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manipulation_station_hardware_interface.cc
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manipulation_station_hardware_interface.cc
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#include "drake/examples/manipulation_station/manipulation_station_hardware_interface.h"
#include <iostream>
#include <utility>
#include "drake/lcm/drake_lcm.h"
#include "drake/lcmt_iiwa_command.hpp"
#include "drake/lcmt_iiwa_status.hpp"
#include "drake/lcmt_image_array.hpp"
#include "drake/lcmt_schunk_wsg_command.hpp"
#include "drake/lcmt_schunk_wsg_status.hpp"
#include "drake/manipulation/kuka_iiwa/iiwa_command_sender.h"
#include "drake/manipulation/kuka_iiwa/iiwa_status_receiver.h"
#include "drake/manipulation/schunk_wsg/schunk_wsg_lcm.h"
#include "drake/multibody/parsing/parser.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/lcm/lcm_interface_system.h"
#include "drake/systems/lcm/lcm_publisher_system.h"
#include "drake/systems/lcm/lcm_subscriber_system.h"
#include "drake/systems/primitives/pass_through.h"
#include "drake/systems/sensors/lcm_image_array_to_images.h"
namespace drake {
namespace examples {
namespace manipulation_station {
using Eigen::Vector3d;
using multibody::MultibodyPlant;
using multibody::Parser;
// TODO(russt): Consider taking DrakeLcmInterface as an argument instead of
// (only) constructing one internally.
ManipulationStationHardwareInterface::ManipulationStationHardwareInterface(
std::vector<std::string> camera_names)
: owned_controller_plant_(std::make_unique<MultibodyPlant<double>>(0.0)),
owned_lcm_(new lcm::DrakeLcm()),
camera_names_(std::move(camera_names)) {
systems::DiagramBuilder<double> builder;
auto lcm = builder.AddSystem<systems::lcm::LcmInterfaceSystem>(
owned_lcm_.get());
// Publish IIWA command.
auto iiwa_command_sender =
builder.AddSystem<manipulation::kuka_iiwa::IiwaCommandSender>();
auto iiwa_command_publisher = builder.AddSystem(
systems::lcm::LcmPublisherSystem::Make<drake::lcmt_iiwa_command>(
"IIWA_COMMAND", lcm, 0.005
/* publish period: IIWA driver won't respond faster than 200Hz */));
builder.ExportInput(iiwa_command_sender->get_position_input_port(),
"iiwa_position");
builder.ExportInput(iiwa_command_sender->get_torque_input_port(),
"iiwa_feedforward_torque");
builder.Connect(iiwa_command_sender->get_output_port(),
iiwa_command_publisher->get_input_port());
// Receive IIWA status and populate the output ports.
auto iiwa_status_receiver =
builder.AddSystem<manipulation::kuka_iiwa::IiwaStatusReceiver>();
iiwa_status_subscriber_ = builder.AddSystem(
systems::lcm::LcmSubscriberSystem::Make<drake::lcmt_iiwa_status>(
"IIWA_STATUS", lcm));
builder.ExportOutput(
iiwa_status_receiver->get_position_commanded_output_port(),
"iiwa_position_commanded");
builder.ExportOutput(
iiwa_status_receiver->get_position_measured_output_port(),
"iiwa_position_measured");
builder.ExportOutput(
iiwa_status_receiver->get_velocity_estimated_output_port(),
"iiwa_velocity_estimated");
builder.ExportOutput(iiwa_status_receiver->get_torque_commanded_output_port(),
"iiwa_torque_commanded");
builder.ExportOutput(iiwa_status_receiver->get_torque_measured_output_port(),
"iiwa_torque_measured");
builder.ExportOutput(iiwa_status_receiver->get_torque_external_output_port(),
"iiwa_torque_external");
builder.Connect(iiwa_status_subscriber_->get_output_port(),
iiwa_status_receiver->get_input_port());
// Publish WSG command.
