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atlas_sim_ros_control.cpp
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atlas_sim_ros_control.cpp
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, Stefan Kohlbrecher
* Team ViGIR,
* Technische Universität Darmstadt
* 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 Technische Universität Darmstadt 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.
*
*********************************************************************/
/**
* Based on "Sending joint commands with ROS" tutorial at
* http://gazebosim.org/tutorials?tut=drcsim_ros_cmds&cat=drcsim
*/
#include <vigir_atlas_sim_ros_control/atlas_sim_ros_control.h>
#include <controller_manager/controller_manager.h>
#include <std_msgs/String.h>
#include <atlas_msgs/AtlasState.h>
namespace atlas_sim_ros_control
{
void Atlas_Sim_Ros_Control::atlasStateCb(const atlas_msgs::AtlasState::ConstPtr &_as)
{
// We don´t know how our joint state looks like till we received the first instance of it, so we initialize the hardware interface here
// This is only because we´re running in Gazebo and lazy. On real robot, the hardware interface has to be setup during initialization
if (joint_state_.position.size() == 0){
atlas_state_ = *_as;
for(size_t i = 0; i < atlas_state_.position.size(); ++i){
joint_state_.position.push_back(atlas_state_.position[i]);
joint_state_.velocity.push_back(atlas_state_.velocity[i]);
joint_state_.effort.push_back(atlas_state_.effort[i]);
joint_state_.name.push_back(joint_names_[i]);
}
for (size_t i = 0; i < joint_state_.position.size(); ++i){
hardware_interface::JointStateHandle state_handle(joint_names_[i], &joint_state_.position[i], &joint_state_.velocity[i], &joint_state_.velocity[i]);
joint_state_interface_.registerHandle(state_handle);
hardware_interface::JointHandle pos_handle(joint_state_interface_.getHandle(joint_names_[i]), &jointcommands.position[i]);
position_joint_interface_.registerHandle(pos_handle);
hardware_interface::JointHandle vel_handle(joint_state_interface_.getHandle(joint_names_[i]), &jointcommands.velocity[i]);
velocity_joint_interface_.registerHandle(vel_handle);
hardware_interface::JointHandle effort_handle(joint_state_interface_.getHandle(joint_names_[i]), &jointcommands.effort[i]);
effort_joint_interface_.registerHandle(effort_handle);
jointcommands.position[i] = joint_state_.position[i];
}
registerInterface(&joint_state_interface_);
registerInterface(&position_joint_interface_);
registerInterface(&velocity_joint_interface_);
registerInterface(&effort_joint_interface_);
hardware_interface::ForceTorqueSensorHandle left_hand_force_torque_handle("left_hand_ft_sensor", "l_hand", left_hand_force_, left_hand_torque_);
force_torque_sensor_interface_.registerHandle(left_hand_force_torque_handle);
hardware_interface::ForceTorqueSensorHandle right_hand_force_torque_handle("right_hand_ft_sensor", "r_hand", right_hand_force_, right_hand_torque_);
force_torque_sensor_interface_.registerHandle(right_hand_force_torque_handle);
registerInterface(&force_torque_sensor_interface_);
imu_sensor_data_.name = "imu";
imu_sensor_data_.frame_id = "/imu_link";
imu_sensor_data_.linear_acceleration = new double[3];
imu_sensor_data_.angular_velocity = new double[3];
imu_sensor_data_.orientation = new double[4];
hardware_interface::ImuSensorHandle imu_sensor_handle(imu_sensor_data_);
imu_sensor_interface_.registerHandle(imu_sensor_handle);
registerInterface(&imu_sensor_interface_);
}
atlas_state_ = *_as;
for(size_t i = 0; i < atlas_state_.position.size(); ++i){
joint_state_.position[i] = (atlas_state_.position[i]);
joint_state_.velocity[i] = (atlas_state_.velocity[i]);
joint_state_.effort[i] = (atlas_state_.effort[i]);
}
left_hand_force_[0] = atlas_state_.l_hand.force.x;
left_hand_force_[1] = atlas_state_.l_hand.force.y;
left_hand_force_[2] = atlas_state_.l_hand.force.z;
left_hand_torque_[0] = atlas_state_.l_hand.torque.x;
left_hand_torque_[1] = atlas_state_.l_hand.torque.y;
left_hand_torque_[2] = atlas_state_.l_hand.torque.z;
right_hand_force_[0] = atlas_state_.r_hand.force.x;
right_hand_force_[1] = atlas_state_.r_hand.force.y;
right_hand_force_[2] = atlas_state_.r_hand.force.z;
right_hand_torque_[0] = atlas_state_.r_hand.torque.x;
right_hand_torque_[1] = atlas_state_.r_hand.torque.y;
right_hand_torque_[2] = atlas_state_.r_hand.torque.z;
imu_sensor_data_.linear_acceleration[0] = atlas_state_.linear_acceleration.x;
