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QMController.cpp
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QMController.cpp
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//
// Created by skywoodsz on 2023/2/28.
//
#include <pinocchio/fwd.hpp> // forward declarations must be included first.
#include <pinocchio/algorithm/frames.hpp>
#include <pinocchio/algorithm/jacobian.hpp>
#include "qm_controllers/QMController.h"
#include <qm_estimation/FromTopiceEstimate.h>
#include <qm_wbc/HierarchicalWbc.h>
#include <qm_wbc/HierarchicalMpcWbc.h>
#include <ocs2_centroidal_model/AccessHelperFunctions.h>
#include <ocs2_centroidal_model/CentroidalModelPinocchioMapping.h>
#include <ocs2_centroidal_model/CentroidalModelRbdConversions.h>
#include <ocs2_core/thread_support/ExecuteAndSleep.h>
#include <ocs2_core/thread_support/SetThreadPriority.h>
#include <ocs2_legged_robot_ros/gait/GaitReceiver.h>
#include <ocs2_msgs/mpc_observation.h>
#include <ocs2_pinocchio_interface/PinocchioEndEffectorKinematics.h>
#include <ocs2_ros_interfaces/common/RosMsgConversions.h>
#include <ocs2_ros_interfaces/synchronized_module/RosReferenceManager.h>
#include <ocs2_sqp/SqpMpc.h>
#include <ocs2_centroidal_model/AccessHelperFunctions.h>
#include <ocs2_centroidal_model/ModelHelperFunctions.h>
#include <angles/angles.h>
#include <pluginlib/class_list_macros.hpp>
namespace qm {
using namespace ocs2;
using namespace legged_robot;
bool QMController::init(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &controller_nh) {
// Initialize OCS2
std::string urdfFile;
std::string taskFile;
std::string referenceFile;
controller_nh.getParam("/urdfFile", urdfFile);
controller_nh.getParam("/taskFile", taskFile);
controller_nh.getParam("/referenceFile", referenceFile);
bool verbose = false;
loadData::loadCppDataType(taskFile, "qm_interface.verbose", verbose);
setupInterface(taskFile, urdfFile, referenceFile, verbose);
setupMpc(controller_nh);
setupMrt();
CentroidalModelPinocchioMapping pinocchioMapping(qmInterface_->getCentroidalModelInfo());
eeKinematicsPtr_ = std::make_shared<PinocchioEndEffectorKinematics>(qmInterface_->getPinocchioInterface(), pinocchioMapping,
qmInterface_->modelSettings().contactNames3DoF);
std::vector<std::string> eeName{qmInterface_->modelSettings().info.eeFrame};
armEeKinematicsPtr_ = std::make_shared<PinocchioEndEffectorKinematics>(qmInterface_->getPinocchioInterface(), pinocchioMapping,
eeName);
// visualize
ros::NodeHandle nh;
robotVisualizer_ = std::make_shared<QmVisualizer>(qmInterface_->getPinocchioInterface(),
qmInterface_->getCentroidalModelInfo(),
qmInterface_->modelSettings(),
*eeKinematicsPtr_,
*armEeKinematicsPtr_,
nh);
// Hardware interface
setHybridJointHardware(robot_hw, controller_nh);
auto* contactInterface = robot_hw->get<ContactSensorInterface>();
for (const auto& name : qmInterface_->modelSettings().contactNames3DoF) {
contactHandles_.push_back(contactInterface->getHandle(name));
}
imuSensorHandle_ = robot_hw->get<hardware_interface::ImuSensorInterface>()->getHandle("unitree_imu");
// State estimation
setupStateEstimate(taskFile, verbose);
// Whole body control
setupWbc(controller_nh, taskFile);
// Safety Checker
safetyChecker_ = std::make_shared<SafetyChecker>(qmInterface_->getCentroidalModelInfo());
// Dynamic reconfigure
ros::NodeHandle nh_weight = ros::NodeHandle(controller_nh, "K");
dynamic_srv_ = std::make_shared<dynamic_reconfigure::Server<qm_controllers::WeightConfig>>(nh_weight);
