Obbart/universal_robots_ros_driver
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Improved ros_control performance and stability

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This commit is contained in:
Thomas Timm Andersen
2015-10-08 15:37:49 +02:00
parent 22e7d799c2
commit 589dca8e2a
8 changed files with 108 additions and 30 deletions
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29
src/ur_hardware_interface.cpp
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@@ -57,6 +57,8 @@ UrHardwareInterface::UrHardwareInterface(ros::NodeHandle& nh, UrDriver* robot) :
// Initialize shared memory and interfaces here
init(); // this implementation loads from rosparam
max_vel_change_ = 0.12; // equivalent of an acceleration of 15 rad/sec^2
ROS_INFO_NAMED("ur_hardware_interface", "Loaded ur_hardware_interface.");
}
@@ -79,6 +81,7 @@ void UrHardwareInterface::init() {
joint_effort_.resize(num_joints_);
joint_position_command_.resize(num_joints_);
joint_velocity_command_.resize(num_joints_);
prev_joint_velocity_command_.resize(num_joints_);
// Initialize controller
for (std::size_t i = 0; i < num_joints_; ++i) {
@@ -102,6 +105,7 @@ void UrHardwareInterface::init() {
hardware_interface::JointHandle(
joint_state_interface_.getHandle(joint_names_[i]),
&joint_velocity_command_[i]));
prev_joint_velocity_command_[i] = 0.;
}
// Create force torque interface
@@ -135,11 +139,30 @@ void UrHardwareInterface::read() {
}
void UrHardwareInterface::setMaxVelChange(double inp) {
max_vel_change_ = inp;
}
void UrHardwareInterface::write() {
if (velocity_interface_running_) {
robot_->setSpeed(joint_velocity_command_[0], joint_velocity_command_[1],
joint_velocity_command_[2], joint_velocity_command_[3],
joint_velocity_command_[4], joint_velocity_command_[5], 100);
std::vector<double> cmd;
//do some rate limiting
cmd.resize(joint_velocity_command_.size());
for (unsigned int i = 0; i < joint_velocity_command_.size(); i++) {
cmd[i] = joint_velocity_command_[i];
if (cmd[i] > prev_joint_velocity_command_[i] + max_vel_change_) {
cmd[i] = prev_joint_velocity_command_[i] + max_vel_change_;
} else if (cmd[i]
< prev_joint_velocity_command_[i] - max_vel_change_) {
cmd[i] = prev_joint_velocity_command_[i] - max_vel_change_;
}
if (cmd[i] > M_PI/2.)
cmd[i] = M_PI/2.;
else if (cmd[i] < -M_PI/2.)
cmd[i] = -M_PI/2.;
prev_joint_velocity_command_[i] = cmd[i];
}
robot_->setSpeed(cmd[0], cmd[1], cmd[2], cmd[3], cmd[4], cmd[5], max_vel_change_*125);
} else if (position_interface_running_) {
robot_->servoj(joint_position_command_);
}

8
src/ur_ros_wrapper.cpp
View File

@@ -129,6 +129,14 @@ public:
}
robot_.setServojTime(servoj_time);
double max_vel_change = 0.12; // equivalent of an acceleration of 15 rad/sec^2
if (ros::param::get("~max_acceleration", max_vel_change)) {
max_vel_change = max_vel_change/125;
}
sprintf(buf, "Max acceleration set to: %f [rad/sec²]", max_vel_change*125);
print_debug(buf);
hardware_interface_->setMaxVelChange(max_vel_change);
if (robot_.start()) {
if (use_ros_control_) {
ros_control_thread_ = new std::thread(