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kortex_arm_simulation.cpp
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kortex_arm_simulation.cpp
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/*
* KINOVA (R) KORTEX (TM)
*
* Copyright (c) 2020 Kinova inc. All rights reserved.
*
* This software may be modified and distributed under the
* terms of the BSD 3-Clause license.
*
* Refer to the LICENSE file for details.
*
*/
#include "kortex_driver/non-generated/kortex_arm_simulation.h"
#include "kortex_driver/ErrorCodes.h"
#include "kortex_driver/SubErrorCodes.h"
#include "kortex_driver/ActionNotification.h"
#include "kortex_driver/ActionEvent.h"
#include "kortex_driver/JointTrajectoryConstraintType.h"
#include "kortex_driver/GripperMode.h"
#include "kortex_driver/CartesianReferenceFrame.h"
#include "trajectory_msgs/JointTrajectory.h"
#include "controller_manager_msgs/SwitchController.h"
#include "std_msgs/Float64.h"
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/path_line.hpp>
#include <kdl/rotational_interpolation_sa.hpp>
#include <kdl/trajectory_segment.hpp>
#include <urdf/model.h>
#include <set>
#include <chrono>
#include <unordered_set>
namespace
{
static const std::string ARM_PLANNING_GROUP = "arm";
static const std::string GRIPPER_PLANNING_GROUP = "gripper";
static constexpr unsigned int FIRST_CREATED_ACTION_ID = 10000;
static const std::set<unsigned int> DEFAULT_ACTIONS_IDENTIFIERS{1,2,3};
static constexpr double JOINT_TRAJECTORY_TIMESTEP_SECONDS = 0.01;
static constexpr double MINIMUM_JOINT_VELOCITY_RAD_PER_SECONDS = 0.001;
}
KortexArmSimulation::KortexArmSimulation(ros::NodeHandle& node_handle): m_node_handle(node_handle),
m_map_actions{},
m_is_action_being_executed{false},
m_action_preempted{false},
m_current_action_type{0},
m_first_state_received{false},
m_active_controller_type{ControllerType::kTrajectory}
{
// Namespacing and prefixing information
ros::param::get("~robot_name", m_robot_name);
ros::param::get("~prefix", m_prefix);
// Arm information
urdf::Model model;
model.initParam("/" + m_robot_name + "/robot_description");
ros::param::get("~dof", m_degrees_of_freedom);
ros::param::get("~arm", m_arm_name);
ros::param::get("~joint_names", m_arm_joint_names);
ros::param::get("~maximum_velocities", m_arm_velocity_max_limits);
ros::param::get("~maximum_accelerations", m_arm_acceleration_max_limits);
m_arm_joint_limits_min.resize(GetDOF());
m_arm_joint_limits_max.resize(GetDOF());
for (int i = 0; i < GetDOF(); i++)
{
auto joint = model.getJoint(m_arm_joint_names[i]);
m_arm_joint_limits_min[i] = joint->limits->lower;
m_arm_joint_limits_max[i] = joint->limits->upper;
}
// Cartesian Twist limits
ros::param::get("~maximum_linear_velocity", m_max_cartesian_twist_linear);
ros::param::get("~maximum_angular_velocity", m_max_cartesian_twist_angular);
ros::param::get("~maximum_linear_acceleration", m_max_cartesian_acceleration_linear);
ros::param::get("~maximum_angular_acceleration", m_max_cartesian_acceleration_angular);
// Gripper information
ros::param::get("~gripper", m_gripper_name);
if (IsGripperPresent())
{
ros::param::get("~gripper_joint_names", m_gripper_joint_names);
// The joint_states feedback uses alphabetical order for the indexes
// If the gripper joint is before
if (m_gripper_joint_names[0] < m_arm_joint_names[0])
{
m_gripper_joint_index = 0;
m_first_arm_joint_index = 1;
}
// If the gripper joint is after the arm joints
else
{
m_gripper_joint_index = GetDOF();
m_first_arm_joint_index = 0;
}
for (auto s : m_gripper_joint_names)
{
s.insert(0, m_prefix);
}
ros::param::get("~gripper_joint_limits_max", m_gripper_joint_limits_max);
ros::param::get("~gripper_joint_limits_min", m_gripper_joint_limits_min);
}
// Print out simulation configuration
ROS_INFO("Simulating arm with following characteristics:");
ROS_INFO("Arm type : %s", m_arm_name.c_str());
ROS_INFO("Gripper type : %s", m_gripper_name.empty() ? "None" : m_gripper_name.c_str());
ROS_INFO("Arm namespace : %s", m_robot_name.c_str());
ROS_INFO("URDF prefix : %s", m_prefix.c_str());
// Building the KDL chain from the robot description
// The chain goes from 'base_link' to 'tool_frame'
KDL::Tree tree;
if (!kdl_parser::treeFromParam("robot_description", tree))
{
const std::string error_string("Failed to parse robot_description parameter to build the kinematic tree!");
ROS_ERROR("%s", error_string.c_str());
throw(std::runtime_error(error_string));
