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ros2_controllers_config.cpp
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ros2_controllers_config.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, Metro Robots
* 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 Metro Robots 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;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: David V. Lu!! */
#include <moveit_setup_controllers/ros2_controllers_config.hpp>
namespace moveit_setup
{
namespace controllers
{
void ROS2ControllersConfig::onInit()
{
control_xacro_config_ = config_data_->get<ControlXacroConfig>("control_xacro");
}
void ROS2ControllersConfig::loadPrevious(const std::filesystem::path& package_path, const YAML::Node& /*node*/)
{
changed_ = false;
controllers_.clear();
// Load ros2 controllers yaml file if available-----------------------------------------------
std::filesystem::path ros_controllers_yaml_path = package_path / CONTROLLERS_YAML;
std::ifstream input_stream(ros_controllers_yaml_path);
if (!input_stream.good())
{
RCLCPP_WARN_STREAM(*logger_, "Does not exist " << ros_controllers_yaml_path);
return;
}
// Begin parsing
try
{
YAML::Node config = YAML::Load(input_stream);
// Parse Controller Manager Config
const YAML::Node& cm_node = config["controller_manager"]["ros__parameters"];
if (!cm_node.IsDefined())
{
return;
}
for (const auto& it : cm_node)
{
if (!it.second.IsMap())
continue;
const auto& type_node = it.second["type"];
if (!type_node.IsDefined())
{
continue;
}
ControllerInfo controller;
controller.name_ = it.first.as<std::string>();
controller.type_ = type_node.as<std::string>();
if (controller.type_ != "joint_state_broadcaster/JointStateBroadcaster")
{
controllers_.push_back(controller);
}
}
// ParseIndividual Controller Configs
for (auto& controller : controllers_)
{
const YAML::Node& controller_node = config[controller.name_]["ros__parameters"];
if (!controller_node.IsDefined() || !controller_node.IsMap())
{
continue;
}
auto jnode = controller_node["joints"];
if (jnode.IsDefined() && jnode.IsSequence())
{
// Looping through sequences with yaml is sometimes buggy when using iterators
// so here we use a "classic" loop and disable the clang-tidy rule
for (std::size_t i = 0; i < jnode.size(); i++) // NOLINT(modernize-loop-convert)
{
controller.joints_.push_back(jnode[i].as<std::string>());
}
}
if (controller.joints_.empty())
{
std::string one_joint;
getYamlProperty(controller_node, "joint", one_joint);
if (!one_joint.empty())
{
controller.joints_.push_back(one_joint);
}
}
}
}
catch (YAML::ParserException& e) // Catch errors
{
RCLCPP_ERROR_STREAM(*logger_, e.what());
}
}
const ControlInterfaces ROS2ControllersConfig::getControlInterfaces(const std::vector<std::string>& joint_names) const
{
return control_xacro_config_->getControlInterfaces(joint_names);
}
// ******************************************************************************************
// Output controllers config files
// ******************************************************************************************
bool ROS2ControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitter& emitter)
{
emitter << YAML::Comment("This config file is used by ros2_control");
emitter << YAML::BeginMap;
{
// Output controller Manager Config
emitter << YAML::Key << "controller_manager";
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
emitter << YAML::Key << "ros__parameters";
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
emitter << YAML::Key << "update_rate" << YAML::Value << 100; // Hz
emitter << YAML::Comment("Hz");
emitter << YAML::Newline;
emitter << YAML::Newline;
// Output Types
for (const ControllerInfo& ci : parent_.controllers_)
{
emitter << YAML::Key << ci.name_;
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
emitter << YAML::Key << "type" << YAML::Value << ci.type_;
}
emitter << YAML::Newline << YAML::Newline;
emitter << YAML::EndMap;
}
emitter << YAML::Key << "joint_state_broadcaster";
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
emitter << YAML::Key << "type" << YAML::Value << "joint_state_broadcaster/JointStateBroadcaster";
}
emitter << YAML::EndMap;
}
emitter << YAML::EndMap;
}
emitter << YAML::EndMap;
emitter << YAML::Newline;
emitter << YAML::Newline;
}
// Output Controller Configs
for (const ControllerInfo& ci : parent_.controllers_)
{
emitter << YAML::Key << ci.name_;
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
emitter << YAML::Key << "ros__parameters";
emitter << YAML::Value;
emitter << YAML::BeginMap;
{
if (ci.type_ != "position_controllers/GripperActionController")
{
emitter << YAML::Key << "joints" << YAML::Value << ci.joints_;
}
else
{
emitter << YAML::Key << "joint" << YAML::Value << ci.joints_[0];
}
if (ci.type_ == "joint_trajectory_controller/JointTrajectoryController")
{
const ControlInterfaces interfaces = parent_.getControlInterfaces(ci.joints_);
emitter << YAML::Key << "command_interfaces" << YAML::Value << interfaces.command_interfaces;
emitter << YAML::Key << "state_interfaces" << YAML::Value << interfaces.state_interfaces;
}
}
emitter << YAML::EndMap;
}
emitter << YAML::EndMap;
}
emitter << YAML::EndMap;
return true;
}
} // namespace controllers
} // namespace moveit_setup
#include <pluginlib/class_list_macros.hpp> // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::controllers::ROS2ControllersConfig, moveit_setup::SetupConfig)