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locobot_controller.cpp
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locobot_controller.cpp
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/*******************************************************************************
* Copyright (c) Facebook, Inc. and its affiliates.
* This source code is licensed under the MIT license found in the
* LICENSE file in the root directory of this source tree.
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
/*
* Modified from dynamixel_workbench_controllers/dynamixel_workbench_controllers.cpp
* Authors: Adithya Murali, Tao Chen, Dhiraj Gandhi
*/
#include <stdlib.h>
#include <unistd.h>
#include "locobot_control/locobot_controller.h"
static const uint8_t CURRENT_CONTROL_MODE = 0;
static const uint8_t POSITION_CONTROL_MODE = 3;
// based on https://github.com/ROBOTIS-GIT/dynamixel-workbench/blob/676880b4900877e4d6b68f21b87b0153cf04fbe3/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_item.cpp#L813
static const float torque_to_current_value_ratio = 149.795386991;
LoCoBotController::LoCoBotController()
: node_handle_(""),
gripper_state_(-1),
gripper_cmd_(-1),
is_hardware_ok_(true),
is_initialized_(false),
num_motors_(-1),
prev_gripper_state_(-1) {
read_period_ = node_handle_.param<double>("dxl_read_period", 0.010f);
write_period_ = node_handle_.param<double>("dxl_write_period", 0.010f);
pub_period_ = node_handle_.param<double>("publish_period", 0.010f);
bool use_camera = node_handle_.param<bool>("use_camera", false);
bool use_vslam = node_handle_.param<bool>("use_vslam", false);
bool use_arm = node_handle_.param<bool>("use_arm", false);
torque_control_ = node_handle_.param<bool>("torque_control", false);
if (use_arm) {
use_group_["arm"] = true;
use_group_["gripper"] = true;
} else {
use_group_["arm"] = false;
use_group_["gripper"] = false;
}
if (use_camera || use_vslam) {
use_group_["camera"] = true;
} else {
use_group_["camera"] = false;
}
dxl_wb_ = new DynamixelWorkbench;
}
LoCoBotController::~LoCoBotController() {
if (use_group_["arm"]) {
if (!torque_control_) {
std::map<std::string, float> restJntsMap;
float restJnts[5] = {0, -0.3890, 1.617, -0.1812, 0.0153};
restJntsMap["joint_1"] = restJnts[0];
restJntsMap["joint_2"] = restJnts[1];
restJntsMap["joint_3"] = restJnts[2];
restJntsMap["joint_4"] = restJnts[3];
restJntsMap["joint_5"] = restJnts[4];
bool needRest = false;
for (int i = 0; i < 5; i++) {
float currentAngle = joint_state_msg_.position[i];
float desiredAngle = restJntsMap[joint_state_msg_.name[i]];
if (fabs(currentAngle - desiredAngle) > 0.3) {
needRest = true;
break;
}
}
if (needRest) {
printf("Going to rest joint... \n");
// Going to this joint is just to avoid collisions in some edge cases
sensor_msgs::JointState *intermediate_joint = new sensor_msgs::JointState();
intermediate_joint->position = {0, 0.1135, 0.9603, -0.9235, -0.0015};
goalJointPositionCallback(sensor_msgs::JointState::ConstPtr(intermediate_joint));
usleep(3000000);
sensor_msgs::JointState *rest_joint = new sensor_msgs::JointState();
rest_joint->position.assign(restJnts, restJnts + 5);
goalJointPositionCallback(sensor_msgs::JointState::ConstPtr(rest_joint));
usleep(4000000);
}
stopDynamixels();
}
}
}
bool LoCoBotController::initWorkbench(const std::string port_name, const uint32_t baud_rate) {
bool result = false;
const char *log;
result = dxl_wb_->init(port_name.c_str(), baud_rate, &log);
if (!result) {
ROS_ERROR("%s", log);
}
return result;
}
bool LoCoBotController::getDynamixelsInfo(const std::string yaml_file) {