}
if (!tree.getChain(m_prefix + "base_link", m_prefix + "tool_frame", m_chain))
{
const std::string error_string("Failed to extract kinematic chain from parsed tree!");
ROS_ERROR("%s", error_string.c_str());
throw(std::runtime_error(error_string));
}
m_fk_solver.reset(new KDL::ChainFkSolverPos_recursive(m_chain));
m_ik_vel_solver.reset(new KDL::ChainIkSolverVel_pinv(m_chain));
m_ik_pos_solver.reset(new KDL::ChainIkSolverPos_NR(m_chain, *m_fk_solver, *m_ik_vel_solver));
// Build the velocity profile for each joint using the max velocities and max accelerations
for (int i = 0; i < GetDOF(); i++)
{
m_velocity_trap_profiles.push_back(KDL::VelocityProfile_Trap(m_arm_velocity_max_limits[i], m_arm_acceleration_max_limits[i]));
}
// Start MoveIt client
m_moveit_arm_interface.reset(new moveit::planning_interface::MoveGroupInterface(ARM_PLANNING_GROUP));
if (IsGripperPresent())
{
m_moveit_gripper_interface.reset(new moveit::planning_interface::MoveGroupInterface(GRIPPER_PLANNING_GROUP));
}
// Create default actions
CreateDefaultActions();
// Create publishers and subscribers
for (int i = 0; i < GetDOF(); i++)
{
m_pub_position_controllers.push_back(m_node_handle.advertise<std_msgs::Float64>(
"/" + m_robot_name + "/" + m_prefix + "joint_" + std::to_string(i+1) + "_position_controller/command", 1000));
}
m_pub_action_topic = m_node_handle.advertise<kortex_driver::ActionNotification>("action_topic", 1000);
m_sub_joint_state = m_node_handle.subscribe("/" + m_robot_name + "/" + "joint_states", 1, &KortexArmSimulation::cb_joint_states, this);
m_feedback.actuators.resize(GetDOF());
m_feedback.interconnect.oneof_tool_feedback.gripper_feedback.resize(1);
m_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.resize(1);
m_sub_joint_speeds = m_node_handle.subscribe("in/joint_velocity", 1, &KortexArmSimulation::new_joint_speeds_cb, this);
m_sub_twist = m_node_handle.subscribe("in/cartesian_velocity", 1, &KortexArmSimulation::new_twist_cb, this);
m_sub_clear_faults = m_node_handle.subscribe("in/clear_faults", 1, &KortexArmSimulation::clear_faults_cb, this);
m_sub_stop = m_node_handle.subscribe("in/stop", 1, &KortexArmSimulation::stop_cb, this);
m_sub_emergency_stop = m_node_handle.subscribe("in/emergency_stop", 1, &KortexArmSimulation::emergency_stop_cb, this);
// Create service clients
m_client_switch_controllers = m_node_handle.serviceClient<controller_manager_msgs::SwitchController>
("/" + m_robot_name + "/controller_manager/switch_controller");
// Fill controllers'names
m_trajectory_controllers_list.push_back(m_prefix + m_arm_name + "_joint_trajectory_controller"); // only one trajectory controller
m_position_controllers_list.resize(GetDOF()); // one position controller per
std::generate(m_position_controllers_list.begin(),
m_position_controllers_list.end(),
[this]() -> std::string
{
static int i = 1;
return m_prefix + "joint_" + std::to_string(i++) + "_position_controller";
});
// Initialize the velocity commands to null
m_velocity_commands.resize(GetDOF());
std::fill(m_velocity_commands.begin(), m_velocity_commands.end(), 0.0);
// Create and connect action clients
m_follow_joint_trajectory_action_client.reset(new actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>(
"/" + m_robot_name + "/" + m_prefix + m_arm_name + "_joint_trajectory_controller" + "/follow_joint_trajectory", true));
m_follow_joint_trajectory_action_client->waitForServer();
if (IsGripperPresent())
{
m_gripper_action_client.reset(new actionlib::SimpleActionClient<control_msgs::GripperCommandAction>(
"/" + m_robot_name + "/" + m_prefix + m_gripper_name + "_gripper_controller" + "/gripper_cmd", true));
m_gripper_action_client->waitForServer();
}
// Create usual ROS parameters
m_node_handle.setParam("degrees_of_freedom", m_degrees_of_freedom);
m_node_handle.setParam("is_gripper_present", IsGripperPresent());
m_node_handle.setParam("gripper_joint_names", m_gripper_joint_names);
m_node_handle.setParam("has_vision_module", false);
m_node_handle.setParam("has_interconnect_module", false);
}
KortexArmSimulation::~KortexArmSimulation()
{
JoinThreadAndCancelAction();
}
kortex_driver::BaseCyclic_Feedback KortexArmSimulation::GetFeedback()
{
// If the feedback is not yet received, return now
if (!m_first_state_received)
{
return m_feedback;
}
// Make a copy of current state
sensor_msgs::JointState current;
{
const std::lock_guard<std::mutex> lock(m_state_mutex);
current = m_current_state;
