furuta_pendulum_control_toolbox

Files

ct_demo_simulation - simple simulation of Furuta pendulum with some hardcoded initial state, state trajectories are then plotted. Its main purpose is the initial verification of generated model ros2 run furuta_pendulum_control_toolbox ct_demo_simulation

ct_demo_simulation_node - similar to the previous one, but this time initial state is read from parameters, and results are published in a joint_state message, which can be later used to visualize the model in RViz. Used for further model verification. ros2 launch furuta_pendulum_control_toolbox ct_simulation.launch.py

ct_lqr - linearizes system and calculates LQR gains, which can be later used in the lqr_with_swing_up_controller ros2 run furuta_pendulum_control_toolbox ct_lqr ros2 launch furuta_pendulum_control_toolbox ct_lqr_controller.launch.py

ct_demo_simulation_mpc - first attempt at creating an MPC controller for the Furuta pendulum. After creating the controller, it is then verified using simulation and results are printed. ros2 run furuta_pendulum_control_toolbox ct_demo_simulation_mpc

ct_demo_simulation_mpc_node - it is a previous demo, but with publishing joint_state messages, so that everything could be visualized in RViz. ros2 launch furuta_pendulum_control_toolbox ct_simulation_with_mpc_controller.launch.py

ct_mpc_controller_node - MPC controller from previous demos, extracted into a standalone node. It subscribes to joint_state messages (as this time it isn’t combined with the simulator) and calculates controls. ros2 launch furuta_pendulum_control_toolbox ct_mpc_controller.launch.py

Setup

Based on tutorial from control_toolbox.

Generating dtdsl and kindsl

urdf2robcogen is used. Clone this to repos into your ROS1 workspace:

git clone https://github.com/leggedrobotics/urdf2robcogen.git
git clone https://github.com/ANYbotics/kindr_ros.git

Build and then run the following command to generate dtdsl and kindsl:

rosrun urdf2robcogen urdf2robcogen_script FurutaPendulum /PATH_TO_URDF/furuta_pendulum.urdf

Generating code

RobCoGen is used in this step. First install dependency:

sudo apt install maxima

Then download version 0.4ad.0 of RobCoGen from this page.

Then, before generating code, it is necessary to fix some problems. First one is described in this github issue, as in the issue I removed a “/” sign from the ./run/framework.properties (generator.maxima.libs.path = ../etc/maxima-libs, without “/” at the end).

Now install iit:

cd /PATH_TO_ROBCOGEN/robcogen-0.4ad.0/etc/cpp-iitrbd
chmod +x install.sh
sudo ./install.sh 

Install dependencies (based on install_deps.sh control_toolbox, without running install_cmake.sh, as it caused problems with ROS2 building):

sudo apt-get update
sudo apt install liblapack-dev libeigen3-dev coinor-libipopt-dev libboost-all-dev libomp-dev clang python3 python3-dev python3-numpy python3-matplotlib

Then navigate to your control_toolbox directory and:

cd ct
sudo ./install_cppadcg.sh

Finally to generate code run:

cd PATH_TO_ROBCOGEN/run
./robcogen.sh /PATH_TO_KINDSL/FurutaPendulum.kindsl /PATH_TO_DTDSL/FurutaPendulum.dtdsl

You should see the following menu:

``` 0 - CTDSL - The coordinate transforms description file .ctdsl

1 - ALLMx - [All the Maxima targets] 2 - TMx - Maxima coordinate transforms 3 - JMx - Maxima geometric Jacobians

4 - ALLC++ - [All the C++ targets] 5 - CC++ - C++ common code 6 - TC++ - C++ coordinate Transform 7 - JC++ - C++ geometric Jacobians 8 - DC++ - C++ common code for dynamics 9 - IDC++ - C++ Inverse-Dynamics implementation 10 - FDC++ - C++ Forward-Dynamics implementation 11 - JSIMC++ - C++ Joint-Space-Inertia-Matrix calculation 12 - MKC++ - CMake file for C++ code

13 - ALLMt - [All the Matlab targets] 14 - CMt - Matlab common code 15 - TMt - Matlab coordinate transforms 16 - JMt - Matlab geometric Jacobians 17 - IDMt - Matlab Forward/Inverse-Dynamics implementation

File truncated at 100 lines see the full file

Changelog for package furuta_pendulum_control_toolbox

1.0.0 (2023-07-30)

• Working simulation
• Contributors: Maciej Stępień