YAML::Node dynamixel;
dynamixel = YAML::LoadFile(yaml_file.c_str());
if (dynamixel == NULL)
return false;
for (YAML::const_iterator it_group = dynamixel.begin(); it_group != dynamixel.end(); it_group++) {
std::string group_name = it_group->first.as<std::string>();
if (!use_group_[group_name]) {
ROS_INFO("NOT loading group %s from yaml file", group_name.c_str());
continue;
} else {
ROS_INFO("Loading group %s from yaml file", group_name.c_str());
}
YAML::Node group_items = dynamixel[group_name];
for (YAML::const_iterator it_file = group_items.begin(); it_file != group_items.end(); it_file++) {
std::string name = it_file->first.as<std::string>();
if (name.size() == 0) {
continue;
}
group_motors_[group_name].push_back(name);
YAML::Node item = group_items[name];
for (YAML::const_iterator it_item = item.begin(); it_item != item.end(); it_item++) {
std::string item_name = it_item->first.as<std::string>();
int32_t value = it_item->second.as<int32_t>();
if (item_name == "ID") {
dynamixel_name_2ids_[name] = value;
}
ItemValue item_value = {item_name, value};
std::pair<std::string, ItemValue> info(name, item_value);
dynamixel_info_.push_back(info);
}
}
}
int state_list_id = 0;
for (auto const &dxl:dynamixel_name_2ids_) {
motor_id_2state_list_id_[dxl.second] = state_list_id;
state_list_id_2motor_id_[state_list_id] = dxl.second;
state_list_id += 1;
}
return true;
}
bool LoCoBotController::loadDynamixels(void) {
bool result = false;
const char *log;
for (auto const &dxl:dynamixel_name_2ids_) {
uint16_t model_number = 0;
result = dxl_wb_->ping((uint8_t) dxl.second, &model_number, &log);
if (!result) {
ROS_ERROR("%s", log);
ROS_ERROR("Can't find Dynamixel ID '%d'", dxl.second);
return result;
} else {
ROS_INFO("Name : %s, ID : %d, Model Number : %d", dxl.first.c_str(), dxl.second, model_number);
}
}
return result;
}
bool LoCoBotController::initDynamixels(void) {
const char *log;
for (auto const &dxl:dynamixel_name_2ids_) {
dxl_wb_->torqueOff((uint8_t) dxl.second);
if(torque_control_ && (dxl.first == "joint_1" || dxl.first == "joint_2" || dxl.first == "joint_3" || dxl.first == "joint_4" || dxl.first == "joint2Dual")){
dxl_wb_->itemWrite(dxl.second, "Operating_Mode", CURRENT_CONTROL_MODE, &log);
usleep(10000);
}
else{
dxl_wb_->itemWrite(dxl.second, "Operating_Mode", POSITION_CONTROL_MODE, &log);
usleep(10000);
for (auto const &info:dynamixel_info_) {
if (dxl.first == info.first) {
if (info.second.item_name != "ID" && info.second.item_name != "Baud_Rate") {
bool
result = dxl_wb_->itemWrite((uint8_t) dxl.second, info.second.item_name.c_str(), info.second.value, &log);
if (!result) {
ROS_ERROR("%s", log);
ROS_ERROR("Failed to write value[%d] on items[%s] to Dynamixel[Name : %s, ID : %d]",
info.second.value,
info.second.item_name.c_str(),
dxl.first.c_str(),
dxl.second);
return false;
}
}
}
}
}
dxl_wb_->torqueOn((uint8_t) dxl.second);
}
is_initialized_ = true;
return true;
}
bool LoCoBotController::stopDynamixels(void) {
const char *log;
for (auto const &dxl:dynamixel_name_2ids_) {
dxl_wb_->torqueOff((uint8_t) dxl.second);
}
return true;
}
bool LoCoBotController::initControlItems(void) {
bool result = false;
const char *log = NULL;
auto it = dynamixel_name_2ids_.begin();
const ControlItem *goal_position = dxl_wb_->getItemInfo(it->second,
"Goal_Position");
if (goal_position == NULL) return false;
const ControlItem *goal_velocity = dxl_wb_->getItemInfo(it->second,
"Goal_Velocity");
if (goal_velocity == NULL)
goal_velocity = dxl_wb_->getItemInfo(it->second,
"Moving_Speed");
if (goal_velocity == NULL) return false;
