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joint_trajectory_interface.cpp
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joint_trajectory_interface.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Southwest Research Institute
* 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 the Southwest Research Institute, 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.
*/
#include <algorithm>
#include "industrial_robot_client/joint_trajectory_interface.h"
#include "simple_message/joint_traj_pt.h"
#include "industrial_utils/param_utils.h"
using namespace industrial_utils::param;
using industrial::simple_message::SimpleMessage;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;
namespace SpecialSeqValues = industrial::joint_traj_pt::SpecialSeqValues;
typedef industrial::joint_traj_pt::JointTrajPt rbt_JointTrajPt;
typedef trajectory_msgs::JointTrajectoryPoint ros_JointTrajPt;
namespace industrial_robot_client
{
namespace joint_trajectory_interface
{
#define ROS_ERROR_RETURN(rtn,...) do {ROS_ERROR(__VA_ARGS__); return(rtn);} while(0)
bool JointTrajectoryInterface::init(std::string default_ip, int default_port)
{
std::string ip;
int port;
// override IP/port with ROS params, if available
ros::param::param<std::string>("robot_ip_address", ip, default_ip);
ros::param::param<int>("~port", port, default_port);
// check for valid parameter values
if (ip.empty())
{
ROS_ERROR("No valid robot IP address found. Please set ROS 'robot_ip_address' param");
return false;
}
if (port <= 0)
{
ROS_ERROR("No valid robot IP port found. Please set ROS '~port' param");
return false;
}
char* ip_addr = strdup(ip.c_str()); // connection.init() requires "char*", not "const char*"
ROS_INFO("Joint Trajectory Interface connecting to IP address: '%s:%d'", ip_addr, port);
default_tcp_connection_.init(ip_addr, port);
free(ip_addr);
return init(&default_tcp_connection_);
}
bool JointTrajectoryInterface::init(SmplMsgConnection* connection)
{
std::vector<std::string> joint_names;
if (!getJointNames("controller_joint_names", "robot_description", joint_names))
{
ROS_ERROR("Failed to initialize joint_names. Aborting");
return false;
}
return init(connection, joint_names);
}
bool JointTrajectoryInterface::init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
const std::map<std::string, double> &velocity_limits)
{
this->connection_ = connection;
this->all_joint_names_ = joint_names;
this->joint_vel_limits_ = velocity_limits;
connection_->makeConnect();
// try to read velocity limits from URDF, if none specified
if (joint_vel_limits_.empty() && !industrial_utils::param::getJointVelocityLimits("robot_description", joint_vel_limits_))
ROS_WARN("Unable to read velocity limits from 'robot_description' param. Velocity validation disabled.");
this->srv_stop_motion_ = this->node_.advertiseService("stop_motion", &JointTrajectoryInterface::stopMotionCB, this);
this->srv_joint_trajectory_ = this->node_.advertiseService("joint_path_command", &JointTrajectoryInterface::jointTrajectoryCB, this);
this->sub_joint_trajectory_ = this->node_.subscribe("joint_path_command", 0, &JointTrajectoryInterface::jointTrajectoryCB, this);
this->sub_cur_pos_ = this->node_.subscribe("joint_states", 1, &JointTrajectoryInterface::jointStateCB, this);
return true;
}
JointTrajectoryInterface::~JointTrajectoryInterface()
{
trajectoryStop();
this->sub_joint_trajectory_.shutdown();
}
bool JointTrajectoryInterface::jointTrajectoryCB(industrial_msgs::CmdJointTrajectory::Request &req,
industrial_msgs::CmdJointTrajectory::Response &res)
{
trajectory_msgs::JointTrajectoryPtr traj_ptr(new trajectory_msgs::JointTrajectory);
*traj_ptr = req.trajectory; // copy message data
this->jointTrajectoryCB(traj_ptr);
// no success/fail result from jointTrajectoryCB. Assume success.
res.code.val = industrial_msgs::ServiceReturnCode::SUCCESS;
return true; // always return true. To distinguish between call-failed and service-unavailable.