}
// Fill joint angles feedback
for (int i = 0; i < GetDOF(); i++)
{
m_feedback.actuators[i].position = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(current.position[m_first_arm_joint_index + i]));
m_feedback.actuators[i].velocity = m_math_util.toDeg(current.velocity[m_first_arm_joint_index + i]);
}
// Calculate FK to get end effector pose
auto frame = KDL::Frame();
Eigen::VectorXd positions_eigen(GetDOF());
for (int i = 0; i < GetDOF(); i++)
{
positions_eigen[i] = current.position[m_first_arm_joint_index + i];
}
KDL::JntArray current_kdl(GetDOF());
current_kdl.data = positions_eigen;
m_fk_solver->JntToCart(current_kdl, frame);
m_feedback.base.tool_pose_x = frame.p.x();
m_feedback.base.commanded_tool_pose_x = frame.p.x();
m_feedback.base.tool_pose_y = frame.p.y();
m_feedback.base.commanded_tool_pose_y = frame.p.y();
m_feedback.base.tool_pose_z = frame.p.z();
m_feedback.base.commanded_tool_pose_z = frame.p.z();
double alpha, beta, gamma;
frame.M.GetEulerZYX(alpha, beta, gamma);
m_feedback.base.tool_pose_theta_x = m_math_util.toDeg(gamma);
m_feedback.base.commanded_tool_pose_theta_x = m_math_util.toDeg(gamma);
m_feedback.base.tool_pose_theta_y = m_math_util.toDeg(beta);
m_feedback.base.commanded_tool_pose_theta_y = m_math_util.toDeg(beta);
m_feedback.base.tool_pose_theta_z = m_math_util.toDeg(alpha);
m_feedback.base.commanded_tool_pose_theta_z = m_math_util.toDeg(alpha);
// Fill gripper information
if (IsGripperPresent())
{
// Gripper index is right after last actuator and is expressed in % in the base feedback (not in absolute position like in joint_states)
m_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[0].position = 100.0 * m_math_util.relative_position_from_absolute(current.position[m_gripper_joint_index], m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0]);
}
return m_feedback;
}
kortex_driver::CreateAction::Response KortexArmSimulation::CreateAction(const kortex_driver::CreateAction::Request& req)
{
auto new_action = req.input;
unsigned int identifier = FIRST_CREATED_ACTION_ID;
bool identifier_taken = true;
// Find unique identifier for new action
while (identifier_taken)
{
identifier_taken = m_map_actions.count(identifier) == 1;
if (identifier_taken)
{
++identifier;
}
}
// Add Action to map if type is supported
switch (new_action.handle.action_type)
{
case kortex_driver::ActionType::REACH_JOINT_ANGLES:
case kortex_driver::ActionType::REACH_POSE:
case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
case kortex_driver::ActionType::TIME_DELAY:
new_action.handle.identifier = identifier;
new_action.handle.permission = 7;
m_map_actions.emplace(std::make_pair(identifier, new_action));
break;
default:
ROS_ERROR("Unsupported action type %d : could not create simulated action.", new_action.handle.action_type);
break;
}
// Return ActionHandle for added action
kortex_driver::CreateAction::Response response;
response.output = new_action.handle;
return response;
}
kortex_driver::ReadAction::Response KortexArmSimulation::ReadAction(const kortex_driver::ReadAction::Request& req)
{
auto input = req.input;
kortex_driver::ReadAction::Response response;
auto it = m_map_actions.find(input.identifier);
if (it != m_map_actions.end())
{
response.output = it->second;
}
return response;
}
kortex_driver::ReadAllActions::Response KortexArmSimulation::ReadAllActions(const kortex_driver::ReadAllActions::Request& req)
{
auto input = req.input;
kortex_driver::ReadAllActions::Response response;
kortex_driver::ActionList action_list;
for (auto a : m_map_actions)
{
// If requested action type is specified and matches iterated action's type, add it to the list
if (input.action_type == 0 || input.action_type == a.second.handle.action_type)
{
action_list.action_list.push_back(a.second);
}
}
response.output = action_list;
return response;
}
kortex_driver::DeleteAction::Response KortexArmSimulation::DeleteAction(const kortex_driver::DeleteAction::Request& req)
{
auto handle = req.input;
// If the action is not a default action
if (DEFAULT_ACTIONS_IDENTIFIERS.find(handle.identifier) == DEFAULT_ACTIONS_IDENTIFIERS.end())
{
auto it = m_map_actions.find(handle.identifier);
if (it != m_map_actions.end())
{
m_map_actions.erase(it);
ROS_INFO("Simulated action #%u properly deleted.", handle.identifier);
}
else
{
ROS_WARN("Could not find simulated action #%u to delete in actions map.", handle.identifier);
}
}
else
{