const ControlItem *present_position = dxl_wb_->getItemInfo(it->second,
"Present_Position");
if (present_position == NULL) return false;
const ControlItem *present_velocity = dxl_wb_->getItemInfo(it->second,
"Present_Velocity");
if (present_velocity == NULL)
present_velocity = dxl_wb_->getItemInfo(it->second,
"Present_Speed");
if (present_velocity == NULL) return false;
const ControlItem *present_current = dxl_wb_->getItemInfo(it->second,
"Present_Current");
if (present_current == NULL)
present_current = dxl_wb_->getItemInfo(it->second,
"Present_Load");
if (present_current == NULL) return false;
const ControlItem *torque_enable = dxl_wb_->getItemInfo(it->second,
"Torque_Enable");
if (torque_enable == NULL) return false;
const ControlItem *shutdown = dxl_wb_->getItemInfo(it->second,
"Hardware_Error_Status");
if (shutdown == NULL) return false;
control_items_["Goal_Position"] = goal_position;
control_items_["Goal_Velocity"] = goal_velocity;
control_items_["Present_Position"] = present_position;
control_items_["Present_Velocity"] = present_velocity;
control_items_["Present_Current"] = present_current;
control_items_["Torque_Enable"] = torque_enable;
control_items_["Hardware_Error_Status"] = shutdown;
return true;
}
bool LoCoBotController::initSDKHandlers(void) {
bool result = false;
const char *log = NULL;
// auto it = dynamixel_name_2ids_.begin();
result = dxl_wb_->addSyncWriteHandler(control_items_["Goal_Position"]->address,
control_items_["Goal_Position"]->data_length,
&log);
if (!result) {
ROS_ERROR("%s", log);
return result;
} else {
ROS_INFO("%s", log);
}
result = dxl_wb_->addSyncWriteHandler(control_items_["Goal_Velocity"]->address,
control_items_["Goal_Velocity"]->data_length,
&log);
if (!result) {
ROS_ERROR("%s", log);
return result;
} else {
ROS_INFO("%s", log);
}
if (dxl_wb_->getProtocolVersion() == 2.0f) {
uint16_t start_address = std::min(control_items_["Present_Position"]->address,
control_items_["Present_Current"]->address);
uint16_t read_length = control_items_["Present_Position"]->data_length
+ control_items_["Present_Velocity"]->data_length
+ control_items_["Present_Current"]->data_length;
result = dxl_wb_->addSyncReadHandler(start_address,
read_length,
&log);
if (!result) {
ROS_ERROR("%s", log);
return result;
}
start_address = control_items_["Torque_Enable"]->address;
read_length = control_items_["Torque_Enable"]->data_length;
result = dxl_wb_->addSyncReadHandler(start_address,
read_length,
&log);
if (!result) {
ROS_ERROR("%s", log);
return result;
}
start_address = control_items_["Hardware_Error_Status"]->address;
read_length = control_items_["Hardware_Error_Status"]->data_length;
result = dxl_wb_->addSyncReadHandler(start_address,
read_length,
&log);
if (!result) {
ROS_ERROR("%s", log);
return result;
}
}
num_motors_ = 0;
for (auto const& group:use_group_)
{
if (group.second)
num_motors_ += group_motors_[group.first].size();
}
return result;
}
void LoCoBotController::goalJointPositionCallback(const sensor_msgs::JointState::ConstPtr &msg) {
if (msg->position.size() != 5) {
ROS_ERROR("Invalid joint state, execution aborted");
} else if (!use_group_["arm"]) {
ROS_ERROR("Please initialize arm before commanding trajectories; set use_arm to true");
} else {
bool result = false;
const char *log = NULL;
uint8_t id_array[group_motors_["arm"].size()];
uint8_t id_cnt = 0;
int32_t dynamixel_position[group_motors_["arm"].size()];
static uint32_t point_cnt = 0;
static uint32_t position_cnt = 0;
for (auto const &motor:group_motors_["arm"]) {
id_array[id_cnt++] = dynamixel_name_2ids_[motor];
}
for (uint8_t index = 0; index < id_cnt; index++) {