dynamic_reconfigure::Server<qm_controllers::WeightConfig>::CallbackType cb = [this](auto&& PH1, auto&& PH2) {
dynamicCallback(std::forward<decltype(PH1)>(PH1), std::forward<decltype(PH2)>(PH2));
};
dynamic_srv_->setCallback(cb);
return true;
}
void QMController::starting(const ros::Time &time) {
// Initial state
currentObservation_.state.setZero(qmInterface_->getCentroidalModelInfo().stateDim);
updateStateEstimation(time, ros::Duration(0.002));
currentObservation_.input.setZero(qmInterface_->getCentroidalModelInfo().inputDim);
currentObservation_.mode = ModeNumber::STANCE;
// Initial target
vector_t EeInitTarget(7), initTarget(qmInterface_->getInitialState().size() + 7);
EeInitTarget.head(3) << 0.52, 0.09, 0.38 + measuredRbdState_[5]; // + 0.056 = 0.436
EeInitTarget.tail(4) << Eigen::Quaternion<scalar_t>(-0.5, 0.5, -0.5, 0.5).coeffs();
vector_t initState = qmInterface_->getInitialState();
vector_t armInitState = initState.tail(6);
initTarget << currentObservation_.state.head(24), armInitState, EeInitTarget;
TargetTrajectories target_trajectories({currentObservation_.time}, {initTarget}, {currentObservation_.input});
// Set the first observation and command and wait for optimization to finish
mpcMrtInterface_->setCurrentObservation(currentObservation_);
mpcMrtInterface_->getReferenceManager().setTargetTrajectories(target_trajectories);
ROS_INFO_STREAM("\033[32m Waiting for the initial policy ... \033[0m");
while (!mpcMrtInterface_->initialPolicyReceived() && ros::ok()) {
mpcMrtInterface_->advanceMpc();
ros::WallRate(qmInterface_->mpcSettings().mrtDesiredFrequency_).sleep();
}
ROS_INFO_STREAM("\033[32m Initial policy has been received. \033[0m");
mpcRunning_ = true;
last_time_ = currentObservation_.time;
}
void QMController::update(const ros::Time &time, const ros::Duration &period) {
// State Estimate
updateStateEstimation(time, period);
// Update the current state of the system
mpcMrtInterface_->setCurrentObservation(currentObservation_);
// Load the latest MPC policy
mpcMrtInterface_->updatePolicy();
// Evaluate the current policy
vector_t optimizedState, optimizedInput;
size_t plannedMode = 0; // The mode that is active at the time the policy is evaluated at.
mpcMrtInterface_->evaluatePolicy(currentObservation_.time, currentObservation_.state, optimizedState, optimizedInput, plannedMode);
currentObservation_.input = optimizedInput;
// Whole body control
wbcTimer_.startTimer();
vector_t x = wbc_->update(optimizedState, optimizedInput, measuredRbdState_, plannedMode, period.toSec(), currentObservation_.time);
wbcTimer_.endTimer();
vector_t torque = x.tail(18);
// inverce dynamic control
// vector_t joint_acc = vector_t::Zero(qmInterface_->getCentroidalModelInfo().actuatedDofNum);
// vector_t z = rbdConversions_->computeRbdTorqueFromCentroidalModel(optimizedState, optimizedInput, joint_acc);
// vector_t torque_id = z.segment<12>(6);
vector_t posDes = centroidal_model::getJointAngles(optimizedState, qmInterface_->getCentroidalModelInfo());
vector_t velDes = centroidal_model::getJointVelocities(optimizedInput, qmInterface_->getCentroidalModelInfo());
// Safety check, if failed, stop the controller
if (!safetyChecker_->check(currentObservation_, optimizedState, optimizedInput)) {
ROS_ERROR_STREAM("[QM Controller] Safety check failed, stopping the controller.");
stopRequest(time);
}
// Control
updateControlLaw(posDes, velDes, torque);
// Visualization
robotVisualizer_->update(currentObservation_, mpcMrtInterface_->getPolicy(), mpcMrtInterface_->getCommand());
// Publish the observation.
