Added controllers stopper

This node takes care about taking down and restarting controllers based on
the robot's state.

Closes #48

controller_stopper/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(controller_stopper)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  controller_manager_msgs
+  roscpp
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   controller_manager_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES controller_stopper
+CATKIN_DEPENDS controller_manager_msgs roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/controller_stopper.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node
+  src/controller_stopper.cpp
+  src/controller_stopper_node.cpp
+)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_controller_stopper.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

controller_stopper/README.md

@@ -0,0 +1,32 @@
+# controller_stopper
+
+A small helper node that stops and restarts ROS controllers based on a boolean status topic.
+
+When the status goes to `false`, all running controllers except a set of predefined
+*consistent_controllers* get stopped. If status returns to `true` the stopped controllers are
+restarted.
+
+## Nodes
+### controller_stopper_node
+
+
+
+#### Parameters
+ * **"consistent_controllers (list of strings)"**
+
+    Consistent controllers will not be stopped when the robot stops. Defaults to  ["joint_state_controller"]
+
+#### Service Clients
+ * **"controller_manager/list_controllers"** ([controller_manager_msgs::ListControllers](http://docs.ros.org/api/controller_manager_msgs/html/srv/ListControllers.html))
+
+    Controller manager service to list controllers
+
+ * **"controller_manager/switch_controller"** ([controller_manager_msgs::SwitchController](http://docs.ros.org/api/controller_manager_msgs/html/srv/SwitchController.html))
+
+    Controller manager service to switch controllers
+
+#### Subscribed topics
+ * **"robot_running"** ([std_msgs::Bool](http://docs.ros.org/api/std_msgs/html/msg/Bool.html))
+
+    Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes  on changes. However, this node only reacts on state changes, so a state published each cycle  would also be fine.
+

controller_stopper/include/controller_stopper/controller_stopper.h

@@ -0,0 +1,49 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-06-12
+ *
+ */
+//----------------------------------------------------------------------
+#ifndef CONTROLLER_STOPPER_CONTROLLER_STOPPER_H_INCLUDED
+#define CONTROLLER_STOPPER_CONTROLLER_STOPPER_H_INCLUDED
+
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+
+class ControllerStopper
+{
+public:
+  ControllerStopper() = delete;
+  ControllerStopper(const ros::NodeHandle& nh);
+  virtual ~ControllerStopper() = default;
+
+private:
+  void robotRunningCallback(const std_msgs::BoolConstPtr& msg);
+
+  /*!
+   * \brief Queries running stoppable controllers.
+   *
+   * Queries the controller manager for running controllers and compares the result with the
+   * consistent_controllers_. The remaining running controllers are stored in stopped_controllers_
+   */
+  void findStoppableControllers();
+
+  ros::NodeHandle nh_;
+  ros::NodeHandle priv_nh_;
+  ros::Subscriber robot_running_sub_;
+  ros::ServiceClient controller_manager_srv_;
+  ros::ServiceClient controller_list_srv_;
+
+  std::vector<std::string> consistent_controllers_;
+  std::vector<std::string> stopped_controllers_;
+
+  bool robot_running_;
+};
+#endif  // ifndef CONTROLLER_STOPPER_CONTROLLER_STOPPER_H_INCLUDED

controller_stopper/package.xml

@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>controller_stopper</name>
+  <version>0.0.1</version>
+  <description>A small helper node that stops and restarts ROS controllers based on a boolean status topic.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="mauch@fzi.de">Felix Mauch</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>Apache 2.0</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/controller_stopper</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>controller_manager_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>controller_manager_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>controller_manager_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+</package>

