Obbart/universal_robots_ros_driver
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ef7acd55b6f71839431bbf9ef22e7d79fcc30fc1
universal_robots_ros_driver/src/ur_ros_wrapper.cpp
Thomas Timm Andersen 639597eacd Re-included io_states publisher
2015-09-24 14:11:07 +02:00

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/*
* ur_driver.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
* ----------------------------------------------------------------------------
*/
#include "ur_modern_driver/ur_driver.h"
#include "ur_modern_driver/ur_hardware_interface.h"
#include <string.h>
#include <vector>
#include <mutex>
#include <condition_variable>
#include <thread>
#include <algorithm>
#include <cmath>
#include <time.h>
#include "ros/ros.h"
#include <ros/console.h>
#include "sensor_msgs/JointState.h"
#include "geometry_msgs/WrenchStamped.h"
#include "control_msgs/FollowJointTrajectoryAction.h"
#include "actionlib/server/simple_action_server.h"
#include "trajectory_msgs/JointTrajectoryPoint.h"
#include "ur_msgs/SetIO.h"
#include "ur_msgs/SetPayload.h"
#include "ur_msgs/SetPayloadRequest.h"
#include "ur_msgs/SetPayloadResponse.h"
#include "ur_msgs/SetIORequest.h"
#include "ur_msgs/SetIOResponse.h"
#include "ur_msgs/IOStates.h"
#include "ur_msgs/Digital.h"
#include "ur_msgs/Analog.h"
#include "std_msgs/String.h"
#include <controller_manager/controller_manager.h>
class RosWrapper {
protected:
UrDriver robot_;
std::condition_variable rt_msg_cond_;
std::condition_variable msg_cond_;
ros::NodeHandle nh_;
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> as_;
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction>::Goal goal_;
control_msgs::FollowJointTrajectoryFeedback feedback_;
control_msgs::FollowJointTrajectoryResult result_;
ros::Subscriber speed_sub_;
ros::Subscriber urscript_sub_;
ros::ServiceServer io_srv_;
ros::ServiceServer payload_srv_;
std::thread* rt_publish_thread_;
std::thread* mb_publish_thread_;
std::thread* ros_control_thread_;
double io_flag_delay_;
double max_velocity_;
std::vector<double> joint_offsets_;
boost::shared_ptr<ros_control_ur::UrHardwareInterface> hardware_interface_;
boost::shared_ptr<controller_manager::ControllerManager> controller_manager_;
public:
RosWrapper(std::string host) :
as_(nh_, "follow_joint_trajectory", false), robot_(rt_msg_cond_,
msg_cond_, host), io_flag_delay_(0.05), joint_offsets_(6,
0.0) {
std::string joint_prefix = "";
std::vector<std::string> joint_names;
if (ros::param::get("~prefix", joint_prefix)) {
ROS_INFO("Setting prefix to %s", joint_prefix.c_str());
}
joint_names.push_back(joint_prefix + "shoulder_pan_joint");
joint_names.push_back(joint_prefix + "shoulder_lift_joint");
joint_names.push_back(joint_prefix + "elbow_joint");
joint_names.push_back(joint_prefix + "wrist_1_joint");
joint_names.push_back(joint_prefix + "wrist_2_joint");
joint_names.push_back(joint_prefix + "wrist_3_joint");
robot_.setJointNames(joint_names);
hardware_interface_.reset(new ros_control_ur::UrHardwareInterface(nh_, &robot_));
controller_manager_.reset(
new controller_manager::ControllerManager(
hardware_interface_.get(), nh_));
//Using a very high value in order to not limit execution of trajectories being sent from MoveIt!