observationPublisher_.publish(ros_msg_conversions::createObservationMsg(currentObservation_));
vector_t ee_state = measuredRbdState_.tail(7);
eeStatePublisher_.publish(createEeStateMsg(currentObservation_.time, ee_state));
}
void QMController::updateControlLaw(const vector_t &posDes, const vector_t &velDes, const vector_t &torque) {
// Dog control
if(currentObservation_.time > 10)
{
for (size_t j = 0; j < 12; ++j) {
hybridJointHandles_[j].setCommand(posDes(j), velDes(j), 0, 3, torque(j));
}
}
// Arm torque
for (size_t j = 12; j < 18; ++j) { // 12, 18
hybridJointHandles_[j].setCommand(posDes(j), 0.0, arm_kp_wbc_, arm_kd_wbc_, torque(j));
}
}
void QMController::updateJointState(ocs2::vector_t& jointPos, ocs2::vector_t& jointVel) {
jointPos.resize(hybridJointHandles_.size());
jointVel.resize(hybridJointHandles_.size());
for (size_t i = 0; i < hybridJointHandles_.size(); ++i) {
jointPos(i) = hybridJointHandles_[i].getPosition();
jointVel(i) = hybridJointHandles_[i].getVelocity();
}
}
void QMController::updateStateEstimation(const ros::Time &time, const ros::Duration &period) {
vector_t jointPos, jointVel;
contact_flag_t contacts;
Eigen::Quaternion<scalar_t> quat;
contact_flag_t contactFlag;
vector3_t angularVel, linearAccel;
matrix3_t orientationCovariance, angularVelCovariance, linearAccelCovariance;
// Joint state
updateJointState(jointPos, jointVel);
// Contact state
for (size_t i = 0; i < contacts.size(); ++i) {
contactFlag[i] = contactHandles_[i].isContact();
}
// IMU state
for (size_t i = 0; i < 4; ++i) {
quat.coeffs()(i) = imuSensorHandle_.getOrientation()[i];
}
for (size_t i = 0; i < 3; ++i) {
angularVel(i) = imuSensorHandle_.getAngularVelocity()[i];
linearAccel(i) = imuSensorHandle_.getLinearAcceleration()[i];
}
for (size_t i = 0; i < 9; ++i) {
orientationCovariance(i) = imuSensorHandle_.getOrientationCovariance()[i];
angularVelCovariance(i) = imuSensorHandle_.getAngularVelocityCovariance()[i];
linearAccelCovariance(i) = imuSensorHandle_.getLinearAccelerationCovariance()[i];
}
// Update
stateEstimate_->updateJointStates(jointPos, jointVel);
stateEstimate_->updateContact(contactFlag);
stateEstimate_->updateImu(quat, angularVel, linearAccel, orientationCovariance, angularVelCovariance, linearAccelCovariance);
measuredRbdState_ = stateEstimate_->update(time, period); // state + ee
currentObservation_.time += period.toSec();
scalar_t yawLast = currentObservation_.state(9);
currentObservation_.state = rbdConversions_->computeCentroidalStateFromRbdModel(measuredRbdState_.head(2 *
qmInterface_->getCentroidalModelInfo().generalizedCoordinatesNum)); // no ee state
currentObservation_.state(9) = yawLast + angles::shortest_angular_distance(yawLast, currentObservation_.state(9));
currentObservation_.mode = stateEstimate_->getMode();
}
qm_msgs::ee_state QMController::createEeStateMsg(ocs2::scalar_t time, ocs2::vector_t state) {
qm_msgs::ee_state ee_state_msg;
ee_state_msg.time = time;
ee_state_msg.state.resize(7);
for (size_t i = 0; i < 7; ++i) {
ee_state_msg.state[i] = static_cast<float>(state(i));
}
return ee_state_msg;
}
void QMController::setHybridJointHardware(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &controller_nh) {
auto* hybridJointInterface = robot_hw->get<HybridJointInterface>();
std::vector<std::string> joint_names{"LF_HAA", "LF_HFE", "LF_KFE", "LH_HAA", "LH_HFE", "LH_KFE",
"RF_HAA", "RF_HFE", "RF_KFE", "RH_HAA", "RH_HFE", "RH_KFE",
"j2n6s300_joint_1", "j2n6s300_joint_2", "j2n6s300_joint_3",
"j2n6s300_joint_4", "j2n6s300_joint_5", "j2n6s300_joint_6"};
for (const auto& joint_name : joint_names) {
