add support for speedj

2026-04-10 10:00:48 +02:00 · 2019-07-05 13:51:02 +02:00
parent c714759413
commit 2d442f1f58
7 changed files with 185 additions and 10 deletions
--- a/ur_rtde_driver/config/ur10_controllers.yaml
+++ b/ur_rtde_driver/config/ur10_controllers.yaml
@@ -72,3 +72,58 @@ pos_traj_controller:
   stop_trajectory_duration: 0.5
   state_publish_rate: 500
   action_monitor_rate: 10
+
+vel_based_pos_traj_controller:
+   type: velocity_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate:  125
+   action_monitor_rate: 10
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint:  {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      elbow_joint:         {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_1_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_2_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+      wrist_3_joint:       {p: 5.0,  i: 0.05, d: 0.1, i_clamp: 1}
+
+   # Use a feedforward term to reduce the size of PID gains
+   velocity_ff:
+      shoulder_pan_joint: 1.0
+      shoulder_lift_joint: 1.0
+      elbow_joint: 1.0
+      wrist_1_joint: 1.0
+      wrist_2_joint: 1.0
+      wrist_3_joint: 1.0
+
+   # state_publish_rate:  50 # Defaults to 50
+   # action_monitor_rate: 20 # Defaults to 20
+   #stop_trajectory_duration: 0 # Defaults to 0.0
+
+# Pass an array of joint velocities directly to the joints
+joint_group_vel_controller:
+   type: velocity_controllers/JointGroupVelocityController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -102,11 +102,11 @@ protected:
  ur_controllers::ScaledPositionJointInterface spj_interface_;
  hardware_interface::PositionJointInterface pj_interface_;
  ur_controllers::SpeedScalingInterface speedsc_interface_;
-  // hardware_interface::VelocityJointInterface vj_interface_;
+  hardware_interface::VelocityJointInterface vj_interface_;
  hardware_interface::ForceTorqueSensorInterface fts_interface_;

  vector6d_t joint_position_command_;
-  // std::vector<double> joint_velocity_command_;
+  vector6d_t joint_velocity_command_;
  vector6d_t joint_positions_;
  vector6d_t joint_velocities_;
  vector6d_t joint_efforts_;
@@ -124,6 +124,7 @@ protected:

  uint32_t runtime_state_;
  bool position_controller_running_;
+  bool velocity_controller_running_;

  PausingState pausing_state_;
  double pausing_ramp_up_increment_;
--- a/ur_rtde_driver/launch/ur10_speed_bringup.launch
+++ b/ur_rtde_driver/launch/ur10_speed_bringup.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- GDB functionality -->
+  <arg name="debug" default="false" />
+
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
+  <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="tf_prefix" default="" />
+  <arg name="controllers" default="joint_state_controller joint_group_vel_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="vel_based_pos_traj_controller"/>
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="false"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="stopped_controllers" value="$(arg stopped_controllers)"/>
+  </include>
+
+</launch>
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -11,9 +11,9 @@
  <arg name="robot_ip"/>
  <arg name="kinematics_config"/>
  <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default="pos_traj_controller"/>
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="controllers" default="joint_state_controller vel_based_pos_traj_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="joint_group_vel_controller"/>
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/speedj.urscript"/>
  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
  <arg name="tool_voltage" default="0"/>
  <arg name="tool_parity" default="0"/>
--- a/ur_rtde_driver/resources/speedj.urscript
+++ b/ur_rtde_driver/resources/speedj.urscript
@@ -0,0 +1,62 @@
+{{BEGIN_REPLACE}}
+
+global steptime = get_steptime()
+global speedj_time = steptime - 0.1*steptime
+textmsg("steptime=", steptime)
+MULT_jointstate = {{JOINT_STATE_REPLACE}}
+
+global cmd_servo_qd = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+cmd_speedj_active = True
+keepalive = -2
+
+def set_speed(qd):
+  enter_critical
+  cmd_servo_qd = qd
+  cmd_speedj_active = True
+  exit_critical
+end
+
+thread speedThread():
+  while True:
+    enter_critical
+    qd = cmd_servo_qd
+    exit_critical
+    #textmsg("loop")
+    if cmd_speedj_active:
+      # Having this shortly under steptime seems to help
+      speedj(qd, 40.0, speedj_time)
+    else:
+      stopj(5.0)
+    end
+    sync()
+  end
+  stopj(5.0)
+end
+
+socket_open("{{SERVER_IP_REPLACE}}", {{SERVER_PORT_REPLACE}}, "reverse_socket")
+
+thread_speed = run speedThread()
+
+params_mult = socket_read_binary_integer(1+6, "reverse_socket")
+keepalive = params_mult[1]
+while keepalive > 0:
+  params_mult = socket_read_binary_integer(1+6, "reverse_socket", 0.02)
+  if params_mult[0] > 0:
+    keepalive = params_mult[1]
+    if keepalive > 1:
+      qd = [params_mult[2] / MULT_jointstate, params_mult[3] / MULT_jointstate, params_mult[4] / MULT_jointstate, params_mult[5] / MULT_jointstate, params_mult[6] / MULT_jointstate, params_mult[7] / MULT_jointstate]
+      set_speed(qd)
+      #speedj(qd, 40.0, 0.007)
+    else:
+      cmd_speedj_active = False
+      keepalive = 1
+    end
+  else:
+    textmsg("Missing package from remote pc")
+    keepalive = keepalive - 1
+  end
+end
+sleep(.1)
+socket_close()
+kill thread_speed
+
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -39,12 +39,14 @@ namespace ur_driver
 {
 HardwareInterface::HardwareInterface()
  : joint_position_command_({ 0, 0, 0, 0, 0, 0 })
+  , joint_velocity_command_({ 0, 0, 0, 0, 0, 0 })
  , joint_positions_{ { 0, 0, 0, 0, 0, 0 } }
  , joint_velocities_{ { 0, 0, 0, 0, 0, 0 } }
  , joint_efforts_{ { 0, 0, 0, 0, 0, 0 } }
  , joint_names_(6)
  , runtime_state_(static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::STOPPED))
  , position_controller_running_(false)
+  , velocity_controller_running_(false)
  , pausing_state_(PausingState::RUNNING)
  , pausing_ramp_up_increment_(0.01)
  , controllers_initialized_(false)
@@ -174,6 +176,8 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
    // Create joint position control interface
    pj_interface_.registerHandle(
        hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i]));
+    vj_interface_.registerHandle(
+        hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_velocity_command_[i]));
    spj_interface_.registerHandle(ur_controllers::ScaledJointHandle(
        js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_));
  }
@@ -188,6 +192,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
  registerInterface(&js_interface_);
  registerInterface(&spj_interface_);
  registerInterface(&pj_interface_);
+  registerInterface(&vj_interface_);
  registerInterface(&speedsc_interface_);
  registerInterface(&fts_interface_);