ROS_ERROR("Cannot delete default simulated actions.");
}
return kortex_driver::DeleteAction::Response();
}
kortex_driver::UpdateAction::Response KortexArmSimulation::UpdateAction(const kortex_driver::UpdateAction::Request& req)
{
auto action = req.input;
// If the action is not a default action
if (DEFAULT_ACTIONS_IDENTIFIERS.find(action.handle.identifier) == DEFAULT_ACTIONS_IDENTIFIERS.end())
{
auto it = m_map_actions.find(action.handle.identifier);
if (it != m_map_actions.end())
{
if (it->second.handle.action_type == action.handle.action_type)
{
it->second = action;
ROS_INFO("Simulated action #%u properly updated.", action.handle.identifier);
}
else
{
ROS_ERROR("Cannot update action with different type.");
}
}
else
{
ROS_ERROR("Could not find simulated action #%u to update in actions map.", action.handle.identifier);
}
}
else
{
ROS_ERROR("Cannot update default simulated actions.");
}
return kortex_driver::UpdateAction::Response();
}
kortex_driver::ExecuteActionFromReference::Response KortexArmSimulation::ExecuteActionFromReference(const kortex_driver::ExecuteActionFromReference::Request& req)
{
auto handle = req.input;
auto it = m_map_actions.find(handle.identifier);
if (it != m_map_actions.end())
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, it->second);
}
else
{
ROS_ERROR("Could not find action with given identifier %d", handle.identifier);
}
return kortex_driver::ExecuteActionFromReference::Response();
}
kortex_driver::ExecuteAction::Response KortexArmSimulation::ExecuteAction(const kortex_driver::ExecuteAction::Request& req)
{
auto action = req.input;
// Add Action to map if type is supported
switch (action.handle.action_type)
{
case kortex_driver::ActionType::REACH_JOINT_ANGLES:
case kortex_driver::ActionType::REACH_POSE:
case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
case kortex_driver::ActionType::TIME_DELAY:
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
break;
default:
ROS_ERROR("Unsupported action type %d : could not execute simulated action.", action.handle.action_type);
break;
}
return kortex_driver::ExecuteAction::Response();
}
kortex_driver::StopAction::Response KortexArmSimulation::StopAction(const kortex_driver::StopAction::Request& req)
{
if (m_is_action_being_executed.load())
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
}
m_follow_joint_trajectory_action_client->cancelAllGoals();
if (IsGripperPresent())
{
m_gripper_action_client->cancelAllGoals();
}
return kortex_driver::StopAction::Response();
}
kortex_driver::PlayCartesianTrajectory::Response KortexArmSimulation::PlayCartesianTrajectory(const kortex_driver::PlayCartesianTrajectory::Request& req)
{
auto constrained_pose = req.input;
kortex_driver::Action action;
action.name = "PlayCartesianTrajectory";
action.handle.action_type = kortex_driver::ActionType::REACH_POSE;
action.oneof_action_parameters.reach_pose.push_back(constrained_pose);
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
return kortex_driver::PlayCartesianTrajectory::Response();
}
kortex_driver::SendTwistCommand::Response KortexArmSimulation::SendTwistCommand(const kortex_driver::SendTwistCommand::Request& req)
{
auto twist_command = req.input;
kortex_driver::Action action;
action.name = "SendTwistCommand";
action.handle.action_type = kortex_driver::ActionType::SEND_TWIST_COMMAND;
action.oneof_action_parameters.send_twist_command.push_back(twist_command);
// Convert orientations to rad
m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_x);
m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_y);
m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_z);
// Fill the twist command
m_twist_command = twist_command.twist;
// If we are already executing twist control, don't cancel the thread
if (m_current_action_type != kortex_driver::ActionType::SEND_TWIST_COMMAND)
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
}
return kortex_driver::SendTwistCommand::Response();
}
kortex_driver::PlayJointTrajectory::Response KortexArmSimulation::PlayJointTrajectory(const kortex_driver::PlayJointTrajectory::Request& req)
{
auto constrained_joint_angles = req.input;
kortex_driver::Action action;
action.name = "PlayJointTrajectory";
action.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
action.oneof_action_parameters.reach_joint_angles.push_back(constrained_joint_angles);
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
return kortex_driver::PlayJointTrajectory::Response();
}
