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Change filter coefficient to ROS param #2091

Merged
merged 14 commits into from
Apr 11, 2023
Merged

Change filter coefficient to ROS param #2091

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f4f62b5
Add generate_parameter_library as dependency
ibrahiminfinite Apr 7, 2023
4ba6234
Generate and export parameter target
ibrahiminfinite Apr 7, 2023
f2f649f
Update butterworth filter to use params
ibrahiminfinite Apr 7, 2023
8742948
Move param listener declaration to header
ibrahiminfinite Apr 7, 2023
ed04341
Formatting
ibrahiminfinite Apr 7, 2023
5b93e24
Remove unnecessary rclcpp include
ibrahiminfinite Apr 10, 2023
bb7b080
Fix alphabetical order
ibrahiminfinite Apr 10, 2023
be444ee
Make param listener local
ibrahiminfinite Apr 10, 2023
f9f0049
Fix target exporting in cmake
ibrahiminfinite Apr 10, 2023
70c7ba9
Add moveit_ prefix to parameter library target
ibrahiminfinite Apr 10, 2023
076bf81
Remove obsolete comment
ibrahiminfinite Apr 11, 2023
689a280
Member variable naming
AndyZe Apr 11, 2023
725443e
Alphabetize
AndyZe Apr 11, 2023
84e6b84
Merge branch 'main' into ibrahim/param_coeff
AndyZe Apr 11, 2023
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4 changes: 4 additions & 0 deletions moveit_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ find_package(common_interfaces REQUIRED)
find_package(eigen_stl_containers REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(generate_parameter_library REQUIRED)
find_package(geometric_shapes REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(kdl_parser REQUIRED)
Expand All @@ -45,6 +46,7 @@ find_package(urdfdom REQUIRED)
find_package(urdfdom_headers REQUIRED)
find_package(visualization_msgs REQUIRED)


# TODO: Port python bindings
# find_package(pybind11 REQUIRED)

Expand Down Expand Up @@ -108,6 +110,7 @@ install(
TARGETS
collision_detector_bullet_plugin
moveit_butterworth_filter
moveit_butterworth_parameters
moveit_collision_detection
moveit_collision_detection_bullet
moveit_collision_detection_fcl
Expand Down Expand Up @@ -145,6 +148,7 @@ ament_export_dependencies(
eigen_stl_containers
Eigen3
eigen3_cmake_module
generate_parameter_library
geometric_shapes
geometry_msgs
kdl_parser
Expand Down
7 changes: 5 additions & 2 deletions moveit_core/online_signal_smoothing/CMakeLists.txt
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Expand Up @@ -28,16 +28,19 @@ target_include_directories(moveit_butterworth_filter PUBLIC
set_target_properties(moveit_butterworth_filter PROPERTIES VERSION
"${${PROJECT_NAME}_VERSION}"
)

generate_parameter_library(moveit_butterworth_parameters src/butterworth_parameters.yaml)

target_link_libraries(moveit_butterworth_filter
moveit_smoothing_base
moveit_butterworth_parameters
moveit_robot_model
moveit_smoothing_base
)
ament_target_dependencies(moveit_butterworth_filter
srdfdom # include dependency from moveit_robot_model
)

# Installation

install(DIRECTORY include/ DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_smoothing_base_export.h DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_butterworth_filter_export.h DESTINATION include/moveit_core)
Expand Down
1 change: 1 addition & 0 deletions ..._core/online_signal_smoothing/include/moveit/online_signal_smoothing/butterworth_filter.h
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Expand Up @@ -41,6 +41,7 @@

#include <cstddef>

#include <moveit_butterworth_parameters.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/online_signal_smoothing/smoothing_base_class.h>

Expand Down
6 changes: 3 additions & 3 deletions moveit_core/online_signal_smoothing/src/butterworth_filter.cpp
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Expand Up @@ -100,12 +100,12 @@ bool ButterworthFilterPlugin::initialize(rclcpp::Node::SharedPtr node, moveit::c
{
node_ = node;
num_joints_ = num_joints;
auto param_listener = std::make_unique<online_signal_smoothing::ParamListener>(node_);
auto filter_coeff = param_listener->get_params().butterworth_filter_coeff;

for (std::size_t i = 0; i < num_joints_; ++i)
{
// Low-pass filters for the joint positions
// TODO(andyz): read a parameter
position_filters_.emplace_back(1.5 /* filter coefficient, should be >1 */);
position_filters_.emplace_back(filter_coeff);
}
return true;
};
Expand Down
9 changes: 9 additions & 0 deletions moveit_core/online_signal_smoothing/src/butterworth_parameters.yaml
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@@ -0,0 +1,9 @@
online_signal_smoothing:
butterworth_filter_coeff: {
type: double,
default_value: 1.5,
description: "Filter coefficient for the Butterworth filter",
validation: {
gt<>: 1.0
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}
}
3 changes: 2 additions & 1 deletion moveit_core/package.xml
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Expand Up @@ -25,8 +25,9 @@
<buildtool_depend>pkg-config</buildtool_depend>
<buildtool_depend>eigen3_cmake_module</buildtool_depend>
<buildtool_export_depend>eigen3_cmake_module</buildtool_export_depend>
<depend>moveit_common</depend>

<depend>generate_parameter_library</depend>
<depend>moveit_common</depend>
<depend>angles</depend>
<depend>rclcpp</depend>
<depend>common_interfaces</depend>
Expand Down