joint'
]
for joint_name in self.joint_names:
# Different PID parameters for different joints
if 'hip' in joint_name:
self.pid_controllers[joint_name] = PIDController(kp=2.0, ki=0.1, kd=0.05)
elif 'knee' in joint_name:
self.pid_controllers[joint_name] = PIDController(kp=1.5, ki=0.05, kd=0.03)
else: # ankle
self.pid_controllers[joint_name] = PIDController(kp=1.0, ki=0.02, kd=0.01)
# Current states
self.current_positions = {name: 0.0 for name in self.joint_names}
self.target_positions = {name: 0.0 for name in self.joint_names}
self.control_outputs = {name: 0.0 for name in self.joint_names}
# Publishers and subscribers
self.joint_state_sub = self.create_subscription(
JointState, 'joint_states', self.joint_state_callback, 10)
self.control_pub = self.create_publisher(JointTrajectory, 'joint_trajectory', 10)
# Timer for control loop (100 Hz)
self.control_timer = self.create_timer(0.01, self.control_loop)
self.get_logger().info('Joint PID Controller initialized')
def joint_state_callback(self, msg):
"""Update current joint positions"""
for i, name in enumerate(msg.name):
if name in self.current_positions:
self.current_positions[name] = msg.position[i]
def control_loop(self):
"""Main control loop"""
for joint_name in self.joint_names:
current_pos = self.current_positions[joint_name]
target_pos = self.target_positions[joint_name]
# Compute control output using PID
control_output = self.pid_controllers[joint_name].compute(target_pos, current_pos)
self.control_outputs[joint_name] = control_output
# For this example, we'll just publish the target positions
# In a real system, you would convert the control output to actual motor commands
# Publish the desired trajectory
self.publish_trajectory_command()
def publish_trajectory_command(self):
"""Publish trajectory command"""
msg = JointTrajectory()
msg.joint_names = self.joint_names
point = JointTrajectoryPoint()
point.positions = [self.target_positions[name] for name in self.joint_names]
point.velocities = [0.0] * len(self.joint_names) # Zero velocity
point.time_from_start.sec = 0
point.time_from_start.nanosec = 50000000 # 50ms
msg.points = [point]
self.control_pub.publish(msg)
def set_target_positions(self, targets):
"""Set target positions for joints"""
for joint_name, position in targets.items():
if joint_name in self.target_positions:
self.target_positions[joint_name] = position
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# my_robot_package/my_robot_package/humanoid_controller.py
import rclpy
from rclpy.node import Node
from controller_manager_msgs.srv import SwitchController
from hardware_interface_msgs.msg import HardwareInterface
import time
class HumanoidController(Node):
def __init__(self):
super().__init__('humanoid_controller')
# Controller management client
self.switch_controller_client = self.create_client(
SwitchController, '/controller_manager/switch_controller')
# Wait for controller manager service
while not self.switch_controller_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('Controller manager service not available, waiting...')
self.get_logger().info('Humanoid Controller initialized')
def switch_controllers(self, start_controllers, stop_controllers, strictness=1):
"""Switch between controllers"""
request = SwitchController.Request()
request.start_controllers = start_controllers
request.stop_controllers = stop_controllers
request.strictness = strictness
future = self.switch_controller_client.call_async(request)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
response = future.result()
if response.ok:
self.get_logger().info(f'Successfully switched controllers')
return True
else:
self.get_logger().error(f'Failed to switch controllers: {response.error_message}')
return False
else:
self.get_logger().error('Failed to call controller manager service')
return False
def initialize_robot(self):
"""Initialize the robot by starting necessary controllers"""
self.get_logger().info('Initializing humanoid robot...')
# Start joint state broadcaster
success = self.switch_controllers(
start_controllers=['joint_state_broadcaster'],
stop_controllers=[]
)
if success:
time.sleep(1.0) # Wait for controller to start
# Start position controllers for all joints
position_controllers = [
'left_leg_position_controller',
'right_leg_position_controller',
'left_arm_position_controller',
'right_arm_position_controller',
'head_position_controller'
]
success = self.switch_controllers(
start_controllers=position_controllers,
stop_controllers=[]
)
if success:
self.get_logger().info('Robot initialized successfully')
else:
self.get_logger().error('Failed to initialize robot')
return success
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import rclpy
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor
from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
import asyncio
class AsyncController(Node):
def __init__(self):
super().__init__('async_controller')
# Create callback groups for threading
self.group1 = MutuallyExclusiveCallbackGroup()
self.group2 = MutuallyExclusiveCallbackGroup()
# Create timers with different callback groups
self.timer1 = self.create_timer(0.1, self.async_task1, callback_group=self.group1)
self.timer2 = self.create_timer(0.2, self.async_task2, callback_group=self.group2)
def async_task1(self):
"""Asynchronous task 1"""
self.get_logger().info('Executing async task 1')
# Simulate some work
time.sleep(0.05)
def async_task2(self):
"""Asynchronous task 2"""
self.get_logger().info('Executing async task 2')
# Simulate some work
time.sleep(0.03)
def main(args=None):
rclpy.init(args=args)
node = AsyncController()
# Use multi-threaded executor for async operations
executor = MultiThreadedExecutor(num_threads=4)
executor.add_node(node)
try:
executor.spin()
except KeyboardInterrupt:
node.get_logger().info('Shutting down async controller...')
finally:
node.destroy_node()
rclpy.shutdown()
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