@@ -294,6 +299,10 @@ void HardwareInterface ::write(const ros::Time& time, const ros::Duration& perio
    {
      ur_driver_->writeJointCommand(joint_position_command_);
    }
+    else if (velocity_controller_running_)
+    {
+      ur_driver_->writeJointCommand(joint_velocity_command_);
+    }
    else
    {
      ur_driver_->writeKeepalive();
@@ -327,6 +336,7 @@ void HardwareInterface ::doSwitch(const std::list<hardware_interface::Controller
                                  const std::list<hardware_interface::ControllerInfo>& stop_list)
 {
  position_controller_running_ = false;
+  velocity_controller_running_ = false;
  for (auto& controller_it : start_list)
  {
    for (auto& resource_it : controller_it.claimed_resources)
@@ -339,6 +349,10 @@ void HardwareInterface ::doSwitch(const std::list<hardware_interface::Controller
      {
        position_controller_running_ = true;
      }
+      if (resource_it.hardware_interface == "hardware_interface::VelocityJointInterface")
+      {
+        velocity_controller_running_ = true;
+      }
    }
  }
 }
--- a/ur_rtde_driver/src/ur/ur_driver.cpp
+++ b/ur_rtde_driver/src/ur/ur_driver.cpp
@@ -75,13 +75,27 @@ ur_driver::UrDriver::UrDriver(const std::string& robot_ip, const std::string& sc
  uint32_t script_sender_port = 50002;  // TODO: Make this a parameter

  std::string prog = readScriptFile(script_file);
-  prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE));
+  while (prog.find(JOINT_STATE_REPLACE) != std::string::npos)
+  {
+    prog.replace(prog.find(JOINT_STATE_REPLACE), JOINT_STATE_REPLACE.length(), std::to_string(MULT_JOINTSTATE));
+  }
+
  std::ostringstream out;
  out << "lookahead_time=" << servoj_lookahead_time_ << ", gain=" << servoj_gain_;
-  prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
-  prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
-  prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
-  prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));
+  while (prog.find(SERVO_J_REPLACE) != std::string::npos)
+  {
+    prog.replace(prog.find(SERVO_J_REPLACE), SERVO_J_REPLACE.length(), out.str());
+  }
+
+  while (prog.find(SERVER_IP_REPLACE) != std::string::npos)
+  {
+    prog.replace(prog.find(SERVER_IP_REPLACE), SERVER_IP_REPLACE.length(), local_ip);
+  }
+
+  while (prog.find(SERVER_PORT_REPLACE) != std::string::npos)
+  {
+    prog.replace(prog.find(SERVER_PORT_REPLACE), SERVER_PORT_REPLACE.length(), std::to_string(reverse_port));
+  }

  auto urcontrol_version = rtde_client_->getVersion();