hybridJointHandles_.push_back(hybridJointInterface->getHandle(joint_name));
}
}
void QMController::setupWbc(ros::NodeHandle& controller_nh, const std::string& taskFile) {
wbc_ = std::make_shared<HierarchicalWbc>(qmInterface_->getPinocchioInterface(), qmInterface_->getCentroidalModelInfo(),
*eeKinematicsPtr_, *armEeKinematicsPtr_, controller_nh);
wbc_->loadTasksSetting(taskFile, true);
}
void QMController::setupStateEstimate(const std::string& taskFile, bool verbose) {
stateEstimate_ = std::make_shared<FromTopicStateEstimate>(qmInterface_->getPinocchioInterface(),
qmInterface_->getCentroidalModelInfo(),
*eeKinematicsPtr_, *armEeKinematicsPtr_);
currentObservation_.time = 0;
}
void QMController::setupMpc(ros::NodeHandle &controller_nh) {
mpc_ = std::make_shared<SqpMpc>(qmInterface_->mpcSettings(), qmInterface_->sqpSettings(),
qmInterface_->getOptimalControlProblem(), qmInterface_->getInitializer());
rbdConversions_ = std::make_shared<CentroidalModelRbdConversions>(qmInterface_->getPinocchioInterface(),
qmInterface_->getCentroidalModelInfo());
const std::string robotName = "qm";
const std::string gaitName = "legged_robot";
ros::NodeHandle nh;
// Gait receiver
auto gaitReceiverPtr =
std::make_shared<GaitReceiver>(nh, qmInterface_->getSwitchedModelReferenceManagerPtr()->getGaitSchedule(), gaitName);
// ROS ReferenceManager
auto rosReferenceManagerPtr = std::make_shared<RosReferenceManager>(robotName, qmInterface_->getReferenceManagerPtr());
rosReferenceManagerPtr->subscribe(nh);
mpc_->getSolverPtr()->addSynchronizedModule(gaitReceiverPtr);
mpc_->getSolverPtr()->setReferenceManager(rosReferenceManagerPtr);
observationPublisher_ = nh.advertise<ocs2_msgs::mpc_observation>(robotName + "_mpc_observation", 1);
eeStatePublisher_ = nh.advertise<qm_msgs::ee_state>(robotName + "_mpc_observation_ee_state", 1);
}
void QMController::setupMrt() {
mpcMrtInterface_ = std::make_shared<MPC_MRT_Interface>(*mpc_);
mpcMrtInterface_->initRollout(&qmInterface_->getRollout());
mpcTimer_.reset();
controllerRunning_ = true;
mpcThread_ = std::thread([&]() {
while (controllerRunning_) {
try {
executeAndSleep(
[&]() {
if (mpcRunning_) {
mpcTimer_.startTimer();
mpcMrtInterface_->advanceMpc();
mpcTimer_.endTimer();
}
},
qmInterface_->mpcSettings().mpcDesiredFrequency_);
} catch (const std::exception& e) {
controllerRunning_ = false;
ROS_ERROR_STREAM("[Ocs2 MPC thread] Error : " << e.what());
}
}
});
setThreadPriority(qmInterface_->sqpSettings().threadPriority, mpcThread_);
}
void QMController::setupInterface(const std::string &taskFile, const std::string &urdfFile,
const std::string &referenceFile, bool verbose) {
qmInterface_ = std::make_shared<QMInterface>(taskFile, urdfFile, referenceFile);
qmInterface_->setupOptimalControlProblem(taskFile, urdfFile, referenceFile, verbose);
}
QMController::~QMController() {
controllerRunning_ = false;
if (mpcThread_.joinable()) {
mpcThread_.join();
}
std::cerr << "########################################################################";
std::cerr << "\n### MPC Benchmarking";
std::cerr << "\n### Maximum : " << mpcTimer_.getMaxIntervalInMilliseconds() << "[ms].";
std::cerr << "\n### Average : " << mpcTimer_.getAverageInMilliseconds() << "[ms]." << std::endl;
std::cerr << "########################################################################";
std::cerr << "\n### WBC Benchmarking";
std::cerr << "\n### Maximum : " << wbcTimer_.getMaxIntervalInMilliseconds() << "[ms].";
std::cerr << "\n### Average : " << wbcTimer_.getAverageInMilliseconds() << "[ms].";
}
