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joint_trajectory_controller.cpp
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joint_trajectory_controller.cpp
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// Copyright (c) 2021 ros2_control Development Team
//
// 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.
#include "joint_trajectory_controller/joint_trajectory_controller.hpp"
#include <chrono>
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include "angles/angles.h"
#include "builtin_interfaces/msg/duration.hpp"
#include "builtin_interfaces/msg/time.hpp"
#include "controller_interface/helpers.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "joint_trajectory_controller/trajectory.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp_action/create_server.hpp"
#include "rclcpp_action/server_goal_handle.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "urdf/model.h"
namespace joint_trajectory_controller
{
JointTrajectoryController::JointTrajectoryController()
: controller_interface::ControllerInterface(), dof_(0)
{
}
controller_interface::CallbackReturn JointTrajectoryController::on_init()
{
if (!urdf_.empty())
{
if (!model_.initString(urdf_))
{
RCLCPP_ERROR(get_node()->get_logger(), "Failed to parse URDF file");
}
else
{
RCLCPP_DEBUG(get_node()->get_logger(), "Successfully parsed URDF file");
}
}
else
{
// empty URDF is used for some tests
RCLCPP_DEBUG(get_node()->get_logger(), "No URDF file given");
}
try
{
// Create the parameter listener and get the parameters
param_listener_ = std::make_shared<ParamListener>(get_node());
params_ = param_listener_->get_params();
}
catch (const std::exception & e)
{
fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
return CallbackReturn::ERROR;
}
return CallbackReturn::SUCCESS;
}
controller_interface::InterfaceConfiguration
JointTrajectoryController::command_interface_configuration() const
{
controller_interface::InterfaceConfiguration conf;
conf.type = controller_interface::interface_configuration_type::INDIVIDUAL;
if (dof_ == 0)
{
fprintf(
stderr,
"During ros2_control interface configuration, degrees of freedom is not valid;"
" it should be positive. Actual DOF is %zu\n",
dof_);
std::exit(EXIT_FAILURE);
}
conf.names.reserve(dof_ * params_.command_interfaces.size());
for (const auto & joint_name : command_joint_names_)
{
for (const auto & interface_type : params_.command_interfaces)
{
conf.names.push_back(joint_name + "/" + interface_type);
}
}
return conf;
}
controller_interface::InterfaceConfiguration
JointTrajectoryController::state_interface_configuration() const
{
controller_interface::InterfaceConfiguration conf;
conf.type = controller_interface::interface_configuration_type::INDIVIDUAL;
conf.names.reserve(dof_ * params_.state_interfaces.size());
for (const auto & joint_name : params_.joints)
{
for (const auto & interface_type : params_.state_interfaces)
{
conf.names.push_back(joint_name + "/" + interface_type);
}
}
return conf;
}
controller_interface::return_type JointTrajectoryController::update(
const rclcpp::Time & time, const rclcpp::Duration & period)
{
if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
return controller_interface::return_type::OK;
}
// update dynamic parameters
if (param_listener_->is_old(params_))
{
params_ = param_listener_->get_params();
default_tolerances_ = get_segment_tolerances(params_);
// update the PID gains
// variable use_closed_loop_pid_adapter_ is updated in on_configure only
if (use_closed_loop_pid_adapter_)
{
update_pids();
}
}
// don't update goal after we sampled the trajectory to avoid any racecondition
const auto active_goal = *rt_active_goal_.readFromRT();
// Check if a new external message has been received from nonRT threads
auto current_external_msg = traj_external_point_ptr_->get_trajectory_msg();
auto new_external_msg = traj_msg_external_point_ptr_.readFromRT();
// Discard, if a goal is pending but still not active (somewhere stuck in goal_handle_timer_)
if (
current_external_msg != *new_external_msg &&
(*(rt_has_pending_goal_.readFromRT()) && !active_goal) == false)
{
fill_partial_goal(*new_external_msg);
sort_to_local_joint_order(*new_external_msg);
// TODO(denis): Add here integration of position and velocity
traj_external_point_ptr_->update(*new_external_msg);