max_velocity_ = 10.;
if (ros::param::get("~max_velocity", max_velocity_)) {
ROS_DEBUG("Max velocity accepted by ur_driver: %f [rad/s]",
max_velocity_);
}
{ //Bounds for SetPayload service
//Using a very conservative value as it should be set through the parameter server
double min_payload = 0.;
double max_payload = 1.;
if (ros::param::get("~min_payload", min_payload)) {
ROS_DEBUG("Min payload set to: %f [kg]", min_payload);
}
if (ros::param::get("~max_payload", max_payload)) {
ROS_DEBUG("Max payload set to: %f [kg]", max_payload);
}
robot_.setMinPayload(min_payload);
robot_.setMaxPayload(max_payload);
ROS_DEBUG("Bounds for set_payload service calls: [%f, %f]",
min_payload, max_payload);
}
robot_.start();
//register the goal and feedback callbacks
//as_.registerGoalCallback(boost::bind(&RosWrapper::goalCB, this));
//as_.registerPreemptCallback(boost::bind(&RosWrapper::preemptCB, this));
//as_.start();
//subscribe to the data topic of interest
speed_sub_ = nh_.subscribe("ur_driver/joint_speed", 1,
&RosWrapper::speedInterface, this);
urscript_sub_ = nh_.subscribe("ur_driver/URScript", 1,
&RosWrapper::urscriptInterface, this);
io_srv_ = nh_.advertiseService("ur_driver/set_io", &RosWrapper::setIO,
this);
payload_srv_ = nh_.advertiseService("ur_driver/set_payload",
&RosWrapper::setPayload, this);
ros_control_thread_ = new std::thread(
boost::bind(&RosWrapper::rosControlLoop, this));
/*rt_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishRTMsg, this)); */
mb_publish_thread_ = new std::thread(
boost::bind(&RosWrapper::publishMbMsg, this));
ROS_DEBUG("The action server for this driver has been started");
}
void halt() {
robot_.halt();
rt_publish_thread_->join();
}
private:
void goalCB() {
ROS_INFO("on_goal");
actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction>::GoalConstPtr goal =
as_.acceptNewGoal();
goal_ = *goal; //make a copy that we can modify
if (!validateJointNames()) {
std::string outp_joint_names = "";
for (unsigned int i = 0; i < goal_.trajectory.joint_names.size();
i++) {
outp_joint_names += goal_.trajectory.joint_names[i] + " ";
}
result_.error_code = result_.INVALID_JOINTS;
result_.error_string =
"Received a goal with incorrect joint names: "
+ outp_joint_names;
as_.setAborted(result_, result_.error_string);
ROS_ERROR("%s", result_.error_string.c_str());
}
if (!has_velocities()) {
result_.error_code = result_.INVALID_GOAL;
result_.error_string = "Received a goal without velocities";
as_.setAborted(result_, result_.error_string);
ROS_ERROR("%s", result_.error_string.c_str());
}
if (!traj_is_finite()) {
result_.error_string = "Received a goal with infinites or NaNs";
result_.error_code = result_.INVALID_GOAL;
as_.setAborted(result_, result_.error_string);
ROS_ERROR("%s", result_.error_string.c_str());
}
if (!has_limited_velocities()) {
result_.error_code = result_.INVALID_GOAL;
result_.error_string =
"Received a goal with velocities that are higher than %f", max_velocity_;
as_.setAborted(result_, result_.error_string);
ROS_ERROR("%s", result_.error_string.c_str());
}
reorder_traj_joints(goal_.trajectory);
std::vector<double> timestamps;
std::vector<std::vector<double> > positions, velocities;
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) {
timestamps.push_back(
goal_.trajectory.points[i].time_from_start.toSec());
positions.push_back(goal_.trajectory.points[i].positions);
velocities.push_back(goal_.trajectory.points[i].velocities);
}
robot_.doTraj(timestamps, positions, velocities);
result_.error_code = result_.SUCCESSFUL;
as_.setSucceeded(result_);
}
void preemptCB() {
ROS_INFO("on_cancel");
// set the action state to preempted
robot_.stopTraj();
as_.setPreempted();
}
bool setIO(ur_msgs::SetIORequest& req, ur_msgs::SetIOResponse& resp) {
resp.success = true;
//if (req.fun == ur_msgs::SetIO::Request::FUN_SET_DIGITAL_OUT) {
if (req.fun == 1) {
robot_.setDigitalOut(req.pin, req.state > 0.0 ? true : false);
} else if (req.fun == 2) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_FLAG) {
robot_.setFlag(req.pin, req.state > 0.0 ? true : false);
//According to urdriver.py, set_flag will fail if called to rapidly in succession
