bringup

Top-level launch orchestration for the fishing arm: sim/real switch, ros2_control, and delegation to application packages.

• Build type: ament_cmake

• Version: 0.0.0

• License: MIT

• Maintainer(s): nzge

• Source: src/bringup/

Launch files

robot.launch.py

ros2 launch bringup robot.launch.py

Launch argument	Default	Description
use_sim	true	Launch MuJoCo simulation (true) or the physical Dynamixel arm (false)
headless	false	Run MuJoCo without the GUI viewer window (sim only)
run_duration	0	Auto-shutdown the launch after N seconds (0 = until Ctrl-C)
record	false	Capture diagnostics plots + animation of the run (sim only)
hardware_check	false	Run the motor/sensor bring-up self-test, then shut down
controller_type	admittance	Tension controller: admittance (Julie), force_feedback (Chaoyi), or none

_{Source: bringup/launch/robot.launch.py}

Parameters & configuration

controllers.yaml

Node controller_manager

Parameter	Default	Type
update_rate	100	int
joint_state_broadcaster.type	'joint_state_broadcaster/JointStateBroadcaster'	str
position_trajectory_controller.type	'joint_trajectory_controller/JointTrajectoryController'	str
fish_effort_controller.type	'forward_command_controller/ForwardCommandController'	str
tension_sensor_broadcaster.type	'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'	str

Node position_trajectory_controller

Parameter	Default	Type
joints	['Joint_1', 'Joint_2']	list
command_interfaces	['position']	list
state_interfaces	['position', 'velocity']	list
state_publish_rate	50.0	float
action_monitor_rate	20.0	float
allow_partial_joints_goal	False	bool

Node fish_effort_controller

Parameter	Default	Type
joints	['fish_swim']	list
interface_name	'effort'	str

Node tension_sensor_broadcaster

Parameter	Default	Type
sensor_name	'tension_sensor'	str
frame_id	'rod_tip_link'	str

Full file

controller_manager:
  ros__parameters:
    update_rate: 100 # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    position_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    # --- Simulation-only controllers (spawned only when use_sim:=true) ---
    fish_effort_controller:
      type: forward_command_controller/ForwardCommandController

    tension_sensor_broadcaster:
      type: force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster

position_trajectory_controller:
  ros__parameters:
    joints:
      - Joint_1
      - Joint_2
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 50.0
    action_monitor_rate: 20.0
    allow_partial_joints_goal: false

# The fish pulls the line via an effort command on its MuJoCo slide joint.
# fish_agent publishes std_msgs/Float64MultiArray on /fish_effort_controller/commands.
fish_effort_controller:
  ros__parameters:
    joints:
      - fish_swim
    interface_name: effort

# Publishes the rod-tip load cell as geometry_msgs/WrenchStamped on
# /tension_sensor_broadcaster/wrench. load_cell converts it to FishingTension.
tension_sensor_broadcaster:
  ros__parameters:
    sensor_name: tension_sensor
    frame_id: rod_tip_link

_{Source: bringup/config/controllers.yaml}

controllers_hw.yaml

Node controller_manager

Parameter	Default	Type
update_rate	100	int
joint_state_broadcaster.type	'joint_state_broadcaster/JointStateBroadcaster'	str
position_trajectory_controller.type	'joint_trajectory_controller/JointTrajectoryController'	str

Node position_trajectory_controller

Parameter	Default	Type
joints	['Joint_2']	list
command_interfaces	['position']	list
state_interfaces	['position', 'velocity']	list
state_publish_rate	50.0	float
action_monitor_rate	20.0	float
allow_partial_joints_goal	True	bool

Full file

controller_manager:
  ros__parameters:
    update_rate: 100 # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    position_trajectory_controller:
      type: joint_trajectory_controller/JointTrajectoryController

position_trajectory_controller:
  ros__parameters:
    joints:
      - Joint_2
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
    state_publish_rate: 50.0
    action_monitor_rate: 20.0
    # Control still publishes Joint_1 hold commands; ignore the unconnected base.
    allow_partial_joints_goal: true