}
// current state update
state_current_.time_from_start.set__sec(0);
read_state_from_state_interfaces(state_current_);
// currently carrying out a trajectory
if (has_active_trajectory())
{
bool first_sample = false;
// if sampling the first time, set the point before you sample
if (!traj_external_point_ptr_->is_sampled_already())
{
first_sample = true;
if (params_.open_loop_control)
{
traj_external_point_ptr_->set_point_before_trajectory_msg(
time, last_commanded_state_, joints_angle_wraparound_);
}
else
{
traj_external_point_ptr_->set_point_before_trajectory_msg(
time, state_current_, joints_angle_wraparound_);
}
}
// find segment for current timestamp
TrajectoryPointConstIter start_segment_itr, end_segment_itr;
const bool valid_point = traj_external_point_ptr_->sample(
time, interpolation_method_, state_desired_, start_segment_itr, end_segment_itr);
if (valid_point)
{
const rclcpp::Time traj_start = traj_external_point_ptr_->time_from_start();
// this is the time instance
// - started with the first segment: when the first point will be reached (in the future)
// - later: when the point of the current segment was reached
const rclcpp::Time segment_time_from_start = traj_start + start_segment_itr->time_from_start;
// time_difference is
// - negative until first point is reached
// - counting from zero to time_from_start of next point
double time_difference = time.seconds() - segment_time_from_start.seconds();
bool tolerance_violated_while_moving = false;
bool outside_goal_tolerance = false;
bool within_goal_time = true;
const bool before_last_point = end_segment_itr != traj_external_point_ptr_->end();
// have we reached the end, are not holding position, and is a timeout configured?
// Check independently of other tolerances
if (
!before_last_point && *(rt_is_holding_.readFromRT()) == false && cmd_timeout_ > 0.0 &&
time_difference > cmd_timeout_)
{
RCLCPP_WARN(get_node()->get_logger(), "Aborted due to command timeout");
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
// Check state/goal tolerance
for (size_t index = 0; index < dof_; ++index)
{
compute_error_for_joint(state_error_, index, state_current_, state_desired_);
// Always check the state tolerance on the first sample in case the first sample
// is the last point
// print output per default, goal will be aborted afterwards
if (
(before_last_point || first_sample) && *(rt_is_holding_.readFromRT()) == false &&
!check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.state_tolerance[index],
true /* show_errors */))
{
tolerance_violated_while_moving = true;
}
// past the final point, check that we end up inside goal tolerance
if (
!before_last_point && *(rt_is_holding_.readFromRT()) == false &&
!check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.goal_state_tolerance[index],
false /* show_errors */))
{
outside_goal_tolerance = true;
if (default_tolerances_.goal_time_tolerance != 0.0)
{
if (time_difference > default_tolerances_.goal_time_tolerance)
{
within_goal_time = false;
// print once, goal will be aborted afterwards
check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.goal_state_tolerance[index],
true /* show_errors */);
}
}
}
}
// set values for next hardware write() if tolerance is met
if (!tolerance_violated_while_moving && within_goal_time)
{
if (use_closed_loop_pid_adapter_)
{
// Update PIDs
for (auto i = 0ul; i < dof_; ++i)
{
tmp_command_[i] = (state_desired_.velocities[i] * ff_velocity_scale_[i]) +
pids_[i]->computeCommand(
state_error_.positions[i], state_error_.velocities[i],
(uint64_t)period.nanoseconds());
}
}
// set values for next hardware write()
if (has_position_command_interface_)
{
assign_interface_from_point(joint_command_interface_[0], state_desired_.positions);
}
if (has_velocity_command_interface_)
{
if (use_closed_loop_pid_adapter_)
{
assign_interface_from_point(joint_command_interface_[1], tmp_command_);
}
else
{
assign_interface_from_point(joint_command_interface_[1], state_desired_.velocities);
}
}
if (has_acceleration_command_interface_)
{
assign_interface_from_point(joint_command_interface_[2], state_desired_.accelerations);
}
if (has_effort_command_interface_)
{
assign_interface_from_point(joint_command_interface_[3], tmp_command_);
}
// store the previous command. Used in open-loop control mode