kortex_driver::SendJointSpeedsCommand::Response KortexArmSimulation::SendJointSpeedsCommand(const kortex_driver::SendJointSpeedsCommand::Request& req)
{
auto joint_speeds = req.input;
kortex_driver::Action action;
action.name = "SendJointSpeedsCommand";
action.handle.action_type = kortex_driver::ActionType::SEND_JOINT_SPEEDS;
// Convert radians in degrees
for (unsigned int i = 0; i < joint_speeds.joint_speeds.size(); i++)
{
joint_speeds.joint_speeds[i].value = m_math_util.toDeg(joint_speeds.joint_speeds[i].value);
}
action.oneof_action_parameters.send_joint_speeds.push_back(joint_speeds);
// Fill the velocity commands vector
int n = 0;
std::generate(m_velocity_commands.begin(),
m_velocity_commands.end(),
[this, &action, &n]() -> double
{
return m_math_util.toRad(action.oneof_action_parameters.send_joint_speeds[0].joint_speeds[n++].value);
});
// If we are already executing joint speed control, don't cancel the thread
if (m_current_action_type != kortex_driver::ActionType::SEND_JOINT_SPEEDS)
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
}
return kortex_driver::SendJointSpeedsCommand::Response();
}
kortex_driver::SendGripperCommand::Response KortexArmSimulation::SendGripperCommand(const kortex_driver::SendGripperCommand::Request& req)
{
auto gripper_command = req.input;
kortex_driver::Action action;
action.name = "GripperCommand";
action.handle.action_type = kortex_driver::ActionType::SEND_GRIPPER_COMMAND;
action.oneof_action_parameters.send_gripper_command.push_back(gripper_command);
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
return kortex_driver::SendGripperCommand::Response();
}
kortex_driver::Stop::Response KortexArmSimulation::Stop(const kortex_driver::Stop::Request& req)
{
// If an action is ongoing, cancel it first
if (m_is_action_being_executed.load())
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
}
m_follow_joint_trajectory_action_client->cancelAllGoals();
if (IsGripperPresent())
{
m_gripper_action_client->cancelAllGoals();
}
return kortex_driver::Stop::Response();
}
kortex_driver::ApplyEmergencyStop::Response KortexArmSimulation::ApplyEmergencyStop(const kortex_driver::ApplyEmergencyStop::Request& req)
{
// If an action is ongoing, cancel it first
if (m_is_action_being_executed.load())
{
JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
}
m_follow_joint_trajectory_action_client->cancelAllGoals();
if (IsGripperPresent())
{
m_gripper_action_client->cancelAllGoals();
}
return kortex_driver::ApplyEmergencyStop::Response();
}
void KortexArmSimulation::cb_joint_states(const sensor_msgs::JointState& state)
{
const std::lock_guard<std::mutex> lock(m_state_mutex);
m_first_state_received = true;
m_current_state = state;
}
void KortexArmSimulation::CreateDefaultActions()
{
kortex_driver::Action retract, home, zero;
kortex_driver::ConstrainedJointAngles retract_angles, home_angles, zero_angles;
// Retract
retract.handle.identifier = 1;
retract.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
retract.handle.permission = 7;
retract.name = "Retract";
for (int i = 0; i < m_degrees_of_freedom; i++)
{
kortex_driver::JointAngle a;
a.joint_identifier = i;
auto named_target = m_moveit_arm_interface->getNamedTargetValues("retract");
double moveit_angle = named_target[m_prefix + "joint_"+std::to_string(i+1)]; // rad
a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
retract_angles.joint_angles.joint_angles.push_back(a);
}
retract.oneof_action_parameters.reach_joint_angles.push_back(retract_angles);
// Home
home.handle.identifier = 2;
home.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
home.handle.permission = 7;
home.name = "Home";
for (int i = 0; i < m_degrees_of_freedom; i++)
{
kortex_driver::JointAngle a;
a.joint_identifier = i;
auto named_target = m_moveit_arm_interface->getNamedTargetValues("home");
double moveit_angle = named_target[m_prefix + "joint_"+std::to_string(i+1)]; // rad
a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
home_angles.joint_angles.joint_angles.push_back(a);
}
home.oneof_action_parameters.reach_joint_angles.push_back(home_angles);
// Zero
zero.handle.identifier = 3;
zero.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
zero.handle.permission = 7;
zero.name = "Zero";
for (int i = 0; i < m_degrees_of_freedom; i++)
{
kortex_driver::JointAngle a;
a.joint_identifier = i;
auto named_target = m_moveit_arm_interface->getNamedTargetValues("vertical");
