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patient_cart_description

This package contains the description and launch files for the patient cart robot, including both classic and SI (Single Incision) variants.

Launch Files

1. patient_cart_classic_bringup.launch.py

This launch file initializes the classic patient cart robot simulation with ROS 2 controllers.

Purpose

  • Launches the robot description and state publisher for the classic patient cart.
  • Starts the ROS 2 control node with the specified controllers.
  • Spawns the joint state broadcaster and position controllers.
  • Runs a custom joint controller node for the patient cart.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.
      • publish_robot_description: True
      • use_sim_time: True

  2. Controller Manager (ros2_control_node)

  3. Joint State Broadcaster (joint_state_broadcaster)

    • Publishes the state of all joints in the robot.
    • Loaded via the spawner executable.
    • Parameters:
      • use_sim_time: True

  4. Forward Position Controller (forward_position_controller)

    • Controls the positions of the robot's joints.
    • Loaded via the spawner executable.

  5. Custom Joint Controller (patient_cart_joint_controller)

    • A custom node specific to controlling the patient cart joints.
    • Parameters:
      • use_sim_time: True

  6. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Launches after the joint state broadcaster has started.
    • Uses a pre-configured RViz configuration file patient_cart_description.rviz.

Configuration Files

  • Robot Description (patient_cart.classic.urdf.xacro)

  • Controller Configuration (patient_cart.classic.controllers.yaml)

Usage

To launch the classic patient cart robot with controllers:

ros2 launch patient_cart_description patient_cart_classic_bringup.launch.py

File Contents

2. patient_cart_si_bringup.launch.py

This launch file initializes the Single Incision (SI) patient cart robot simulation with ROS 2 controllers.

Purpose

  • Launches the robot description and state publisher for the SI patient cart.
  • Starts the ROS 2 control node with the specified controllers.
  • Spawns the joint state broadcaster and position controllers.
  • Runs a custom joint controller node for the patient cart.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.
      • publish_robot_description: True
      • use_sim_time: True

  2. Controller Manager (ros2_control_node)

    • Manages the controllers for the robot using the ROS 2 control framework.
    • Parameters:

  3. Joint State Broadcaster (joint_state_broadcaster)

    • Publishes the state of all joints in the robot.
    • Loaded via the spawner executable.
    • Parameters:
      • use_sim_time: True

  4. Forward Position Controller (forward_position_controller)

    • Controls the positions of the robot's joints.
    • Loaded via the spawner executable.

  5. Custom Joint Controller (patient_cart_joint_controller)

    • A custom node specific to controlling the patient cart joints.
    • Parameters:
      • use_sim_time: True

  6. RViz 2 (rviz2)

    • Visualizes the robot in a 3D environment.
    • Launches after the joint state broadcaster has started.
    • Uses a pre-configured RViz configuration file patient_cart_description.rviz.

Configuration Files

  • Robot Description (patient_cart.si.urdf.xacro)

  • Controller Configuration (patient_cart.si.controllers.yaml)

Usage

To launch the SI patient cart robot with controllers:

ros2 launch patient_cart_description patient_cart_si_bringup.launch.py

File Contents

3. view_robot.launch.py

This launch file allows you to visualize the patient cart robot and manually manipulate its joints using a GUI.

Purpose

  • Launches the robot description and state publisher.
  • Starts the Joint State Publisher GUI for manual joint control.
  • Launches RViz 2 with a pre-configured view.

Nodes Launched

  1. Robot State Publisher (robot_state_publisher)

    • Publishes the robot's state based on the URDF description.
    • Parameters:
      • robot_description: The robot's URDF model.

  2. Joint State Publisher GUI (joint_state_publisher_gui)

    • Provides a graphical interface to manipulate the robot's joint states.
    • Allows you to adjust joint angles and see the effect in real-time.

  3. RViz 2 (rviz2)

Configuration Files

  • Robot Description (URDF Xacro file)

    • The URDF Xacro file is specified as a launch argument.
    • Can be either patient_cart.classic.urdf.xacro or patient_cart.si.urdf.xacro.

  • RViz Configuration (patient_cart_description.rviz)

Usage

To visualize the patient cart robot and manipulate joints via GUI:

ros2 launch patient_cart_description view_robot.launch.py urdf:=patient_cart.classic.urdf.xacro

or

ros2 launch patient_cart_description view_robot.launch.py urdf:=patient_cart.si.urdf.xacro

File Contents

Additional Notes

  • The package includes two variants of the patient cart: classic and Single Incision (SI).
  • Both variants use the same custom joint controller (patient_cart_joint_controller).
  • The view_robot.launch.py file allows for easy visualization and joint manipulation of both variants.
  • Make sure to use the appropriate URDF and controller configuration files for each variant when launching or modifying the robot.