uint8_t id = id_array[index];
if (id <= 2) {
dynamixel_position[index] = dxl_wb_->convertRadian2Value(id, msg->position.at(id - 1));
} else if (id == 3) {
// Dual motor in joint 2, just reflect the position
dynamixel_position[index] = dxl_wb_->convertRadian2Value(id, -msg->position.at(1));
} else {
dynamixel_position[index] = dxl_wb_->convertRadian2Value(id, -msg->position.at(id - 2));
}
}
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
result = dxl_wb_->syncWrite(SYNC_WRITE_HANDLER_FOR_GOAL_POSITION,
id_array, id_cnt, dynamixel_position, 1, &log);
if (!result) {
ROS_ERROR("%s", log);
}
}
}
void LoCoBotController::execute_joint_trajectory(const control_msgs::FollowJointTrajectoryGoalConstPtr &goal) {
ros::Time trajectoryStartTime = ros::Time::now();
ros::Rate loop_rate(25);
if (goal->trajectory.points.size() < 2) {
control_msgs::FollowJointTrajectoryResult result;
result.error_code = control_msgs::FollowJointTrajectoryResult::INVALID_GOAL;
smooth_joint_trajectory_server_->setSucceeded(result);
return;
}
bool result = false;
const char *log = NULL;
uint8_t id_array[group_motors_["arm"].size()];
uint8_t id_cnt = 0;
int32_t dynamixel_position[group_motors_["arm"].size()];
static uint32_t point_cnt = 0;
static uint32_t position_cnt = 0;
for (auto const &motor:group_motors_["arm"]) {
id_array[id_cnt++] = dynamixel_name_2ids_[motor];
}
for (int i = 0; i < goal->trajectory.points.size(); i++) {
//check for preempt requests from clients
if (smooth_joint_trajectory_server_->isPreemptRequested()) {
//preempt action server
smooth_joint_trajectory_server_->setPreempted();
ROS_INFO("Joint trajectory server preempted by client");
return;
}
while ((ros::Time::now() - trajectoryStartTime).toSec() < goal->trajectory.points[i].time_from_start.toSec()) {
continue;
}
for (uint8_t index = 0; index < id_cnt; index++) {
uint8_t id = id_array[index];
if (id <= 2) {
dynamixel_position[index] =
dxl_wb_->convertRadian2Value(id, goal->trajectory.points[i].positions[id - 1]);
} else if (id == 3) {
dynamixel_position[index] = dxl_wb_->convertRadian2Value(id,
-goal->trajectory.points[i].positions[1]);
} else {
dynamixel_position[index] =
dxl_wb_->convertRadian2Value(id, -goal->trajectory.points[i].positions[id - 2]);
}
}
{
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
result = dxl_wb_->syncWrite(SYNC_WRITE_HANDLER_FOR_GOAL_POSITION,
id_array, id_cnt, dynamixel_position, 1, &log);
}
if (!result) {
ROS_ERROR("%s", log);
}
loop_rate.sleep();
}
control_msgs::FollowJointTrajectoryResult actionlib_result;
actionlib_result.error_code = control_msgs::FollowJointTrajectoryResult::SUCCESSFUL;
smooth_joint_trajectory_server_->setSucceeded(actionlib_result);
ROS_INFO("Trajectory goal execution took %fs.", (ros::Time::now() - trajectoryStartTime).toSec());
}
void LoCoBotController::initServer() {
if (use_group_["arm"]) {
if (torque_control_) {
joint_command_server_ =
node_handle_.advertiseService("torque_command", &LoCoBotController::jointCommandMsgCallback, this);
} else {
joint_command_server_ =
node_handle_.advertiseService("joint_command", &LoCoBotController::jointCommandMsgCallback, this);
}
}
}
void LoCoBotController::initActionlib() {
smooth_joint_trajectory_server_ = new actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction>(
node_handle_,
"locobot_arm/joint_controller/trajectory",
boost::bind(&LoCoBotController::execute_joint_trajectory, this, _1),
false);
smooth_joint_trajectory_server_->start();
}
void LoCoBotController::initPublisher() {
status_pub_ = node_handle_.advertise<std_msgs::Bool>("arm/status", 10);