double moveit_angle = named_target[m_prefix + "joint_"+std::to_string(i+1)]; // rad
a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
zero_angles.joint_angles.joint_angles.push_back(a);
}
zero.oneof_action_parameters.reach_joint_angles.push_back(zero_angles);
// Add actions
m_map_actions.emplace(std::make_pair(retract.handle.identifier, retract));
m_map_actions.emplace(std::make_pair(home.handle.identifier, home));
m_map_actions.emplace(std::make_pair(zero.handle.identifier, zero));
}
bool KortexArmSimulation::SwitchControllerType(ControllerType new_type)
{
bool success = true;
controller_manager_msgs::SwitchController service;
service.request.strictness = service.request.STRICT;
if (m_active_controller_type != new_type)
{
// Set the controllers we want to switch to
switch (new_type)
{
case ControllerType::kTrajectory:
service.request.start_controllers = m_trajectory_controllers_list;
service.request.stop_controllers = m_position_controllers_list;
break;
case ControllerType::kIndividual:
service.request.start_controllers = m_position_controllers_list;
service.request.stop_controllers = m_trajectory_controllers_list;
break;
default:
ROS_ERROR("Kortex arm simulator : Unsupported controller type %d", int(new_type));
return false;
}
// Call the service
if (!m_client_switch_controllers.call(service))
{
ROS_ERROR("Failed to call the service for switching controllers");
success = false;
}
else
{
success = service.response.ok;
}
// Update active type if the switch was successful
if (success)
{
m_active_controller_type = new_type;
}
}
return success;
}
kortex_driver::KortexError KortexArmSimulation::FillKortexError(uint32_t code, uint32_t subCode, const std::string& description) const
{
kortex_driver::KortexError error;
error.code = code;
error.subCode = subCode;
error.description = description;
return error;
}
void KortexArmSimulation::JoinThreadAndCancelAction()
{
// Tell the thread to stop and join it
m_action_preempted = true;
if (m_action_executor_thread.joinable())
{
m_action_executor_thread.join();
}
m_current_action_type = 0;
m_action_preempted = false;
}
void KortexArmSimulation::PlayAction(const kortex_driver::Action& action)
{
auto action_result = FillKortexError(kortex_driver::ErrorCodes::ERROR_NONE, kortex_driver::SubErrorCodes::SUB_ERROR_NONE);
// Notify action started
kortex_driver::ActionNotification start_notif;
start_notif.handle = action.handle;
start_notif.action_event = kortex_driver::ActionEvent::ACTION_START;
m_pub_action_topic.publish(start_notif);
m_is_action_being_executed = true;
m_current_action_type = action.handle.action_type;
// Switch executor on the action type
switch (action.handle.action_type)
{
case kortex_driver::ActionType::REACH_JOINT_ANGLES:
action_result = ExecuteReachJointAngles(action);
break;
case kortex_driver::ActionType::REACH_POSE:
action_result = ExecuteReachPose(action);
break;
case kortex_driver::ActionType::SEND_JOINT_SPEEDS:
action_result = ExecuteSendJointSpeeds(action);
break;
case kortex_driver::ActionType::SEND_TWIST_COMMAND:
action_result = ExecuteSendTwist(action);
break;
case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
action_result = ExecuteSendGripperCommand(action);
break;
case kortex_driver::ActionType::TIME_DELAY:
action_result = ExecuteTimeDelay(action);
break;
default:
action_result = FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE, kortex_driver::SubErrorCodes::UNSUPPORTED_ACTION);
break;
}
// Oddly enough, gripper actions don't send notifications through Kortex API when they end
if (action.handle.action_type != kortex_driver::ActionType::SEND_GRIPPER_COMMAND)
{
kortex_driver::ActionNotification end_notif;
end_notif.handle = action.handle;
// Action was cancelled by user and is not a velocity command
if (m_action_preempted.load() && action.handle.action_type != kortex_driver::ActionType::SEND_JOINT_SPEEDS)
{
// Notify ACTION_ABORT
end_notif.action_event = kortex_driver::ActionEvent::ACTION_ABORT;
ROS_WARN("Action was aborted by user.");
}
// Action ended on its own
else
{
if (action_result.code != kortex_driver::ErrorCodes::ERROR_NONE)
{
// Notify ACTION_ABORT
end_notif.action_event = kortex_driver::ActionEvent::ACTION_ABORT;
end_notif.abort_details = action_result.subCode;
ROS_WARN("Action was failed : \nError code is %d\nSub-error code is %d\nError description is : %s",
action_result.code,
action_result.subCode,
action_result.description.c_str());
}
else
{
