Obbart/universal_robots_ros_driver
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Ramp up after pause

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Ramp up speed scaling on ROS side after the robot has been paused.
Otherwise the robot will overshoot in trying to fill the gap between its
current position and the running target.
This commit is contained in:
Felix Mauch
2019-06-04 10:12:57 +02:00
committed by Tristan Schnell
parent 118f938543
commit 38f1661617
2 changed files with 50 additions and 3 deletions
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10
ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
View File

@@ -40,6 +40,13 @@
namespace ur_driver
{
enum class PausingState
{
PAUSED,
RUNNING,
RAMPUP
};
class HardwareInterface : public hardware_interface::RobotHW
{
public:
@@ -76,6 +83,9 @@ protected:
uint32_t runtime_state_;
bool position_controller_running_;
PausingState pausing_state_;
double pausing_ramp_up_increment_;
};
} // namespace ur_driver

43
ur_rtde_driver/src/ros/hardware_interface.cpp
View File

@@ -37,7 +37,8 @@ HardwareInterface::HardwareInterface()
, joint_names_(6)
, runtime_state_(static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::STOPPED))
, position_controller_running_(false)
, pausing_state_(PausingState::RUNNING)
, pausing_ramp_up_increment_(0.01)
{
}
@@ -131,7 +132,41 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
throw std::runtime_error("Did not find speed_scaling in data sent from robot. This should not happen!");
}
speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
// pausing state follows runtime state when pausing
if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSED))
{
pausing_state_ = PausingState::PAUSED;
}
// When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
else if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) &&
pausing_state_ == PausingState::PAUSED)
{
speed_scaling_combined_ = 0.0;
pausing_state_ = PausingState::RAMPUP;
}
if (pausing_state_ == PausingState::RAMPUP)
{
ROS_INFO_STREAM("Ramping up speed scaling");
double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_)
{
pausing_state_ = PausingState::RUNNING;
}
}
else if (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::RESUMING))
{
// We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
// continuing to interpolate
speed_scaling_combined_ = 0.0;
}
else
{
// Normal case
speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
}
}
else
{
@@ -141,7 +176,9 @@ void HardwareInterface ::read(const ros::Time& time, const ros::Duration& period
void HardwareInterface ::write(const ros::Time& time, const ros::Duration& period)
{
if (position_controller_running_ && (runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) || runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
if (position_controller_running_ &&
(runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PLAYING) ||
runtime_state_ == static_cast<uint32_t>(rtde_interface::RUNTIME_STATE::PAUSING)))
{
// ROS_INFO_STREAM("Writing command: " << joint_position_command_);
ur_driver_->writeJointCommand(joint_position_command_);