last_commanded_state_ = state_desired_;
}
if (active_goal)
{
// send feedback
auto feedback = std::make_shared<FollowJTrajAction::Feedback>();
feedback->header.stamp = time;
feedback->joint_names = params_.joints;
feedback->actual = state_current_;
feedback->desired = state_desired_;
feedback->error = state_error_;
active_goal->setFeedback(feedback);
// check abort
if (tolerance_violated_while_moving)
{
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::PATH_TOLERANCE_VIOLATED);
result->set__error_string("Aborted due to path tolerance violation");
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
rt_has_pending_goal_.writeFromNonRT(false);
RCLCPP_WARN(get_node()->get_logger(), "Aborted due to state tolerance violation");
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
// check goal tolerance
else if (!before_last_point)
{
if (!outside_goal_tolerance)
{
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::SUCCESSFUL);
result->set__error_string("Goal successfully reached!");
active_goal->setSucceeded(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
rt_has_pending_goal_.writeFromNonRT(false);
RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_success_trajectory_point());
}
else if (!within_goal_time)
{
const std::string error_string = "Aborted due to goal_time_tolerance exceeding by " +
std::to_string(time_difference) + " seconds";
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED);
result->set__error_string(error_string);
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
rt_has_pending_goal_.writeFromNonRT(false);
RCLCPP_WARN(get_node()->get_logger(), error_string.c_str());
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
}
}
else if (tolerance_violated_while_moving && *(rt_has_pending_goal_.readFromRT()) == false)
{
// we need to ensure that there is no pending goal -> we get a race condition otherwise
RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
else if (
!before_last_point && !within_goal_time && *(rt_has_pending_goal_.readFromRT()) == false)
{
RCLCPP_ERROR(get_node()->get_logger(), "Exceeded goal_time_tolerance: holding position...");
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
// else, run another cycle while waiting for outside_goal_tolerance
// to be satisfied (will stay in this state until new message arrives)
// or outside_goal_tolerance violated within the goal_time_tolerance
}
}
publish_state(time, state_desired_, state_current_, state_error_);
return controller_interface::return_type::OK;
}
void JointTrajectoryController::read_state_from_state_interfaces(JointTrajectoryPoint & state)
{
auto assign_point_from_interface =
[&](std::vector<double> & trajectory_point_interface, const auto & joint_interface)
{
for (size_t index = 0; index < dof_; ++index)
{
trajectory_point_interface[index] = joint_interface[index].get().get_value();
}
};
// Assign values from the hardware
// Position states always exist
assign_point_from_interface(state.positions, joint_state_interface_[0]);
// velocity and acceleration states are optional
if (has_velocity_state_interface_)
{
assign_point_from_interface(state.velocities, joint_state_interface_[1]);
// Acceleration is used only in combination with velocity
if (has_acceleration_state_interface_)
{
assign_point_from_interface(state.accelerations, joint_state_interface_[2]);
}
else
{
// Make empty so the property is ignored during interpolation
state.accelerations.clear();
}
}
else
{
// Make empty so the property is ignored during interpolation
state.velocities.clear();
state.accelerations.clear();
}
}
bool JointTrajectoryController::read_state_from_command_interfaces(JointTrajectoryPoint & state)
{
bool has_values = true;
auto assign_point_from_interface =
[&](std::vector<double> & trajectory_point_interface, const auto & joint_interface)
{
for (size_t index = 0; index < dof_; ++index)
{
trajectory_point_interface[index] = joint_interface[index].get().get_value();
}
};
auto interface_has_values = [](const auto & joint_interface)
{
return std::find_if(
joint_interface.begin(), joint_interface.end(), [](const auto & interface)
{ return std::isnan(interface.get().get_value()); }) == joint_interface.end();
};
// Assign values from the command interfaces as state. Therefore needs check for both.