// Notify ACTION_END
end_notif.action_event = kortex_driver::ActionEvent::ACTION_END;
}
}
m_pub_action_topic.publish(end_notif);
}
m_is_action_being_executed = false;
}
kortex_driver::KortexError KortexArmSimulation::ExecuteReachJointAngles(const kortex_driver::Action& action)
{
auto result = FillKortexError(kortex_driver::ErrorCodes::ERROR_NONE, kortex_driver::SubErrorCodes::SUB_ERROR_NONE);
if (action.oneof_action_parameters.reach_joint_angles.size() != 1)
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::INVALID_PARAM,
"Error playing joint angles action : action is malformed.");
}
auto constrained_joint_angles = action.oneof_action_parameters.reach_joint_angles[0];
if (constrained_joint_angles.joint_angles.joint_angles.size() != GetDOF())
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::INVALID_PARAM,
"Error playing joint angles action : action contains " + std::to_string(constrained_joint_angles.joint_angles.joint_angles.size()) + " joint angles but arm has " + std::to_string(GetDOF()));
}
// Switch to trajectory controller
if (!SwitchControllerType(ControllerType::kTrajectory))
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::METHOD_FAILED,
"Error playing joint angles action : simulated trajectory controller could not be switched to.");
}
// Initialize trajectory object
trajectory_msgs::JointTrajectory traj;
traj.header.frame_id = m_prefix + "base_link";
for (int i = 0; i < constrained_joint_angles.joint_angles.joint_angles.size(); i++)
{
const std::string joint_name = m_prefix + "joint_" + std::to_string(i+1); //joint names are 1-based
traj.joint_names.push_back(joint_name);
}
// Get current position
sensor_msgs::JointState current;
{
const std::lock_guard<std::mutex> lock(m_state_mutex);
current = m_current_state;
}
// Transform kortex structure to trajectory_msgs to fill endpoint structure
trajectory_msgs::JointTrajectoryPoint endpoint;
std::unordered_set<int> limited_joints; // joints limited in range
int degrees_of_freedom = constrained_joint_angles.joint_angles.joint_angles.size();
if (degrees_of_freedom == 6)
{
limited_joints = {1,2,4};
}
else if (degrees_of_freedom == 7)
{
limited_joints = {1,3,5};
}
else
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::INVALID_PARAM,
"Unsupported number of joints, expected 6 or 7");
}
for (int i = 0; i < constrained_joint_angles.joint_angles.joint_angles.size(); i++)
{
// If the current actuator has turned on itself many times, we need the endpoint to follow that trend too
int n_turns = 0;
double rad_wrapped_goal;
if (limited_joints.count(i))
{
rad_wrapped_goal = m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(constrained_joint_angles.joint_angles.joint_angles[i].value));
}
else
{
rad_wrapped_goal = m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(constrained_joint_angles.joint_angles.joint_angles[i].value), n_turns);
}
endpoint.positions.push_back(rad_wrapped_goal + double(n_turns) * 2.0 * M_PI);
endpoint.velocities.push_back(0.0);
endpoint.accelerations.push_back(0.0);
}
// Calculate velocity profiles to know how much time this trajectory must last
switch (constrained_joint_angles.constraint.type)
{
// If the duration is supplied, set the duration of the velocity profiles with that value
case kortex_driver::JointTrajectoryConstraintType::JOINT_CONSTRAINT_DURATION:
{
// Error check on the given duration
if (constrained_joint_angles.constraint.value <= 0.0f)
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::INVALID_PARAM,
"Invalid duration constraint : it has to be higher than 0.0!");
}
// Set the velocity profiles
for (int i = 0; i < GetDOF(); i++)
{
m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], constrained_joint_angles.constraint.value);
}
endpoint.time_from_start = ros::Duration(constrained_joint_angles.constraint.value);
ROS_DEBUG("Using supplied duration : %2.2f", constrained_joint_angles.constraint.value);
break;
}
// If a max velocity is supplied for each joint, we need to find the limiting duration with this velocity constraint
case kortex_driver::JointTrajectoryConstraintType::JOINT_CONSTRAINT_SPEED:
{
// Error check on the given velocity
float max_velocity = m_math_util.toRad(constrained_joint_angles.constraint.value);
if (max_velocity <= 0.0f)
{
return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
kortex_driver::SubErrorCodes::INVALID_PARAM,
"Invalid velocity constraint : it has to be higher than 0.0!");
}