controller_stopper/src/controller_stopper.cpp

@@ -0,0 +1,110 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-06-12
+ *
+ */
+//----------------------------------------------------------------------
+
+#include <controller_stopper/controller_stopper.h>
+
+#include <controller_manager_msgs/SwitchController.h>
+#include <controller_manager_msgs/ListControllers.h>
+
+#include <ios>
+
+ControllerStopper::ControllerStopper(const ros::NodeHandle& nh) : nh_(nh), priv_nh_("~"), robot_running_(true)
+{
+  // Subscribes to a robot's running state topic. Ideally this topic is latched and only publishes
+  // on changes. However, this node only reacts on state changes, so a state published each cycle
+  // would also be fine.
+  robot_running_sub_ = nh_.subscribe("robot_running", 1, &ControllerStopper::robotRunningCallback, this);
+
+  // Controller manager service to switch controllers
+  controller_manager_srv_ = nh_.serviceClient<controller_manager_msgs::SwitchController>("controller_manager/"
+                                                                                         "switch_controller");
+  // Controller manager service to list controllers
+  controller_list_srv_ = nh_.serviceClient<controller_manager_msgs::ListControllers>("controller_manager/"
+                                                                                     "list_controllers");
+  ROS_INFO_STREAM("Waiting for controller manager service to come up on " << nh_.resolveName("controller_manager/"
+                                                                                             "switch_controller"));
+  controller_manager_srv_.waitForExistence();
+  ROS_INFO_STREAM("Service available.");
+  ROS_INFO_STREAM("Waiting for controller list service to come up on " << nh_.resolveName("controller_manager/"
+                                                                                          "list_controllers"));
+  controller_list_srv_.waitForExistence();
+  ROS_INFO_STREAM("Service available.");
+
+  // Consistent controllers will not be stopped when the robot stops. Defaults to
+  // ["joint_state_controller"]
+  if (!priv_nh_.getParam("consistent_controllers", consistent_controllers_))
+  {
+    consistent_controllers_.push_back("joint_state_controller");
+  }
+
+  ROS_DEBUG("Waiting for running controllers");
+  // Before we can work properly, we need to know which controllers there are
+  while (stopped_controllers_.empty())
+  {
+    findStoppableControllers();
+    ros::Duration(1).sleep();
+  }
+  ROS_DEBUG("Initialization finished");
+}
+
+void ControllerStopper::findStoppableControllers()
+{
+  controller_manager_msgs::ListControllers list_srv;
+  controller_list_srv_.call(list_srv);
+  stopped_controllers_.clear();
+  for (auto& controller : list_srv.response.controller)
+  {
+    // Check if in consistent_controllers
+    // Else:
+    //   Add to stopped_controllers
+    if (controller.state == "running")
+    {
+      auto it = std::find(consistent_controllers_.begin(), consistent_controllers_.end(), controller.name);
+      if (it == consistent_controllers_.end())
+      {
+        stopped_controllers_.push_back(controller.name);
+      }
+    }
+  }
+}
+
+void ControllerStopper::robotRunningCallback(const std_msgs::BoolConstPtr& msg)
+{
+  ROS_DEBUG_STREAM("robotRunningCallback with data " << std::boolalpha << msg->data);
+  if (msg->data && !robot_running_)
+  {
+    ROS_DEBUG_STREAM("Starting controllers");
+    controller_manager_msgs::SwitchController srv;
+    srv.request.strictness = srv.request.STRICT;
+    srv.request.start_controllers = stopped_controllers_;
+    if (!controller_manager_srv_.call(srv))
+    {
+      ROS_ERROR_STREAM("Could not activate requested controllers");
+    }
+  }
+  else if (!msg->data && robot_running_)
+  {
+    ROS_DEBUG_STREAM("Stopping controllers");
+    //   stop all controllers except the once in consistent_controllers_
+    findStoppableControllers();
+    controller_manager_msgs::SwitchController srv;
+    srv.request.strictness = srv.request.STRICT;
+    srv.request.stop_controllers = stopped_controllers_;
+    if (!controller_manager_srv_.call(srv))
+    {
+      ROS_ERROR_STREAM("Could not stop requested controllers");
+    }
+  }
+  robot_running_ = msg->data;
+}

controller_stopper/src/controller_stopper_node.cpp

@@ -0,0 +1,30 @@
+// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
+
+// -- BEGIN LICENSE BLOCK ----------------------------------------------
+// -- END LICENSE BLOCK ------------------------------------------------
+
+//----------------------------------------------------------------------
+/*!\file
+ *
+ * \author  Felix Mauch mauch@fzi.de
+ * \date    2019-06-12
+ *
+ */
+//----------------------------------------------------------------------
+
+#include <ros/ros.h>
+
+#include <controller_stopper/controller_stopper.h>
+
+int main(int argc, char** argv)
+{
+  // Set up ROS.
+  ros::init(argc, argv, "controller_stopper_node");
+  ros::NodeHandle nh;
+  ros::NodeHandle priv_nh("");
+
+  ControllerStopper stopper(nh);
+
+  ros::spin();
+  return 0;
+}

ur_rtde_driver/launch/ur10_ros_control.launch

@@ -58,4 +58,13 @@
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
+  <node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
+    <remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
+    <rosparam param="consistent_controllers">
+       - "joint_state_controller"
+       - "speed_scaling_state_controller"
+       - "force_torque_sensor_controller"
+    </rosparam>
+  </node>
+
 </launch>