// Position state interface has to exist always
if (has_position_command_interface_ && interface_has_values(joint_command_interface_[0]))
{
assign_point_from_interface(state.positions, joint_command_interface_[0]);
}
else
{
state.positions.clear();
has_values = false;
}
// velocity and acceleration states are optional
if (has_velocity_state_interface_)
{
if (has_velocity_command_interface_ && interface_has_values(joint_command_interface_[1]))
{
assign_point_from_interface(state.velocities, joint_command_interface_[1]);
}
else
{
state.velocities.clear();
has_values = false;
}
}
else
{
state.velocities.clear();
}
// Acceleration is used only in combination with velocity
if (has_acceleration_state_interface_)
{
if (has_acceleration_command_interface_ && interface_has_values(joint_command_interface_[2]))
{
assign_point_from_interface(state.accelerations, joint_command_interface_[2]);
}
else
{
state.accelerations.clear();
has_values = false;
}
}
else
{
state.accelerations.clear();
}
return has_values;
}
bool JointTrajectoryController::read_commands_from_command_interfaces(
JointTrajectoryPoint & commands)
{
bool has_values = true;
auto assign_point_from_interface =
[&](std::vector<double> & trajectory_point_interface, const auto & joint_interface)
{
for (size_t index = 0; index < dof_; ++index)
{
trajectory_point_interface[index] = joint_interface[index].get().get_value();
}
};
auto interface_has_values = [](const auto & joint_interface)
{
return std::find_if(
joint_interface.begin(), joint_interface.end(), [](const auto & interface)
{ return std::isnan(interface.get().get_value()); }) == joint_interface.end();
};
// Assign values from the command interfaces as command.
if (has_position_command_interface_)
{
if (interface_has_values(joint_command_interface_[0]))
{
assign_point_from_interface(commands.positions, joint_command_interface_[0]);
}
else
{
commands.positions.clear();
has_values = false;
}
}
if (has_velocity_command_interface_)
{
if (interface_has_values(joint_command_interface_[1]))
{
assign_point_from_interface(commands.velocities, joint_command_interface_[1]);
}
else
{
commands.velocities.clear();
has_values = false;
}
}
if (has_acceleration_command_interface_)
{
if (interface_has_values(joint_command_interface_[2]))
{
assign_point_from_interface(commands.accelerations, joint_command_interface_[2]);
}
else
{
commands.accelerations.clear();
has_values = false;
}
}
if (has_effort_command_interface_)
{
if (interface_has_values(joint_command_interface_[3]))
{
assign_point_from_interface(commands.effort, joint_command_interface_[3]);
}
else
{
commands.effort.clear();
has_values = false;
}
}
return has_values;
}
void JointTrajectoryController::query_state_service(
const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request,
std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Response> response)
{
const auto logger = get_node()->get_logger();
// Preconditions
if (get_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
{
RCLCPP_ERROR(logger, "Can't sample trajectory. Controller is not active.");
response->success = false;
return;
}
const auto active_goal = *rt_active_goal_.readFromRT();
response->name = params_.joints;
trajectory_msgs::msg::JointTrajectoryPoint state_requested = state_current_;
if (has_active_trajectory())
{
TrajectoryPointConstIter start_segment_itr, end_segment_itr;
response->success = traj_external_point_ptr_->sample(
static_cast<rclcpp::Time>(request->time), interpolation_method_, state_requested,
start_segment_itr, end_segment_itr);
// If the requested sample time precedes the trajectory finish time respond as failure
if (response->success)
{
if (end_segment_itr == traj_external_point_ptr_->end())
{
RCLCPP_ERROR(logger, "Requested sample time precedes the current trajectory end time.");
response->success = false;
}
}
else
{
RCLCPP_ERROR(
logger, "Requested sample time is earlier than the current trajectory start time.");
}
}
else
{
RCLCPP_ERROR(logger, "Currently there is no valid trajectory instance.");
response->success = false;
}
response->position = state_requested.positions;
response->velocity = state_requested.velocities;
response->acceleration = state_requested.accelerations;
}
controller_interface::CallbackReturn JointTrajectoryController::on_configure(
const rclcpp_lifecycle::State &)
{
const auto logger = get_node()->get_logger();
if (!param_listener_)
{
RCLCPP_ERROR(get_node()->get_logger(), "Error encountered during init");
return controller_interface::CallbackReturn::ERROR;
}
// update the dynamic map parameters
param_listener_->refresh_dynamic_parameters();
// get parameters from the listener in case they were updated
params_ = param_listener_->get_params();
// get degrees of freedom
dof_ = params_.joints.size();
// TODO(destogl): why is this here? Add comment or move
if (!reset())
{
return CallbackReturn::FAILURE;
}
if (params_.joints.empty())
{
// TODO(destogl): is this correct? Can we really move-on if no joint names are not provided?