void QMController::dynamicCallback(qm_controllers::WeightConfig &config, uint32_t) {
ROS_INFO_STREAM("\033[32m Update the param. \033[0m");
arm_kp_wbc_ = config.kp_arm_wbc;
arm_kd_wbc_ = config.kd_arm_wbc;
}
/***************************************************************************************************/
/***************************************************************************************************/
/***************************************************************************************************/
void QMMpcController::setHybridJointHardware(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &controller_nh) {
// Dog
auto* hybridJointInterface = robot_hw->get<HybridJointInterface>();
std::vector<std::string> joint_names{"LF_HAA", "LF_HFE", "LF_KFE", "LH_HAA", "LH_HFE", "LH_KFE",
"RF_HAA", "RF_HFE", "RF_KFE", "RH_HAA", "RH_HFE", "RH_KFE"};
for (const auto& joint_name : joint_names) {
hybridJointHandles_.push_back(hybridJointInterface->getHandle(joint_name));
}
// Arm
cmd_pub_[0] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_1_position_controller/command", 10);
cmd_pub_[1] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_2_position_controller/command", 10);
cmd_pub_[2] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_3_position_controller/command", 10);
cmd_pub_[3] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_4_position_controller/command", 10);
cmd_pub_[4] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_5_position_controller/command", 10);
cmd_pub_[5] =
std::make_shared<realtime_tools::RealtimePublisher<std_msgs::Float64>>(controller_nh,
"/joint_6_position_controller/command", 10);
arm_joint_sub_ = controller_nh.subscribe<sensor_msgs::JointState>("/joint_states", 1, &QMMpcController::jointStateCallback, this);
}
void QMMpcController::jointStateCallback(const sensor_msgs::JointState::ConstPtr &msg) {
joint_state_buffer_.writeFromNonRT(*msg);
}
void QMMpcController::setupWbc(ros::NodeHandle &controller_nh, const std::string &taskFile) {
wbc_ = std::make_shared<HierarchicalMpcWbc>(qmInterface_->getPinocchioInterface(), qmInterface_->getCentroidalModelInfo(),
*eeKinematicsPtr_, *armEeKinematicsPtr_, controller_nh);
wbc_->loadTasksSetting(taskFile, true);
}
void QMMpcController::updateJointState(ocs2::vector_t &jointPos, ocs2::vector_t &jointVel) {
jointPos.resize(qmInterface_->getCentroidalModelInfo().actuatedDofNum);
jointVel.resize(qmInterface_->getCentroidalModelInfo().actuatedDofNum);
sensor_msgs::JointState jointState = *joint_state_buffer_.readFromRT();
for (size_t i = 0; i < hybridJointHandles_.size(); ++i) {
jointPos(i) = hybridJointHandles_[i].getPosition();
jointVel(i) = hybridJointHandles_[i].getVelocity();
}
for (size_t i = hybridJointHandles_.size(); i < qmInterface_->getCentroidalModelInfo().actuatedDofNum; ++i) {
jointPos(i) = jointState.position[i];
jointVel(i) = jointState.velocity[i];
}
}
void QMMpcController::updateControlLaw(const vector_t &posDes, const vector_t &velDes, const vector_t &torque) {
for (size_t j = 0; j < 12; ++j) {
hybridJointHandles_[j].setCommand(posDes(j), velDes(j), 0, 3, torque(j));
}
if(currentObservation_.time - last_time_ > 1.0 / 100.0) // arm_control_loop_hz_
{
// hardware cmd
for (size_t j = 0; j < 6; ++j) {
if(cmd_pub_[j]->trylock())
{
cmd_pub_[j]->msg_.data =
currentObservation_.state(24 + j) + velDes(12 + j) * 1.0 / 100.0;
cmd_pub_[j]->unlockAndPublish();
}
}
last_time_ = currentObservation_.time;
}
}
}
PLUGINLIB_EXPORT_CLASS(qm::QMController, controller_interface::ControllerBase)
PLUGINLIB_EXPORT_CLASS(qm::QMMpcController, controller_interface::ControllerBase)