}
void JointTrajectoryInterface::jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg)
{
ROS_INFO("Receiving joint trajectory message");
// check for STOP command
if (msg->points.empty())
{
ROS_INFO("Empty trajectory received, canceling current trajectory");
trajectoryStop();
return;
}
// convert trajectory into robot-format
std::vector<JointTrajPtMessage> robot_msgs;
if (!trajectory_to_msgs(msg, &robot_msgs))
return;
// send command messages to robot
send_to_robot(robot_msgs);
}
bool JointTrajectoryInterface::trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr& traj, std::vector<JointTrajPtMessage>* msgs)
{
msgs->clear();
// check for valid trajectory
if (!is_valid(*traj))
return false;
for (size_t i=0; i<traj->points.size(); ++i)
{
ros_JointTrajPt rbt_pt, xform_pt;
double vel, duration;
// select / reorder joints for sending to robot
if (!select(traj->joint_names, traj->points[i], this->all_joint_names_, &rbt_pt))
return false;
// transform point data (e.g. for joint-coupling)
if (!transform(rbt_pt, &xform_pt))
return false;
// reduce velocity to a single scalar, for robot command
if (!calc_speed(xform_pt, &vel, &duration))
return false;
JointTrajPtMessage msg = create_message(i, xform_pt.positions, vel, duration);
msgs->push_back(msg);
}
return true;
}
bool JointTrajectoryInterface::select(const std::vector<std::string>& ros_joint_names, const ros_JointTrajPt& ros_pt,
const std::vector<std::string>& rbt_joint_names, ros_JointTrajPt* rbt_pt)
{
ROS_ASSERT(ros_joint_names.size() == ros_pt.positions.size());
// initialize rbt_pt
*rbt_pt = ros_pt;
rbt_pt->positions.clear(); rbt_pt->velocities.clear(); rbt_pt->accelerations.clear();
for (size_t rbt_idx=0; rbt_idx < rbt_joint_names.size(); ++rbt_idx)
{
bool is_empty = rbt_joint_names[rbt_idx].empty();
// find matching ROS element
size_t ros_idx = std::find(ros_joint_names.begin(), ros_joint_names.end(), rbt_joint_names[rbt_idx]) - ros_joint_names.begin();
bool is_found = ros_idx < ros_joint_names.size();
// error-chk: required robot joint not found in ROS joint-list
if (!is_empty && !is_found)
{
ROS_ERROR("Expected joint (%s) not found in JointTrajectory. Aborting command.", rbt_joint_names[rbt_idx].c_str());
return false;
}
if (is_empty)
{
if (!ros_pt.positions.empty()) rbt_pt->positions.push_back(default_joint_pos_);
if (!ros_pt.velocities.empty()) rbt_pt->velocities.push_back(-1);
if (!ros_pt.accelerations.empty()) rbt_pt->accelerations.push_back(-1);
}
else
{
if (!ros_pt.positions.empty()) rbt_pt->positions.push_back(ros_pt.positions[ros_idx]);
if (!ros_pt.velocities.empty()) rbt_pt->velocities.push_back(ros_pt.velocities[ros_idx]);
if (!ros_pt.accelerations.empty()) rbt_pt->accelerations.push_back(ros_pt.accelerations[ros_idx]);
}
}
return true;
}
bool JointTrajectoryInterface::calc_speed(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity, double* rbt_duration)
{
return calc_velocity(pt, rbt_velocity) && calc_duration(pt, rbt_duration);
}
// default velocity calculation computes the %-of-max-velocity for the "critical joint" (closest to velocity-limit)
// such that 0.2 = 20% of maximum joint speed.
//
// NOTE: this calculation uses the maximum joint speeds from the URDF file, which may differ from those defined on
// the physical robot. These differences could lead to different actual movement velocities than intended.
// Behavior should be verified on a physical robot if movement velocity is critical.