RCLCPP_WARN(logger, "'joints' parameter is empty.");
}
command_joint_names_ = params_.command_joints;
if (command_joint_names_.empty())
{
command_joint_names_ = params_.joints;
RCLCPP_INFO(
logger, "No specific joint names are used for command interfaces. Using 'joints' parameter.");
}
else if (command_joint_names_.size() != params_.joints.size())
{
RCLCPP_ERROR(
logger, "'command_joints' parameter has to have the same size as 'joints' parameter.");
return CallbackReturn::FAILURE;
}
if (params_.command_interfaces.empty())
{
RCLCPP_ERROR(logger, "'command_interfaces' parameter is empty.");
return CallbackReturn::FAILURE;
}
// Check if only allowed interface types are used and initialize storage to avoid memory
// allocation during activation
joint_command_interface_.resize(allowed_interface_types_.size());
has_position_command_interface_ =
contains_interface_type(params_.command_interfaces, hardware_interface::HW_IF_POSITION);
has_velocity_command_interface_ =
contains_interface_type(params_.command_interfaces, hardware_interface::HW_IF_VELOCITY);
has_acceleration_command_interface_ =
contains_interface_type(params_.command_interfaces, hardware_interface::HW_IF_ACCELERATION);
has_effort_command_interface_ =
contains_interface_type(params_.command_interfaces, hardware_interface::HW_IF_EFFORT);
// if there is only velocity or if there is effort command interface
// then use also PID adapter
use_closed_loop_pid_adapter_ =
(has_velocity_command_interface_ && params_.command_interfaces.size() == 1 &&
!params_.open_loop_control) ||
has_effort_command_interface_;
if (use_closed_loop_pid_adapter_)
{
pids_.resize(dof_);
ff_velocity_scale_.resize(dof_);
tmp_command_.resize(dof_, 0.0);
update_pids();
}
// Configure joint position error normalization (angle_wraparound)
joints_angle_wraparound_.resize(dof_);
for (size_t i = 0; i < dof_; ++i)
{
const auto & gains = params_.gains.joints_map.at(params_.joints[i]);
if (gains.angle_wraparound)
{
// TODO(christophfroehlich): remove this warning in a future release (ROS-J)
RCLCPP_WARN(
logger,
"[Deprecated] Parameter 'gains.<joint>.angle_wraparound' is deprecated. The "
"angle_wraparound is now used if a continuous joint is configured in the URDF.");
joints_angle_wraparound_[i] = true;
}
if (!urdf_.empty())
{
auto urdf_joint = model_.getJoint(params_.joints[i]);
if (urdf_joint && urdf_joint->type == urdf::Joint::CONTINUOUS)
{
RCLCPP_DEBUG(
logger, "joint '%s' is of type continuous, use angle_wraparound.",
params_.joints[i].c_str());
joints_angle_wraparound_[i] = true;
}
// do nothing if joint is not found in the URDF
}
}
if (params_.state_interfaces.empty())
{
RCLCPP_ERROR(logger, "'state_interfaces' parameter is empty.");
return CallbackReturn::FAILURE;
}
// Check if only allowed interface types are used and initialize storage to avoid memory
// allocation during activation
// Note: 'effort' storage is also here, but never used. Still, for this is OK.
joint_state_interface_.resize(allowed_interface_types_.size());
has_position_state_interface_ =
contains_interface_type(params_.state_interfaces, hardware_interface::HW_IF_POSITION);
has_velocity_state_interface_ =
contains_interface_type(params_.state_interfaces, hardware_interface::HW_IF_VELOCITY);
has_acceleration_state_interface_ =
contains_interface_type(params_.state_interfaces, hardware_interface::HW_IF_ACCELERATION);
// Validation of combinations of state and velocity together have to be done
// here because the parameter validators only deal with each parameter
// separately.
