https://github.com/discower/discower_transportation
A simple load transportation simulator based on the KTH Space Robotics platforms.
https://github.com/discower/discower_transportation
Last synced: about 2 months ago
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A simple load transportation simulator based on the KTH Space Robotics platforms.
- Host: GitHub
- URL: https://github.com/discower/discower_transportation
- Owner: DISCOWER
- License: apache-2.0
- Created: 2024-03-25T21:31:09.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-03-28T15:50:02.000Z (about 2 years ago)
- Last Synced: 2025-03-09T02:29:03.676Z (over 1 year ago)
- Language: Python
- Size: 11.4 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Load Transportation Simulator
We present a simulator in Gazebo to simulate Multi-agent load transportation tasks in a microgravity environment.
**Fig. 1** Robot simulator
## Requirements
- ROS 2 Foxy
- Casadi 3.6.5
- Gazebo ROS2 Control plugin
- Gazebo Plugins
**NOTE**: this package was tested on a Ubuntu 20.04 LTS with the packages above mentioned. Different versions of Casadi and ROS 2 may work, but it is not guaranteed.
## Running Simulation
1. Create a ROS 2 workspace:
```bash
cd ~
mkdir -p ~/discower_ws/src
cd ~/discower_ws/src
```
2. Clone the repository:
```bash
git clone git@github.com:DISCOWER/discower_transportation.git
```
3. Build the workspace:
```bash
cd ~/discower_ws
colcon build --symlink-install
source install/setup.bash
```
4. Start Gazebo simulation
```bash
ros2 launch discower_transportation launch_sim.launch.py
```
5. Start PWM controller
```bash
ros2 run discower_transportation start_pwm_controller.py
```
6. Run the Example controller.
This controller is a simple controller that moves the load forward.
```bash
ros2 run discower_transportation example_controller.py
```
## Running [Transport MPC](https://github.com/pSujet/transport_mpc)
To run the Transport MPC controllers, clone into the workspace the Transport MPC:
```bash
cd ~/discower_ws/src
git clone git@github.com:pSujet/transport_mpc.git
```
Then, rebuild the workspace:
```bash
cd ~/discower_ws
colcon build --symlink-install
source install/setup.bash
```
Then, run steps 4 and 5 from the previous section, followed by one of the following:
* Run centralized controller:
```bash
ros2 launch transport_mpc start_controller_cen.launch.py
```
* Run decentralized controller:
```bash
ros2 launch transport_mpc start_controller_decen.launch.py
```
## Restart Simulation
We can reset the simulator by stopping example_controller and pwm_controller. Next, pressing Ctrl + R in the Gazebo window. Then we can restart the cable position by launching the following command line:
```bash
ros2 launch discower_transportation set_initial.launch.py
```
## Simulator
There are two robots and one load as shown in Fig. 1. The load is connected to the robots by cables. Each robot has four thruster pairs and is controlled by the PWM controller. Body wrench of each robot is calculated by the following equation:
```math
\mathbf{F} = \mathbf{D} \mathbf{u} =
\begin{bmatrix}
F_x \\ F_y
\end{bmatrix} =
\begin{bmatrix}
1 & 1 & 0 & 0 \\
0 & 0 & 1 & 1
\end{bmatrix}
\begin{bmatrix}
u_1 \\ u_2 \\ u_3 \\ u_4
\end{bmatrix}
```
```math
\boldsymbol{\tau} = \mathbf{L}\mathbf{u} =
\begin{bmatrix}
\tau_z
\end{bmatrix} =
l_{arm}\begin{bmatrix}
1 & -1 & 1 & -1
\end{bmatrix}
\begin{bmatrix}
u_1 \\ u_2 \\ u_3 \\ u_4
\end{bmatrix}
```