bool JointTrajectoryInterface::calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity)
{
std::vector<double> vel_ratios;
ROS_ASSERT(all_joint_names_.size() == pt.positions.size());
// check for empty velocities in ROS topic
if (pt.velocities.empty())
{
ROS_WARN("Joint velocities unspecified. Using default/safe speed.");
*rbt_velocity = default_vel_ratio_;
return true;
}
for (size_t i=0; i<all_joint_names_.size(); ++i)
{
const std::string &jnt_name = all_joint_names_[i];
// update vel_ratios
if (jnt_name.empty()) // ignore "dummy joints" in velocity calcs
vel_ratios.push_back(-1);
else if (joint_vel_limits_.count(jnt_name) == 0) // no velocity limit specified for this joint
vel_ratios.push_back(-1);
else
vel_ratios.push_back( fabs(pt.velocities[i] / joint_vel_limits_[jnt_name]) ); // calculate expected duration for this joint
}
// find largest velocity-ratio (closest to max joint-speed)
int max_idx = std::max_element(vel_ratios.begin(), vel_ratios.end()) - vel_ratios.begin();
if (vel_ratios[max_idx] > 0)
*rbt_velocity = vel_ratios[max_idx];
else
{
ROS_WARN_ONCE("Joint velocity-limits unspecified. Using default velocity-ratio.");
*rbt_velocity = default_vel_ratio_;
}
if ( (*rbt_velocity < 0) || (*rbt_velocity > 1) )
{
ROS_WARN("computed velocity (%.1f %%) is out-of-range. Clipping to [0-100%%]", *rbt_velocity * 100);
*rbt_velocity = std::min(1.0, std::max(0.0, *rbt_velocity)); // clip to [0,1]
}
return true;
}
bool JointTrajectoryInterface::calc_duration(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_duration)
{
std::vector<double> durations;
double this_time = pt.time_from_start.toSec();
static double last_time = 0;
if (this_time <= last_time) // earlier time => new trajectory. Move slowly to first point.
*rbt_duration = default_duration_;
else
*rbt_duration = this_time - last_time;
last_time = this_time;
return true;
}
JointTrajPtMessage JointTrajectoryInterface::create_message(int seq, std::vector<double> joint_pos, double velocity, double duration)
{
industrial::joint_data::JointData pos;
ROS_ASSERT(joint_pos.size() <= (unsigned int)pos.getMaxNumJoints());
for (size_t i=0; i<joint_pos.size(); ++i)
pos.setJoint(i, joint_pos[i]);
rbt_JointTrajPt pt;
pt.init(seq, pos, velocity, duration);
JointTrajPtMessage msg;
msg.init(pt);
return msg;
}
void JointTrajectoryInterface::trajectoryStop()
{
JointTrajPtMessage jMsg;
SimpleMessage msg, reply;
ROS_INFO("Joint trajectory handler: entering stopping state");
jMsg.setSequence(SpecialSeqValues::STOP_TRAJECTORY);
jMsg.toRequest(msg);
ROS_DEBUG("Sending stop command");
this->connection_->sendAndReceiveMsg(msg, reply);
}
bool JointTrajectoryInterface::stopMotionCB(industrial_msgs::StopMotion::Request &req,
industrial_msgs::StopMotion::Response &res)
{
trajectoryStop();
// no success/fail result from trajectoryStop. Assume success.
res.code.val = industrial_msgs::ServiceReturnCode::SUCCESS;
return true; // always return true. To distinguish between call-failed and service-unavailable.
}
bool JointTrajectoryInterface::is_valid(const trajectory_msgs::JointTrajectory &traj)
{
for (int i=0; i<traj.points.size(); ++i)
{
const trajectory_msgs::JointTrajectoryPoint &pt = traj.points[i];
// check for non-empty positions
if (pt.positions.empty())
ROS_ERROR_RETURN(false, "Validation failed: Missing position data for trajectory pt %d", i);
// check for joint velocity limits
for (int j=0; j<pt.velocities.size(); ++j)
{
std::map<std::string, double>::iterator max_vel = joint_vel_limits_.find(traj.joint_names[j]);
if (max_vel == joint_vel_limits_.end()) continue; // no velocity-checking if limit not defined
if (std::abs(pt.velocities[j]) > max_vel->second)
ROS_ERROR_RETURN(false, "Validation failed: Max velocity exceeded for trajectory pt %d, joint '%s'", i, traj.joint_names[j].c_str());
}
// check for valid timestamp
if ((i > 0) && (pt.time_from_start.toSec() == 0))
ROS_ERROR_RETURN(false, "Validation failed: Missing valid timestamp data for trajectory pt %d", i);
}
return true;
}
// copy robot JointState into local cache
void JointTrajectoryInterface::jointStateCB(const sensor_msgs::JointStateConstPtr &msg)
{
this->cur_joint_pos_ = *msg;
}
} //joint_trajectory_interface
} //industrial_robot_client