-
Notifications
You must be signed in to change notification settings - Fork 508
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
[MSA] ros2_control Integration (#1299)
* Modified URDF Infrastructure * Control Xacro Config * URDF Modifications Widget * Use same base class for ROS2Controllers and MoveItControllers (widget/config/setup_step) * Further cleanup * Fix ModifiedURDF Generation * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> * Rename button variable * Clang line length fix Co-authored-by: AndyZe <andyz@utexas.edu>
- Loading branch information
Showing
38 changed files
with
2,497 additions
and
666 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
199 changes: 199 additions & 0 deletions
199
...istant/moveit_setup_controllers/include/moveit_setup_controllers/control_xacro_config.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,199 @@ | ||
/********************************************************************* | ||
* 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!! */ | ||
|
||
#pragma once | ||
|
||
#include <moveit_setup_controllers/modified_urdf_config.hpp> | ||
#include <moveit_setup_framework/data/srdf_config.hpp> | ||
|
||
namespace moveit_setup | ||
{ | ||
namespace controllers | ||
{ | ||
struct ControlInterfaces | ||
{ | ||
std::vector<std::string> command_interfaces; | ||
std::vector<std::string> state_interfaces; | ||
}; | ||
|
||
inline std::vector<std::string> getAvailableInterfaceNames() | ||
{ | ||
return { "position", "velocity", "effort" }; | ||
} | ||
|
||
class ControlXacroConfig : public IncludedXacroConfig | ||
{ | ||
public: | ||
/**@name SetupConfig overrides */ | ||
/**@{*/ | ||
void onInit() override; | ||
void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override; | ||
YAML::Node saveToYaml() const override; | ||
bool isConfigured() const override; | ||
/**@}*/ | ||
|
||
/**@name IncludedXacroConfig overrides */ | ||
/**@{*/ | ||
std::string getFilepath() const override; | ||
bool hasChanges() const override; | ||
std::vector<std::pair<std::string, std::string>> getArguments() const override; | ||
std::vector<std::string> getCommands() const override; | ||
/**@}*/ | ||
|
||
/** | ||
* @brief Load the original command interfaces from the original (unmodified) URDF | ||
* | ||
* Needs to be run whenever the URDF/SRDF may have changed | ||
*/ | ||
void loadFromDescription(); | ||
|
||
bool hasAllControlTagsInOriginal() const; | ||
|
||
/**@name Data access and modification */ | ||
/**@{*/ | ||
|
||
const ControlInterfaces& getAvailableControlInterfaces() const | ||
{ | ||
return available_ci_; | ||
} | ||
|
||
const ControlInterfaces& getDefaultControlInterfaces() const | ||
{ | ||
return default_ci_; | ||
} | ||
|
||
/** | ||
* @brief Use the specified controller interfaces for all the lacking joints | ||
*/ | ||
void setControlInterfaces(const ControlInterfaces& ci); | ||
|
||
/** | ||
* @brief Get all the control interfaces for all of the specified joint names | ||
*/ | ||
const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const; | ||
|
||
/**@}*/ | ||
|
||
/** | ||
* @brief Return the additional joint xml needed for ros2_control tags | ||
*/ | ||
std::string getJointsXML() const; | ||
|
||
class GeneratedControlHeader : public TemplatedGeneratedFile | ||
{ | ||
public: | ||
GeneratedControlHeader(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
ControlXacroConfig& parent) | ||
: TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent) | ||
{ | ||
} | ||
|
||
std::filesystem::path getRelativePath() const override | ||
{ | ||
return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".ros2_control.xacro"); | ||
} | ||
|
||
std::filesystem::path getTemplatePath() const override | ||
{ | ||
return getSharePath("moveit_setup_controllers") / "templates" / "config" / "ros2_control.xacro"; | ||
} | ||
|
||
std::string getDescription() const override | ||
{ | ||
return "Macro definition for required ros2_control xacro additions."; | ||
} | ||
|
||
bool hasChanges() const override | ||
{ | ||
return parent_.hasChanges(); | ||
} | ||
|
||
protected: | ||
ControlXacroConfig& parent_; | ||
}; | ||
|
||
class GeneratedInitialPositions : public YamlGeneratedFile | ||
{ | ||
public: | ||
GeneratedInitialPositions(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
ControlXacroConfig& parent) | ||
: YamlGeneratedFile(package_path, last_gen_time), parent_(parent) | ||
{ | ||
} | ||
|
||
bool hasChanges() const override | ||
{ | ||
return parent_.hasChanges(); | ||
} | ||
|
||
std::filesystem::path getRelativePath() const override | ||
{ | ||
return "config/initial_positions.yaml"; | ||
} | ||
|
||
std::string getDescription() const override | ||
{ | ||
return "Initial positions for ros2_control"; | ||
} | ||
|
||
bool writeYaml(YAML::Emitter& emitter) override; | ||
|
||
protected: | ||
ControlXacroConfig& parent_; | ||
}; | ||
|
||
void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
std::vector<GeneratedFilePtr>& files) override | ||
{ | ||
files.push_back(std::make_shared<GeneratedControlHeader>(package_path, last_gen_time, *this)); | ||
files.push_back(std::make_shared<GeneratedInitialPositions>(package_path, last_gen_time, *this)); | ||
} | ||
|
||
void collectVariables(std::vector<TemplateVariable>& variables) override; | ||
|
||
protected: | ||
void getControlInterfaces(const std::string& joint_name, ControlInterfaces& ci) const; | ||
|
||
std::vector<std::string> joint_names_; /// A list of all joints used by the current SRDF groups | ||
std::unordered_map<std::string, ControlInterfaces> original_joint_interfaces_, new_joint_interfaces_; | ||
|
||
ControlInterfaces default_ci_, available_ci_; | ||
srdf::Model::GroupState initial_group_state_; | ||
|
||
bool changed_; | ||
}; | ||
} // namespace controllers | ||
} // namespace moveit_setup |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.