if (use_group_["camera"]) {
pan_state_pub_ = node_handle_.advertise<std_msgs::Float64>("pan/state", 10);
tilt_state_pub_ = node_handle_.advertise<std_msgs::Float64>("tilt/state", 10);
}
joint_states_pub_ = node_handle_.advertise<sensor_msgs::JointState>("joint_states", 100);
gripper_state_pub_ = node_handle_.advertise<std_msgs::Int8>("gripper/state", 10);
}
void LoCoBotController::initSubscriber() {
if (use_group_["arm"]) {
joint_command_sub_ =
node_handle_.subscribe("goal_dynamixel_position", 10,
&LoCoBotController::goalJointPositionCallback, this);
stop_execution_sub_ = node_handle_.subscribe("stop_execution", 10,
&LoCoBotController::stopExecutionCallback, this);
stop_execution_j4_sub_ =
node_handle_.subscribe("stop_execution_j4", 10,
&LoCoBotController::stopExecutionJ4Callback, this);
stop_execution_j5_sub_ =
node_handle_.subscribe("stop_execution_j5", 10,
&LoCoBotController::stopExecutionJ5Callback, this);
}
if (use_group_["gripper"]) {
gripper_close_sub_ = node_handle_.subscribe("gripper/close", 10,
&LoCoBotController::gripperCloseCallback, this);
gripper_open_sub_ = node_handle_.subscribe("gripper/open", 10,
&LoCoBotController::gripperOpenCallback, this);
}
if (use_group_["camera"]) {
set_pan_sub_ = node_handle_.subscribe("pan/command", 10,
&LoCoBotController::setPanCallback, this);
set_tilt_sub_ = node_handle_.subscribe("tilt/command", 10,
&LoCoBotController::setTiltCallback, this);
}
}
void LoCoBotController::gripperController(const ros::TimerEvent &) {
bool result = false;
const char *log = NULL;
if (use_group_["gripper"]) {
int gripper_motor_id = dynamixel_name_2ids_[group_motors_["gripper"][0]];
int gripper_state_id = motor_id_2state_list_id_[gripper_motor_id];
// close gripper
if (gripper_state_ == 1) {
if (prev_gripper_state_ != gripper_state_) {
// shifting to PWM mode
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
dxl_wb_->itemWrite(gripper_motor_id, "Torque_Enable", 0, &log);
dxl_wb_->itemWrite(gripper_motor_id, "Operating_Mode", 16, &log);
usleep(10000);
dxl_wb_->itemWrite(gripper_motor_id, "Torque_Enable", 1, &log);
prev_gripper_state_ = gripper_state_;
}
int32_t load = 0.0;
load = (int32_t) dynamixel_state_list_.dynamixel_state[gripper_state_id].present_current;
if (std::abs(load) > GRIPPER_MAX_LOAD) {
// sometime gripper gets stuck.. this part is to overcome that
if (prev_gripper_load_ == 0) {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
dxl_wb_->itemWrite(gripper_motor_id, "Goal_PWM", -700, &log);
usleep(100000);
}
load = (int32_t) dynamixel_state_list_.dynamixel_state[gripper_state_id].present_current;
if (std::abs(load) > GRIPPER_MAX_LOAD) {
prev_gripper_load_ = 1;
}
}
int32_t position = (int32_t) dynamixel_state_list_.dynamixel_state[gripper_state_id].present_position;
if ((position < GRIPPER_CLOSE_VALUE)
|| prev_gripper_load_ == 1) {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
dxl_wb_->itemWrite(gripper_motor_id, "Goal_PWM", 0, &log);
gripper_state_ = -1;
} else {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
dxl_wb_->itemWrite(gripper_motor_id, "Goal_PWM", -GRIPPER_PWM, &log);
}
}
// open gripper
else if (gripper_state_ == 0) {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
if (prev_gripper_state_ != gripper_state_) {
// shifting to position mode
dxl_wb_->itemWrite(gripper_motor_id, "Torque_Enable", 0, &log);
dxl_wb_->itemWrite(gripper_motor_id, "Operating_Mode", 3, &log);
usleep(10000);
dxl_wb_->itemWrite(gripper_motor_id, "Torque_Enable", 1, &log);
prev_gripper_state_ = gripper_state_;
}
dxl_wb_->goalPosition(gripper_motor_id, GRIPPER_OPEN_VALUE);