ros::Duration(io_flag_delay_).sleep();
} else if (req.fun == 3) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_ANALOG_OUT) {
robot_.setAnalogOut(req.pin, req.state);
} else if (req.fun == 4) {
//} else if (req.fun == ur_msgs::SetIO::Request::FUN_SET_TOOL_VOLTAGE) {
robot_.setToolVoltage((int) req.state);
} else {
resp.success = false;
}
return resp.success;
}
bool setPayload(ur_msgs::SetPayloadRequest& req,
ur_msgs::SetPayloadResponse& resp) {
if (robot_.setPayload(req.payload))
resp.success = true;
else
resp.success = true;
return resp.success;
}
bool validateJointNames() {
std::vector<std::string> actual_joint_names = robot_.getJointNames();
if (goal_.trajectory.joint_names.size() != actual_joint_names.size())
return false;
for (unsigned int i = 0; i < goal_.trajectory.joint_names.size(); i++) {
unsigned int j;
for (j = 0; j < actual_joint_names.size(); j++) {
if (goal_.trajectory.joint_names[i] == actual_joint_names[j])
break;
}
if (goal_.trajectory.joint_names[i] == actual_joint_names[j]) {
actual_joint_names.erase(actual_joint_names.begin() + j);
} else {
return false;
}
}
return true;
}
void reorder_traj_joints(trajectory_msgs::JointTrajectory& traj) {
/* Reorders trajectory - destructive */
std::vector<std::string> actual_joint_names = robot_.getJointNames();
std::vector<unsigned int> mapping;
mapping.resize(actual_joint_names.size(), actual_joint_names.size());
for (unsigned int i = 0; i < traj.joint_names.size(); i++) {
for (unsigned int j = 0; j < actual_joint_names.size(); j++) {
if (traj.joint_names[i] == actual_joint_names[j])
mapping[j] = i;
}
}
traj.joint_names = actual_joint_names;
std::vector<trajectory_msgs::JointTrajectoryPoint> new_traj;
for (unsigned int i = 0; i < traj.points.size(); i++) {
trajectory_msgs::JointTrajectoryPoint new_point;
for (unsigned int j = 0; j < traj.points[i].positions.size(); j++) {
new_point.positions.push_back(
traj.points[i].positions[mapping[j]]);
new_point.velocities.push_back(
traj.points[i].velocities[mapping[j]]);
if (traj.points[i].accelerations.size() != 0)
new_point.accelerations.push_back(
traj.points[i].accelerations[mapping[j]]);
}
new_point.time_from_start = traj.points[i].time_from_start;
new_traj.push_back(new_point);
}
traj.points = new_traj;
}
bool has_velocities() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) {
if (goal_.trajectory.points[i].positions.size()
!= goal_.trajectory.points[i].velocities.size())
return false;
}
return true;
}
bool has_limited_velocities() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) {
for (unsigned int j = 0;
j < goal_.trajectory.points[i].velocities.size(); j++) {
if (fabs(goal_.trajectory.points[i].velocities[j])
> max_velocity_)
return false;
}
}
return true;
}
bool traj_is_finite() {
for (unsigned int i = 0; i < goal_.trajectory.points.size(); i++) {
for (unsigned int j = 0;
j < goal_.trajectory.points[i].velocities.size(); j++) {
if (!std::isfinite(goal_.trajectory.points[i].positions[j]))
return false;
if (!std::isfinite(goal_.trajectory.points[i].velocities[j]))
return false;
}
}
return true;
}
void speedInterface(const trajectory_msgs::JointTrajectory::Ptr& msg) {
if (msg->points[0].velocities.size() == 6) {
double acc = 100;
if (msg->points[0].accelerations.size() > 0)
acc = *std::max_element(msg->points[0].accelerations.begin(),
msg->points[0].accelerations.end());
robot_.setSpeed(msg->points[0].velocities[0],
msg->points[0].velocities[1], msg->points[0].velocities[2],
msg->points[0].velocities[3], msg->points[0].velocities[4],
msg->points[0].velocities[5], acc);
}
}
void urscriptInterface(const std_msgs::String::ConstPtr& msg) {
robot_.rt_interface_->addCommandToQueue(msg->data);
}
void rosControlLoop() {
ros::Duration elapsed_time;
struct timespec last_time, current_time;
static const double BILLION = 1000000000.0;
clock_gettime(CLOCK_MONOTONIC, &last_time);
while (ros::ok()) {
std::mutex msg_lock; // The values are locked for reading in the class, so just use a dummy mutex
std::unique_lock<std::mutex> locker(msg_lock);
while (!robot_.rt_interface_->robot_state_->getControllerUpdated()) {
rt_msg_cond_.wait(locker);
}
