README.md

sdpf_ros2

Ros2 nodes based on the vic_controllers python package.

Dependencies

• Ubuntu 24.04;
• a working ROS2 Jazzy distribution;
• the acados_template vendor package acados_vendor_ros2 (N.B., also shipped in acados_controllers_ros2 below);
• the python package vic_controllers (shipped as a ros2 pkg by vic_python_controllers_ros2);
• to launch the ros2 control-based scenario using Force Dimension devices, the forcedimension_ros2 stack is required.
• (optional) to build the C++ examples using Acados NMPC solvers, the Acados ros2 stack acados_solver_ros2 is required;

Installation

1. Prepare the ros2 workspace

# Go to/create ros2 workspace dir <ws>
mkdir -p ~/dev/ros2_workspaces/ws_sdpf_ros2/src
cd ~/dev/ros2_workspaces/ws_sdpf_ros2/src

# Clone this repos
git clone https://github.com/tpoignonec/sdpf_ros2.git

# Clone dependencies
vcs import . < sdpf_ros2/sdpf_ros2.repos

cd ..

# Source ros2 distro
source /opt/ros/jazzy/setup.bash

sudo apt install python3-pip -y
# Install dependencies
export PIP_BREAK_SYSTEM_PACKAGES=1  # for casadi pip install
# !WARNING! Do not abuse PIP installs in this mode (unsafe...)!!!

rosdep install --ignore-src --from-paths . -y -r

pip install future-fstrings  # Python retro-compatibility for acados

# revert to "safe" pip policy
export PIP_BREAK_SYSTEM_PACKAGES=0

# Manually install packages that don't have a rosdistro key
sudo apt install python3-scienceplots -y

# Build
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# Source ros2 pkgs
source install/setup.bash

How to run the simulations?

cd ~/dev/ros2_workspaces/ws_sdpf_ros2
source install/setup.bash

# Option 1: run one by one in interactive mode
code .  # launch vs code here
# - install Python3 and Jupyter extensions
# - open the file in vs code (see src/sdpf_ros2/sdpf_notebooks/**)
# - select Python env (ros2 python3 bin or local .venv if relevant)
# - run cell-by-cell

# Option 2: run all simulations + export figures

cd src/sdpf_ros2/sdpf_notebooks

python3 01-A_simulation_1D_SIPF_vs_SDPF.py
python3 01-B_simulation_1D_variable_inertia.py
python3 02_illustration_z_min_adaptative.py
python3 03_simulation_1D_SIPF+_vs_SDPF_vs_SDPF-integrals.py
python3 04_simulation_1D_passivity_tank.py
python3 05_effect_of_z_max_and_tau_z_min.py
python3 06_effect_of_alpha_and_epsilon.py

How to launch the experiment?

1) Launch the VIC controller

cd ~/dev/ros2_workspaces/ws_sdpf_ros2
source install/setup.bash

ros2 launch sdpf_bringup launch_impedance_control.launch.py

# If using WSL2, bind the USB port first
sudo usbip attach -r <host_ip> -b <bus_id>

Note: see this Gist for details about the binding procedure.

2) Test the passive VIC node

cd ~/dev/ros2_workspaces/ws_sdpf_ros2
source install/setup.bash

ros2 launch sdpf_bringup run_exp.launch.py pf_method:=SIPF # SIPF / SIPF+ / SDPF / etc.

3) Launch experiment and record data

cd ~/dev/ros2_workspaces/ws_sdpf_ros2
source install/setup.bash

export EXP_SERIES_NAME=<name_of_this_series_of_experiment>
# e.g., export EXP_SERIES_NAME=exp_october_12_2024

ros2 launch sdpf_bringup run_exp.launch.py \
    record_bags:=true \
    bag_path:=rosbags/$EXP_SERIES_NAME/ \
    pf_method:=SIPF

# CTRL + C at the end of the simulation (+- 15 seconds)

ros2 launch sdpf_bringup run_exp.launch.py \
    record_bags:=true \
    bag_path:=rosbags/$EXP_SERIES_NAME/ \
    pf_method:=SIPF+

# CTRL + C at the end of the simulation (+- 15 seconds)

# 3 more times with the other controllers: "SDPF", "SDPF-integral", and "SDPF-adaptive"

# You should have the following files:
# ws_sdpf_ros2/rosbags/<name_of_this_series_of_experiment>/SIPF/***
# ws_sdpf_ros2/rosbags/<name_of_this_series_of_experiment>/SIPF+/***
# ws_sdpf_ros2/rosbags/<name_of_this_series_of_experiment>/SDPF/***
# ws_sdpf_ros2/rosbags/<name_of_this_series_of_experiment>/SDPF-integral/***
# ws_sdpf_ros2/rosbags/<name_of_this_series_of_experiment>/SDPF-adaptive/***

4) Generate the figures

cd ~/dev/ros2_workspaces/ws_sdpf_ros2
source install/setup.bash

# Go to SDPF notebooks package
cd src/sdpf_ros2/sdpf_notebooks

# Export figures
python3 plot_exp_data.py --display-figs true --dataset <name_of_this_series_of_experiment>

# Wait a bit, might take a few minutes...
# Then, you should have the figure files at
#   ~/dev/ros2_workspaces/ws_sdpf_ros2/src/sdpf_ros2/sdpf_notebooks/export_figures/exp_results-<name_of_this_series_of_experiment>/***