prev_gripper_load_ = 0;
gripper_state_ = -1;
}
int32_t position = (int32_t) dynamixel_state_list_.dynamixel_state[gripper_state_id].present_position;
int32_t delta = 50;
// publish state
if(gripper_cmd_ == -1 or gripper_cmd_ == 0){
if(position > GRIPPER_OPEN_VALUE - delta && position < GRIPPER_OPEN_VALUE + delta){
// fully open 0
gripper_state_msg_.data = 0;
}
else{
// unknown -1
gripper_state_msg_.data = -1;
}
}
else if(gripper_cmd_ == 1){
if(gripper_state_ != -1){
// closing
gripper_state_msg_.data = 1;
}
else if(position < GRIPPER_CLOSE_VALUE){
// fully closed 2
gripper_state_msg_.data = 3;
}
else{
// have object in hand 1
gripper_state_msg_.data = 2;
}
}
gripper_state_pub_.publish(gripper_state_msg_);
}
}
bool LoCoBotController::controlLoop(void) {
// hardwareStatusPrint(); Enabling this function will severly slow down the node
return hardwareOK();
};
bool LoCoBotController::hardwareStatusPrint() {
for (auto const& group:use_group_) {
if (group.second) {
for (auto const &motor:group_motors_[group.first]) {
int motor_id = dynamixel_name_2ids_[motor];
const char *read_log;
int32_t position = 0;
dxl_wb_->itemRead(motor_id, "Current_Limit", &position, &read_log);
ROS_INFO("Motor ID %d current limit %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Max_Voltage_Limit", &position, &read_log);
ROS_INFO("Motor ID %d Max Voltage Limit %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Min_Voltage_Limit", &position, &read_log);
ROS_INFO("Motor ID %d Min Voltage Limit %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Temperature_Limit", &position, &read_log);
ROS_INFO("Motor ID %d Temperature Limit %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Present_Temperature", &position, &read_log);
ROS_INFO("Motor ID %d Present Temperature %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Present_Input_Voltage", &position, &read_log);
ROS_INFO("Motor ID %d Present Input voltage %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Present_Current", &position, &read_log);
ROS_INFO("Motor ID %d Present Current %d\n", motor_id, position);
position = 0;
dxl_wb_->itemRead(motor_id, "Present_PWM", &position, &read_log);
ROS_INFO("Motor ID %d Present PWM %d\n", motor_id, position);
}
}
}
return true;
}
void LoCoBotController::readCallback(const ros::TimerEvent &) {
#ifdef DEBUG
static double priv_read_secs =ros::Time::now().toSec();
#endif
bool result = false;
const char *log = NULL;
dynamixel_workbench_msgs::DynamixelState dynamixel_state[dynamixel_name_2ids_.size()];
dynamixel_state_list_.dynamixel_state.clear();
int32_t get_current[dynamixel_name_2ids_.size()];
int32_t get_velocity[dynamixel_name_2ids_.size()];
int32_t get_position[dynamixel_name_2ids_.size()];
uint8_t id_array[dynamixel_name_2ids_.size()];
uint8_t id_cnt = 0;
{
for (auto const &dxl:dynamixel_name_2ids_) {
dynamixel_state[id_cnt].name = dxl.first;
dynamixel_state[id_cnt].id = (uint8_t) dxl.second;
id_array[id_cnt++] = (uint8_t) dxl.second;
}
if (dxl_wb_->getProtocolVersion() == 2.0f) {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
result = dxl_wb_->syncRead(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
dynamixel_name_2ids_.size(),
&log);
if (!result) {
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Current"]->address,
control_items_["Present_Current"]->data_length,
get_current,
&log);
if (!result) {
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Velocity"]->address,
control_items_["Present_Velocity"]->data_length,
get_velocity,
&log);
if (!result) {
ROS_ERROR("%s", log);
}