clock_gettime(CLOCK_MONOTONIC, &current_time);
elapsed_time = ros::Duration(
current_time.tv_sec - last_time.tv_sec
+ (current_time.tv_nsec - last_time.tv_nsec)
/ BILLION);
last_time = current_time;
// Input
hardware_interface_->read();
robot_.rt_interface_->robot_state_->setControllerUpdated();
// Control
controller_manager_->update(ros::Time(current_time.tv_sec, current_time.tv_nsec), elapsed_time);
// Output
hardware_interface_->write();
}
}
void publishRTMsg() {
ros::Publisher joint_pub = nh_.advertise<sensor_msgs::JointState>(
"joint_states", 1);
ros::Publisher wrench_pub = nh_.advertise<geometry_msgs::WrenchStamped>(
"wrench", 1);
while (ros::ok()) {
sensor_msgs::JointState joint_msg;
joint_msg.name = robot_.getJointNames();
geometry_msgs::WrenchStamped wrench_msg;
std::mutex msg_lock; // The values are locked for reading in the class, so just use a dummy mutex
std::unique_lock<std::mutex> locker(msg_lock);
while (!robot_.rt_interface_->robot_state_->getDataPublished()) {
rt_msg_cond_.wait(locker);
}
joint_msg.header.stamp = ros::Time::now();
joint_msg.position =
robot_.rt_interface_->robot_state_->getQActual();
for (unsigned int i = 0; i < joint_msg.position.size(); i++) {
joint_msg.position[i] += joint_offsets_[i];
}
joint_msg.velocity =
robot_.rt_interface_->robot_state_->getQdActual();
joint_msg.effort = robot_.rt_interface_->robot_state_->getIActual();
joint_pub.publish(joint_msg);
std::vector<double> tcp_force =
robot_.rt_interface_->robot_state_->getTcpForce();
wrench_msg.header.stamp = joint_msg.header.stamp;
wrench_msg.wrench.force.x = tcp_force[0];
wrench_msg.wrench.force.y = tcp_force[1];
wrench_msg.wrench.force.z = tcp_force[2];
wrench_msg.wrench.torque.x = tcp_force[3];
wrench_msg.wrench.torque.y = tcp_force[4];
wrench_msg.wrench.torque.z = tcp_force[5];
wrench_pub.publish(wrench_msg);
robot_.rt_interface_->robot_state_->setDataPublished();
}
}
void publishMbMsg() {
ros::Publisher io_pub = nh_.advertise<ur_msgs::IOStates>("ur_driver/io_states",
1);
while (ros::ok()) {
ur_msgs::IOStates io_msg;
std::mutex msg_lock; // The values are locked for reading in the class, so just use a dummy mutex
std::unique_lock<std::mutex> locker(msg_lock);
while (!robot_.sec_interface_->robot_state_->getNewDataAvailable()) {
msg_cond_.wait(locker);
}
int i_max = 10;
if (robot_.sec_interface_->robot_state_->getVersion() > 3.0)
i_max = 18; // From version 3.0, there are up to 18 inputs and outputs
for (unsigned int i = 0; i < i_max; i++) {
ur_msgs::Digital digi;
digi.pin = i;
digi.state =
((robot_.sec_interface_->robot_state_->getDigitalInputBits()
& (1 << i)) >> i);
io_msg.digital_in_states.push_back(digi);
digi.state =
((robot_.sec_interface_->robot_state_->getDigitalOutputBits()
& (1 << i)) >> i);
io_msg.digital_out_states.push_back(digi);
}
ur_msgs::Analog ana;
ana.pin = 0;
ana.state = robot_.sec_interface_->robot_state_->getAnalogInput0();
io_msg.analog_in_states.push_back(ana);
ana.pin = 1;
ana.state = robot_.sec_interface_->robot_state_->getAnalogInput1();
io_msg.analog_in_states.push_back(ana);
ana.pin = 0;
ana.state = robot_.sec_interface_->robot_state_->getAnalogOutput0();
io_msg.analog_out_states.push_back(ana);
ana.pin = 1;
ana.state = robot_.sec_interface_->robot_state_->getAnalogOutput1();
io_msg.analog_out_states.push_back(ana);
io_pub.publish(io_msg);
robot_.sec_interface_->robot_state_->finishedReading();
}
}
};
int main(int argc, char **argv) {
bool use_sim_time = false;
std::string host;
ros::init(argc, argv, "ur_driver");
ros::NodeHandle nh;
if (ros::param::get("use_sim_time", use_sim_time)) {
ROS_WARN("use_sim_time is set!!");
}
if (!(ros::param::get("~robot_ip_address", host))) {
if (argc > 1) {
ROS_WARN(
"Please set the parameter robot_ip_address instead of giving it as a command line argument. This method is DEPRECATED");
host = argv[1];
} else {
ROS_FATAL(
"Could not get robot ip. Please supply it as command line parameter or on the parameter server as robot_ip");
exit(1);
}
}
RosWrapper interface(host);
ros::AsyncSpinner spinner(3);
spinner.start();
ros::waitForShutdown();
interface.halt();
exit(0);
}
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