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Implemented ros-control

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Thomas Timm Andersen
2015-09-24 10:27:29 +02:00
parent d5ea350145
commit af601b9c32
12 changed files with 549 additions and 29 deletions
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src/ur_hardware_interface.cpp Normal file
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/*
* ur_hardware_control_loop.cpp
*
* ----------------------------------------------------------------------------
* "THE BEER-WARE LICENSE" (Revision 42):
* <thomas.timm.dk@gmail.com> wrote this file. As long as you retain this notice you
* can do whatever you want with this stuff. If we meet some day, and you think
* this stuff is worth it, you can buy me a beer in return. Thomas Timm Andersen
* ----------------------------------------------------------------------------
*/
/* Based on original source from University of Colorado, Boulder. License copied below. Feel free to offer Dave a beer as well if you meet him. */
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, University of Colorado, Boulder
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Univ of CO, Boulder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Dave Coleman
Desc: Example ros_control hardware interface that performs a perfect control loop for simulation
*/
#include <ur_modern_driver/ur_hardware_interface.h>
namespace ros_control_ur {
UrHardwareInterface::UrHardwareInterface(ros::NodeHandle& nh, UrDriver* robot) :
nh_(nh), robot_(robot) {
// Initialize shared memory and interfaces here
init(); // this implementation loads from rosparam
ROS_INFO_NAMED("ur_hardware_interface", "Loaded ur_hardware_interface.");
}
void UrHardwareInterface::init() {
ROS_INFO_STREAM_NAMED("ur_hardware_interface",
"Reading rosparams from namespace: " << nh_.getNamespace());
// Get joint names
nh_.getParam("hardware_interface/joints", joint_names_);
if (joint_names_.size() == 0) {
ROS_FATAL_STREAM_NAMED("ur_hardware_interface",
"No joints found on parameter server for controller, did you load the proper yaml file?" << " Namespace: " << nh_.getNamespace());
exit(-1);
}
num_joints_ = joint_names_.size();
// Resize vectors
joint_position_.resize(num_joints_);
joint_velocity_.resize(num_joints_);
joint_effort_.resize(num_joints_);
joint_velocity_command_.resize(num_joints_);
// Initialize controller
for (std::size_t i = 0; i < num_joints_; ++i) {
ROS_DEBUG_STREAM_NAMED("ur_hardware_interface",
"Loading joint name: " << joint_names_[i]);
// Create joint state interface
joint_state_interface_.registerHandle(
hardware_interface::JointStateHandle(joint_names_[i],
&joint_position_[i], &joint_velocity_[i],
&joint_effort_[i]));
// Create velocity joint interface
velocity_joint_interface_.registerHandle(
hardware_interface::JointHandle(
joint_state_interface_.getHandle(joint_names_[i]),
&joint_velocity_command_[i]));
}
// Create joint state interface
force_torque_interface_.registerHandle(
hardware_interface::ForceTorqueSensorHandle("wrench", "",
robot_force_, robot_torque_));
registerInterface(&joint_state_interface_); // From RobotHW base class.
registerInterface(&velocity_joint_interface_); // From RobotHW base class.
registerInterface(&force_torque_interface_); // From RobotHW base class.
}
void UrHardwareInterface::read() {
std::vector<double> pos, vel, current, tcp;
pos = robot_->rt_interface_->robot_state_->getQActual();
vel = robot_->rt_interface_->robot_state_->getQdActual();
current = robot_->rt_interface_->robot_state_->getIActual();
tcp = robot_->rt_interface_->robot_state_->getTcpForce();
for (std::size_t i = 0; i < num_joints_; ++i) {
joint_position_[i] = pos[i];
joint_velocity_[i] = vel[i];
joint_effort_[i] = current[i];
}
for (std::size_t i = 0; i < 3; ++i) {
robot_force_[i] = tcp[i];
robot_torque_[i] = tcp[i + 3];
}
}
void UrHardwareInterface::write() {
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);
}
} // namespace