result = dxl_wb_->getSyncReadData(SYNC_READ_HANDLER_FOR_PRESENT_POSITION_VELOCITY_CURRENT,
id_array,
id_cnt,
control_items_["Present_Position"]->address,
control_items_["Present_Position"]->data_length,
get_position,
&log);
if (!result) {
ROS_ERROR("%s", log);
}
for (uint8_t index = 0; index < id_cnt; index++) {
dynamixel_state[index].present_current = get_current[index];
dynamixel_state[index].present_velocity = get_velocity[index];
dynamixel_state[index].present_position = get_position[index];
dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[index]);
}
} else if (dxl_wb_->getProtocolVersion() == 1.0f) {
std::unique_lock<std::mutex> lock(dynamixel_mutex_);
uint16_t length_of_data = control_items_["Present_Position"]->data_length +
control_items_["Present_Velocity"]->data_length +
control_items_["Present_Current"]->data_length;
uint32_t get_all_data[length_of_data];
uint8_t dxl_cnt = 0;
for (auto const &dxl:dynamixel_name_2ids_) {
result = dxl_wb_->readRegister((uint8_t) dxl.second,
control_items_["Present_Position"]->address,
length_of_data,
get_all_data,
&log);
if (!result) {
ROS_ERROR("%s", log);
}
dynamixel_state[dxl_cnt].present_current = DXL_MAKEWORD(get_all_data[4], get_all_data[5]);
dynamixel_state[dxl_cnt].present_velocity = DXL_MAKEWORD(get_all_data[2], get_all_data[3]);
dynamixel_state[dxl_cnt].present_position = DXL_MAKEWORD(get_all_data[0], get_all_data[1]);
dynamixel_state_list_.dynamixel_state.push_back(dynamixel_state[dxl_cnt]);
dxl_cnt++;
}
}
}
#ifdef DEBUG
ROS_WARN("[readCallback] diff_secs : %f", ros::Time::now().toSec() - priv_read_secs);
priv_read_secs = ros::Time::now().toSec();
#endif
}
void LoCoBotController::publishCallback(const ros::TimerEvent &) {
#ifdef DEBUG
static double priv_pub_secs =ros::Time::now().toSec();
#endif
joint_state_msg_.header.stamp = ros::Time::now();
joint_state_msg_.name.clear();
joint_state_msg_.position.clear();
joint_state_msg_.velocity.clear();
joint_state_msg_.effort.clear();
std::stringstream joint_name;
double position = 0.0;
double velocity = 0.0;
double effort = 0.0;
std::string arm_joint_names[5] = {"joint_1", "joint_2", "joint_3", "joint_4", "joint_5"};
// STEP 1 - Populate joint_state message with arm motor readings
if (use_group_["arm"]) {
for (int i = 0; i < 5; i++) {
std::string motor = arm_joint_names[i];
int motor_id = dynamixel_name_2ids_[motor];
int state_id = motor_id_2state_list_id_[motor_id];
if (motor_id == 3) {
// Shadow motor for joint 2 - ignore
continue;
} else {
joint_state_msg_.name.push_back(motor);
if (dxl_wb_->getProtocolVersion() == 2.0f) {
if (strcmp(dxl_wb_->getModelName((uint8_t) motor_id), "XL-320") == 0)
effort =
dxl_wb_->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
else
effort = dxl_wb_
->convertValue2Current((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
} else if (dxl_wb_->getProtocolVersion() == 1.0f)
effort = dxl_wb_
->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
velocity = dxl_wb_->convertValue2Velocity((uint8_t) motor_id,
(int32_t) dynamixel_state_list_.dynamixel_state[state_id]
.present_velocity);
position = dxl_wb_->convertValue2Radian((uint8_t) motor_id,
(int32_t) dynamixel_state_list_.dynamixel_state[state_id]
.present_position);
if ((uint8_t) motor_id >= 4) {
velocity = -velocity;
position = -position;
}
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
}
}
} else {
for (int index = 1; index <= 5; index++) {
joint_name.str("");
joint_name << "joint_" << index;
joint_state_msg_.name.push_back(joint_name.str());
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
}
}