if (
has_velocity_command_interface_ && params_.command_interfaces.size() == 1 &&
(!has_velocity_state_interface_ || !has_position_state_interface_))
{
RCLCPP_ERROR(
logger,
"'velocity' command interface can only be used alone if 'velocity' and "
"'position' state interfaces are present");
return CallbackReturn::FAILURE;
}
// effort is always used alone so no need for size check
if (
has_effort_command_interface_ &&
(!has_velocity_state_interface_ || !has_position_state_interface_))
{
RCLCPP_ERROR(
logger,
"'effort' command interface can only be used alone if 'velocity' and "
"'position' state interfaces are present");
return CallbackReturn::FAILURE;
}
auto get_interface_list = [](const std::vector<std::string> & interface_types)
{
std::stringstream ss_interfaces;
for (size_t index = 0; index < interface_types.size(); ++index)
{
if (index != 0)
{
ss_interfaces << " ";
}
ss_interfaces << interface_types[index];
}
return ss_interfaces.str();
};
// Print output so users can be sure the interface setup is correct
RCLCPP_INFO(
logger, "Command interfaces are [%s] and state interfaces are [%s].",
get_interface_list(params_.command_interfaces).c_str(),
get_interface_list(params_.state_interfaces).c_str());
// parse remaining parameters
const std::string interpolation_string =
get_node()->get_parameter("interpolation_method").as_string();
interpolation_method_ = interpolation_methods::from_string(interpolation_string);
RCLCPP_INFO(
logger, "Using '%s' interpolation method.",
interpolation_methods::InterpolationMethodMap.at(interpolation_method_).c_str());
// prepare hold_position_msg
init_hold_position_msg();
// create subscriber and publishers
joint_command_subscriber_ =
get_node()->create_subscription<trajectory_msgs::msg::JointTrajectory>(
"~/joint_trajectory", rclcpp::SystemDefaultsQoS(),
std::bind(&JointTrajectoryController::topic_callback, this, std::placeholders::_1));
publisher_ = get_node()->create_publisher<ControllerStateMsg>(
"~/controller_state", rclcpp::SystemDefaultsQoS());
state_publisher_ = std::make_unique<StatePublisher>(publisher_);
state_publisher_->lock();
state_publisher_->msg_.joint_names = params_.joints;
state_publisher_->msg_.reference.positions.resize(dof_);
state_publisher_->msg_.reference.velocities.resize(dof_);
state_publisher_->msg_.reference.accelerations.resize(dof_);
state_publisher_->msg_.feedback.positions.resize(dof_);
state_publisher_->msg_.error.positions.resize(dof_);
if (has_velocity_state_interface_)
{
state_publisher_->msg_.feedback.velocities.resize(dof_);
state_publisher_->msg_.error.velocities.resize(dof_);
}
if (has_acceleration_state_interface_)
{
state_publisher_->msg_.feedback.accelerations.resize(dof_);
state_publisher_->msg_.error.accelerations.resize(dof_);
}
if (has_position_command_interface_)
{
state_publisher_->msg_.output.positions.resize(dof_);
}
if (has_velocity_command_interface_)
{
state_publisher_->msg_.output.velocities.resize(dof_);
}
if (has_acceleration_command_interface_)
{
state_publisher_->msg_.output.accelerations.resize(dof_);
}
if (has_effort_command_interface_)
{
state_publisher_->msg_.output.effort.resize(dof_);
}
state_publisher_->unlock();
// action server configuration
if (params_.allow_partial_joints_goal)
{
RCLCPP_INFO(logger, "Goals with partial set of joints are allowed");
}
RCLCPP_INFO(
logger, "Action status changes will be monitored at %.2f Hz.", params_.action_monitor_rate);
action_monitor_period_ = rclcpp::Duration::from_seconds(1.0 / params_.action_monitor_rate);
using namespace std::placeholders;
action_server_ = rclcpp_action::create_server<FollowJTrajAction>(
get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(),
get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(),
std::string(get_node()->get_name()) + "/follow_joint_trajectory",
std::bind(&JointTrajectoryController::goal_received_callback, this, _1, _2),
std::bind(&JointTrajectoryController::goal_cancelled_callback, this, _1),
std::bind(&JointTrajectoryController::goal_accepted_callback, this, _1));
resize_joint_trajectory_point(state_current_, dof_);