// Find the limiting duration with given velocity
double max_duration = 0.0;
for (int i = 0; i < GetDOF(); i++)
{
double velocity_ratio = std::min(1.0, double(max_velocity)/m_arm_velocity_max_limits[i]);
m_velocity_trap_profiles[i].SetProfileVelocity(current.position[m_first_arm_joint_index + i], endpoint.positions[i], velocity_ratio);
max_duration = std::max(max_duration, m_velocity_trap_profiles[i].Duration());
ROS_DEBUG("Joint %d moving from %2.2f to %2.2f gives duration %2.2f", i, current.position[m_first_arm_joint_index + i], endpoint.positions[i], m_velocity_trap_profiles[i].Duration());
}
ROS_DEBUG("max_duration is : %2.2f", max_duration);
// Set the velocity profiles
for (int i = 0; i < GetDOF(); i++)
{
m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], max_duration);
}
endpoint.time_from_start = ros::Duration(max_duration);
break;
}
default:
{
// Find the optimal duration based on actual velocity and acceleration limits
double optimal_duration = 0.0;
for (int i = 0; i < GetDOF(); i++)
{
m_velocity_trap_profiles[i].SetProfile(current.position[m_first_arm_joint_index + i], endpoint.positions[i]);
optimal_duration = std::max(optimal_duration, m_velocity_trap_profiles[i].Duration());
ROS_DEBUG("Joint %d moving from %2.2f to %2.2f gives duration %2.2f", i, current.position[m_first_arm_joint_index + i], endpoint.positions[i], m_velocity_trap_profiles[i].Duration());
}
ROS_DEBUG("optimal_duration is : %2.2f", optimal_duration);
// Set the velocity profiles
for (int i = 0; i < GetDOF(); i++)
{
m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], optimal_duration);
}
endpoint.time_from_start = ros::Duration(optimal_duration);
break;
}
}
// Copy velocity profile data into trajectory using JOINT_TRAJECTORY_TIMESTEP_SECONDS timesteps
// For each timestep
for (double t = JOINT_TRAJECTORY_TIMESTEP_SECONDS; t < m_velocity_trap_profiles[0].Duration(); t += JOINT_TRAJECTORY_TIMESTEP_SECONDS)
{
// Create trajectory point
trajectory_msgs::JointTrajectoryPoint p;
p.time_from_start = ros::Duration(t);
// Add position, velocity, acceleration from each velocity profile
for (int i = 0; i < GetDOF(); i++)
{
p.positions.push_back(m_velocity_trap_profiles[i].Pos(t));
p.velocities.push_back(m_velocity_trap_profiles[i].Vel(t));
p.accelerations.push_back(m_velocity_trap_profiles[i].Acc(t));
}
// Add trajectory point to goal
traj.points.push_back(p);
}
// Finally, add endpoint to trajectory
// Add position, velocity, acceleration from each velocity profile
trajectory_msgs::JointTrajectoryPoint p;
p.time_from_start = ros::Duration(m_velocity_trap_profiles[0].Duration());
for (int i = 0; i < GetDOF(); i++)
{
p.positions.push_back(m_velocity_trap_profiles[i].Pos(m_velocity_trap_profiles[i].Duration()));
p.velocities.push_back(m_velocity_trap_profiles[i].Vel(m_velocity_trap_profiles[i].Duration()));
p.accelerations.push_back(m_velocity_trap_profiles[i].Acc(m_velocity_trap_profiles[i].Duration()));
}
// Add trajectory point to goal
traj.points.push_back(p);
// Verify if goal has been cancelled before sending it
if (m_action_preempted.load())
{
return result;
}
// Send goal
control_msgs::FollowJointTrajectoryActionGoal goal;
traj.header.stamp = ros::Time::now();
goal.goal.trajectory = traj;
m_follow_joint_trajectory_action_client->sendGoal(goal.goal);
// Wait for goal to be done, or for preempt to be called (check every 100ms)
while(!m_action_preempted.load())
{
if (m_follow_joint_trajectory_action_client->waitForResult(ros::Duration(0.1f)))
{
// Sometimes an error is thrown related to a bad cast in a ros::time structure inside the SimpleActionClient
// See https://answers.ros.org/question/209452/exception-thrown-while-processing-service-call-time-is-out-of-dual-32-bit-range/
// If this error happens here we just send the goal again with an updated timestamp
auto status = m_follow_joint_trajectory_action_client->getResult();
if (status->error_string == "Time is out of dual 32-bit range")
{
traj.header.stamp = ros::Time::now();
goal.goal.trajectory = traj;
m_follow_joint_trajectory_action_client->sendGoal(goal.goal);
}
else
{
break;
}
}
}
// If we got out of the loop because we're preempted, cancel the goal before returning
if (m_action_preempted.load())
{
m_follow_joint_trajectory_action_client->cancelAllGoals();
}
// Fill result depending on action final status if user didn't cancel
else
{
auto status = m_follow_joint_trajectory_action_client->getResult();