auto wsg_command_sender =
builder.AddSystem<manipulation::schunk_wsg::SchunkWsgCommandSender>();
auto wsg_command_publisher = builder.AddSystem(
systems::lcm::LcmPublisherSystem::Make<drake::lcmt_schunk_wsg_command>(
"SCHUNK_WSG_COMMAND", lcm, 0.05
/* publish period: Schunk driver won't respond faster than 20Hz */));
builder.ExportInput(wsg_command_sender->get_position_input_port(),
"wsg_position");
builder.ExportInput(wsg_command_sender->get_force_limit_input_port(),
"wsg_force_limit");
builder.Connect(wsg_command_sender->get_output_port(0),
wsg_command_publisher->get_input_port());
// Receive WSG status and populate the output ports.
auto wsg_status_receiver =
builder.AddSystem<manipulation::schunk_wsg::SchunkWsgStatusReceiver>();
wsg_status_subscriber_ = builder.AddSystem(
systems::lcm::LcmSubscriberSystem::Make<drake::lcmt_schunk_wsg_status>(
"SCHUNK_WSG_STATUS", lcm));
builder.ExportOutput(wsg_status_receiver->get_state_output_port(),
"wsg_state_measured");
builder.ExportOutput(wsg_status_receiver->get_force_output_port(),
"wsg_force_measured");
builder.Connect(wsg_status_subscriber_->get_output_port(),
wsg_status_receiver->get_input_port(0));
for (const std::string& name : camera_names_) {
auto camera_subscriber = builder.AddSystem(
systems::lcm::LcmSubscriberSystem::Make<lcmt_image_array>(
"DRAKE_RGBD_CAMERA_IMAGES_" + name, lcm));
auto array_to_images =
builder.AddSystem<systems::sensors::LcmImageArrayToImages>();
builder.Connect(camera_subscriber->get_output_port(),
array_to_images->image_array_t_input_port());
builder.ExportOutput(
array_to_images->color_image_output_port(),
"camera_" + name + "_rgb_image");
builder.ExportOutput(
array_to_images->depth_image_output_port(),
"camera_" + name + "_depth_image");
camera_subscribers_.push_back(camera_subscriber);
}
builder.BuildInto(this);
this->set_name("manipulation_station_hardware_interface");
// Build the controller's version of the plant, which only contains the
// IIWA and the equivalent inertia of the gripper.
const std::string iiwa_sdf_url =
"package://drake/manipulation/models/iiwa_description/sdf/"
"iiwa14_no_collision.sdf";
Parser parser(owned_controller_plant_.get());
iiwa_model_instance_ = parser.AddModelsFromUrl(iiwa_sdf_url).at(0);
// TODO(russt): Provide API for changing the base coordinates of the plant.
owned_controller_plant_->WeldFrames(owned_controller_plant_->world_frame(),
owned_controller_plant_->GetFrameByName(
"iiwa_link_0", iiwa_model_instance_),
math::RigidTransformd::Identity());
owned_controller_plant_->Finalize();
}
void ManipulationStationHardwareInterface::Connect(bool wait_for_cameras) {
drake::lcm::DrakeLcmInterface* const lcm = owned_lcm_.get();
auto wait_for_new_message = [lcm](const auto& lcm_sub) {
std::cout << "Waiting for " << lcm_sub.get_channel_name()
<< " message..." << std::flush;
const int orig_count = lcm_sub.GetInternalMessageCount();
LcmHandleSubscriptionsUntil(lcm, [&]() {
return lcm_sub.GetInternalMessageCount() > orig_count;
}, 10 /* timeout_millis */);
std::cout << "Received!" << std::endl;
};
wait_for_new_message(*iiwa_status_subscriber_);
wait_for_new_message(*wsg_status_subscriber_);
if (wait_for_cameras) {
for (const auto* sub : camera_subscribers_) {
wait_for_new_message(*sub);
}
}
}
int ManipulationStationHardwareInterface::num_iiwa_joints() const {
DRAKE_DEMAND(iiwa_model_instance_.is_valid());
return owned_controller_plant_->num_positions(iiwa_model_instance_);
}
} // namespace manipulation_station
} // namespace examples
} // namespace drake