resize_joint_trajectory_point_command(command_current_, dof_);
resize_joint_trajectory_point(state_desired_, dof_);
resize_joint_trajectory_point(state_error_, dof_);
resize_joint_trajectory_point(last_commanded_state_, dof_);
query_state_srv_ = get_node()->create_service<control_msgs::srv::QueryTrajectoryState>(
std::string(get_node()->get_name()) + "/query_state",
std::bind(&JointTrajectoryController::query_state_service, this, _1, _2));
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn JointTrajectoryController::on_activate(
const rclcpp_lifecycle::State &)
{
// update the dynamic map parameters
param_listener_->refresh_dynamic_parameters();
// get parameters from the listener in case they were updated
params_ = param_listener_->get_params();
// parse remaining parameters
default_tolerances_ = get_segment_tolerances(params_);
// order all joints in the storage
for (const auto & interface : params_.command_interfaces)
{
auto it =
std::find(allowed_interface_types_.begin(), allowed_interface_types_.end(), interface);
auto index = std::distance(allowed_interface_types_.begin(), it);
if (!controller_interface::get_ordered_interfaces(
command_interfaces_, command_joint_names_, interface, joint_command_interface_[index]))
{
RCLCPP_ERROR(
get_node()->get_logger(), "Expected %zu '%s' command interfaces, got %zu.", dof_,
interface.c_str(), joint_command_interface_[index].size());
return CallbackReturn::ERROR;
}
}
for (const auto & interface : params_.state_interfaces)
{
auto it =
std::find(allowed_interface_types_.begin(), allowed_interface_types_.end(), interface);
auto index = std::distance(allowed_interface_types_.begin(), it);
if (!controller_interface::get_ordered_interfaces(
state_interfaces_, params_.joints, interface, joint_state_interface_[index]))
{
RCLCPP_ERROR(
get_node()->get_logger(), "Expected %zu '%s' state interfaces, got %zu.", dof_,
interface.c_str(), joint_state_interface_[index].size());
return CallbackReturn::ERROR;
}
}
traj_external_point_ptr_ = std::make_shared<Trajectory>();
traj_msg_external_point_ptr_.writeFromNonRT(
std::shared_ptr<trajectory_msgs::msg::JointTrajectory>());
subscriber_is_active_ = true;
// Handle restart of controller by reading from commands if those are not NaN (a controller was
// running already)
trajectory_msgs::msg::JointTrajectoryPoint state;
resize_joint_trajectory_point(state, dof_);
if (read_state_from_command_interfaces(state))
{
state_current_ = state;
last_commanded_state_ = state;
}
else
{
// Initialize current state storage from hardware
read_state_from_state_interfaces(state_current_);
read_state_from_state_interfaces(last_commanded_state_);
}
// The controller should start by holding position at the beginning of active state
add_new_trajectory_msg(set_hold_position());
rt_is_holding_.writeFromNonRT(true);
// parse timeout parameter
if (params_.cmd_timeout > 0.0)
{
if (params_.cmd_timeout > default_tolerances_.goal_time_tolerance)
{
cmd_timeout_ = params_.cmd_timeout;
}
else
{
// deactivate timeout
RCLCPP_WARN(
get_node()->get_logger(),
"Command timeout must be higher than goal_time tolerance (%f vs. %f)", params_.cmd_timeout,
default_tolerances_.goal_time_tolerance);
cmd_timeout_ = 0.0;
}
}
else
{
cmd_timeout_ = 0.0;
}
return CallbackReturn::SUCCESS;
}
controller_interface::CallbackReturn JointTrajectoryController::on_deactivate(
const rclcpp_lifecycle::State &)
{
const auto active_goal = *rt_active_goal_.readFromNonRT();
if (active_goal)
{
rt_has_pending_goal_.writeFromNonRT(false);
auto action_res = std::make_shared<FollowJTrajAction::Result>();
action_res->set__error_code(FollowJTrajAction::Result::INVALID_GOAL);
action_res->set__error_string("Current goal cancelled during deactivate transition.");
active_goal->setCanceled(action_res);
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
}
for (size_t index = 0; index < dof_; ++index)
{
if (has_position_command_interface_)
{
joint_command_interface_[0][index].get().set_value(
joint_command_interface_[0][index].get().get_value());
}
if (has_velocity_command_interface_)
{