_{Source: bringup/config/controllers_hw.yaml}

params.yaml

Node admittance_controller

Parameter	Default	Type
target_tension	3.5	float
safety_tension_limit	20.0	float
control_dof	1	int
pitch_joint	'Joint_2'	str
base_joint	'Joint_1'	str
joint_1_hold	1.57	float
q_init	1.745	float
q_hook	1.4	float
q_neutral	1.605	float
q_min	0.1	float
q_max	2.2	float
bite_time	2.4	float
hook_duration	1.2	float
fsm_enabled	True	bool
tension_filter_alpha	0.055	float
control_rate_hz	50.0	float
m_v	0.6	float
b_v	5.5	float
k_v	20.0	float
k_f	8.0	float
kp_track	140.0	float
kd_track	20.0	float
ki_track	0.0	float
k_g	9.95	float
rod_length	0.185	float
j_alpha	0.05	float
pos_int_limit	0.15	float
max_torque	20.0	float

Node force_feedback_controller

Parameter	Default	Type
target_tension	3.5	float
safety_tension_limit	20.0	float
control_dof	1	int
pitch_joint	'Joint_2'	str
base_joint	'Joint_1'	str
joint_1_hold	1.57	float
q_init	1.745	float
q_hook	1.4	float
q_neutral	1.605	float
q_min	0.1	float
q_max	2.2	float
bite_time	2.4	float
hook_duration	1.2	float
fsm_enabled	True	bool
tension_filter_alpha	0.055	float
control_rate_hz	50.0	float
tension_to_angle_gain	0.261799	float
qeq_alpha	0.04	float
max_qeq_step	0.00384	float
raise_gain	1.25	float
lower_gain	0.8	float

Full file

# Shared fishing tension controllers (Julie admittance + Chaoyi force feedback).
# Select at launch: controller_type:=admittance | force_feedback | none

admittance_controller:
  ros__parameters:
    target_tension: 3.5
    safety_tension_limit: 20.0

    # 1DOF mode (notebook-equivalent): control pitch_joint only; lock base_joint.
    control_dof: 1
    pitch_joint: Joint_2
    base_joint: Joint_1
    joint_1_hold: 1.57   # base_joint lock angle (rad)

    # Pitch setpoints (rad). Smaller = rod raised = higher tension.
    q_init: 1.745
    q_hook: 1.40
    q_neutral: 1.605
    q_min: 0.10
    q_max: 2.20

    bite_time: 2.4
    hook_duration: 1.2
    fsm_enabled: true
    tension_filter_alpha: 0.055
    control_rate_hz: 50.0

    # Julie admittance (virtual mass-spring-damper)
    m_v: 0.6
    b_v: 5.5
    k_v: 20.0
    k_f: 8.0
    kp_track: 140.0
    kd_track: 20.0
    ki_track: 0.0
    k_g: 9.95
    rod_length: 0.185
    j_alpha: 0.05
    pos_int_limit: 0.15
    max_torque: 20.0

force_feedback_controller:
  ros__parameters:
    target_tension: 3.5
    safety_tension_limit: 20.0

    control_dof: 1
    pitch_joint: Joint_2
    base_joint: Joint_1
    joint_1_hold: 1.57

    q_init: 1.745
    q_hook: 1.40
    q_neutral: 1.605
    q_min: 0.10
    q_max: 2.20

    bite_time: 2.4
    hook_duration: 1.2
    fsm_enabled: true
    tension_filter_alpha: 0.055
    control_rate_hz: 50.0

    # Chaoyi asymmetric proportional feedback (tuned for 3.5 N target in MuJoCo)
    tension_to_angle_gain: 0.261799   # rad/N (~15 deg/N)
    qeq_alpha: 0.04
    max_qeq_step: 0.00384             # rad (~0.22 deg)
    raise_gain: 1.25
    lower_gain: 0.80

_{Source: bringup/config/params.yaml}

params_hw.yaml

Node admittance_controller

Parameter	Default	Type
fsm_enabled	False	bool
bite_time	0.0	float
hook_duration	0.0	float

Node force_feedback_controller

Parameter	Default	Type
fsm_enabled	False	bool
bite_time	0.0	float
hook_duration	0.0	float

Full file

# Hardware bring-up overrides (layered on params.yaml when use_sim:=false).
# Skips the sim-style bite/hook timeline so tension regulation starts immediately.

admittance_controller:
  ros__parameters:
    fsm_enabled: false
    bite_time: 0.0
    hook_duration: 0.0

force_feedback_controller:
  ros__parameters:
    fsm_enabled: false
    bite_time: 0.0
    hook_duration: 0.0

_{Source: bringup/config/params_hw.yaml}

Dependencies

• Build tool: ament_cmake

• Runtime: control controller_manager description diagnostics force_torque_sensor_broadcaster forward_command_controller joint_state_broadcaster joint_trajectory_controller planning robot_state_publisher sensors xacro

• Test: ament_lint_auto ament_lint_common