// STEP 2 - Populate joint_state message with gripper readings
position = 0.0;
velocity = 0.0;
effort = 0.0;
if (use_group_["gripper"]) {
int motor_id = dynamixel_name_2ids_[group_motors_["gripper"][0]];
int state_id = motor_id_2state_list_id_[motor_id];
if (dxl_wb_->getProtocolVersion() == 2.0f) {
if (strcmp(dxl_wb_->getModelName((uint8_t) motor_id), "XL-320") == 0)
effort =
dxl_wb_->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
else
effort = dxl_wb_
->convertValue2Current((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
} else if (dxl_wb_->getProtocolVersion() == 1.0f)
effort = dxl_wb_
->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
velocity = dxl_wb_->convertValue2Velocity((uint8_t) motor_id,
(int32_t) dynamixel_state_list_.dynamixel_state[state_id]
.present_velocity);
position = dxl_wb_->convertValue2Radian((uint8_t) motor_id,
(int32_t) dynamixel_state_list_.dynamixel_state[state_id]
.present_position);
position = (-position - GRIPPER_OPEN_MOTOR_POS)/(GRIPPER_CLOSE_MOTOR_POS -
GRIPPER_OPEN_MOTOR_POS) * (GRIPPER_CLOSE_MOVEIT - GRIPPER_OPEN_MOVEIT) + GRIPPER_OPEN_MOVEIT;
} else {
position = GRIPPER_OPEN_MOVEIT;
}
joint_name.str("");
joint_name << "joint_6";
joint_state_msg_.name.push_back(joint_name.str());
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
joint_name.str("");
joint_name << "joint_7";
joint_state_msg_.name.push_back(joint_name.str());
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(-velocity);
joint_state_msg_.position.push_back(-position);
// STEP 3 - Populate joint_state message with camera readings
position = 0.0;
velocity = 0.0;
effort = 0.0;
if (use_group_["camera"]) {
for (auto const &motor:group_motors_["camera"]) {
int motor_id = dynamixel_name_2ids_[motor];
int state_id = motor_id_2state_list_id_[motor_id];
joint_state_msg_.name.push_back(motor);
if (dxl_wb_->getProtocolVersion() == 2.0f) {
if (strcmp(dxl_wb_->getModelName((uint8_t) motor_id), "XL-320") == 0)
effort = dxl_wb_
->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
else
effort = dxl_wb_
->convertValue2Current((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
} else if (dxl_wb_->getProtocolVersion() == 1.0f)
effort = dxl_wb_
->convertValue2Load((int16_t) dynamixel_state_list_.dynamixel_state[state_id].present_current);
velocity = dxl_wb_->convertValue2Velocity((uint8_t) motor_id,
(int32_t) dynamixel_state_list_
.dynamixel_state[state_id].present_velocity);
position = dxl_wb_->convertValue2Radian((uint8_t) motor_id,
(int32_t) dynamixel_state_list_
.dynamixel_state[state_id].present_position);
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
}
} else {
joint_name.str("");
joint_name << "head_pan_joint";
joint_state_msg_.name.push_back(joint_name.str());
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
joint_name.str("");
joint_name << "head_tilt_joint";
joint_state_msg_.name.push_back(joint_name.str());
joint_state_msg_.effort.push_back(effort);
joint_state_msg_.velocity.push_back(velocity);
joint_state_msg_.position.push_back(position);
}
joint_states_pub_.publish(joint_state_msg_);
if (use_group_["camera"]) {
cameraStatePublish();
}
#ifdef DEBUG
ROS_WARN("[publishCallback] diff_secs : %f", ros::Time::now().toSec() - priv_pub_secs);
priv_pub_secs = ros::Time::now().toSec();
#endif
}
bool LoCoBotController::jointCommandMsgCallback(locobot_control::JointCommand::Request &req,
locobot_control::JointCommand::Response &res) {
/*1 to 5 would be each arm joint, 6 for gripper and 7,8 for pan and tilt respectively*/
int32_t goal_position = 0;
bool ret;
const char *log;
if (req.id == 1) {