imu_sensor_data_.linear_acceleration[1] = atlas_state_.linear_acceleration.y;
imu_sensor_data_.linear_acceleration[2] = atlas_state_.linear_acceleration.z;
imu_sensor_data_.angular_velocity[0] = atlas_state_.angular_velocity.x;
imu_sensor_data_.angular_velocity[1] = atlas_state_.angular_velocity.y;
imu_sensor_data_.angular_velocity[2] = atlas_state_.angular_velocity.z;
imu_sensor_data_.orientation[0] = atlas_state_.orientation.w;
imu_sensor_data_.orientation[1] = atlas_state_.orientation.x;
imu_sensor_data_.orientation[2] = atlas_state_.orientation.y;
imu_sensor_data_.orientation[3] = atlas_state_.orientation.z;
}
Atlas_Sim_Ros_Control::Atlas_Sim_Ros_Control()
{
ros::NodeHandle* rosnode = new ros::NodeHandle();
rosnode->setCallbackQueue(&subscriber_queue_);
ros::Time last_ros_time_;
bool wait = true;
while (wait)
{
last_ros_time_ = ros::Time::now();
if (last_ros_time_.toSec() > 0)
wait = false;
}
// must match those inside AtlasPlugin
jointcommands.name.push_back("atlas::back_bkx");
jointcommands.name.push_back("atlas::back_bky");
jointcommands.name.push_back("atlas::back_bkz");
jointcommands.name.push_back("atlas::neck_ry");
jointcommands.name.push_back("atlas::l_leg_hpz");
jointcommands.name.push_back("atlas::l_leg_hpx");
jointcommands.name.push_back("atlas::l_leg_hpy");
jointcommands.name.push_back("atlas::l_leg_kny");
jointcommands.name.push_back("atlas::l_leg_aky");
jointcommands.name.push_back("atlas::l_leg_akx");
jointcommands.name.push_back("atlas::r_leg_hpz");
jointcommands.name.push_back("atlas::r_leg_hpx");
jointcommands.name.push_back("atlas::r_leg_hpy");
jointcommands.name.push_back("atlas::r_leg_kny");
jointcommands.name.push_back("atlas::r_leg_aky");
jointcommands.name.push_back("atlas::r_leg_akx");
jointcommands.name.push_back("atlas::l_arm_shy");
jointcommands.name.push_back("atlas::l_arm_shx");
jointcommands.name.push_back("atlas::l_arm_ely");
jointcommands.name.push_back("atlas::l_arm_elx");
jointcommands.name.push_back("atlas::l_arm_wry");
jointcommands.name.push_back("atlas::l_arm_wrx");
jointcommands.name.push_back("atlas::r_arm_shy");
jointcommands.name.push_back("atlas::r_arm_shx");
jointcommands.name.push_back("atlas::r_arm_ely");
jointcommands.name.push_back("atlas::r_arm_elx");
jointcommands.name.push_back("atlas::r_arm_wry");
jointcommands.name.push_back("atlas::r_arm_wrx");
unsigned int n = jointcommands.name.size();
jointcommands.position.resize(n);
jointcommands.velocity.resize(n);
jointcommands.effort.resize(n);
jointcommands.kp_position.resize(n);
jointcommands.ki_position.resize(n);
jointcommands.kd_position.resize(n);
jointcommands.kp_velocity.resize(n);
jointcommands.i_effort_min.resize(n);
jointcommands.i_effort_max.resize(n);
for (unsigned int i = 0; i < n; i++)
{
std::vector<std::string> pieces;
boost::split(pieces, jointcommands.name[i], boost::is_any_of(":"));
// Use opportunity to fill a vector of joint_names
joint_names_.push_back(pieces[2]);
std::string param_string = "/atlas_controller/gains/" + pieces[2] + "/p";
rosnode->getParam(param_string,
jointcommands.kp_position[i]);
//jointcommands.kp_position[i] = 1000.0;
rosnode->getParam("/atlas_controller/gains/" + pieces[2] + "/i",
jointcommands.ki_position[i]);
rosnode->getParam("/atlas_controller/gains/" + pieces[2] + "/d",
jointcommands.kd_position[i]);
rosnode->getParam("/atlas_controller/gains/" + pieces[2] + "/i_clamp",
jointcommands.i_effort_min[i]);
jointcommands.i_effort_min[i] = -jointcommands.i_effort_min[i];
rosnode->getParam("/atlas_controller/gains/" + pieces[2] + "/i_clamp",
jointcommands.i_effort_max[i]);
jointcommands.velocity[i] = 0;
jointcommands.effort[i] = 0;
jointcommands.kp_velocity[i] = 0;
}
// ros topic subscribtions
ros::SubscribeOptions jointStatesSo =
ros::SubscribeOptions::create<atlas_msgs::AtlasState>(
"/atlas/atlas_state", 1,boost::bind(&Atlas_Sim_Ros_Control::atlasStateCb, this, _1),
ros::VoidPtr(), rosnode->getCallbackQueue());
// Because TCP causes bursty communication with high jitter,
// declare a preference on UDP connections for receiving
// joint states, which we want to get at a high rate.
// Note that we'll still accept TCP connections for this topic
// (e.g., from rospy nodes, which don't support UDP);
// we just prefer UDP.
jointStatesSo.transport_hints = ros::TransportHints().unreliable();
subJointStates_ = rosnode->subscribe(jointStatesSo);
// ros::Subscriber subJointStates =
// rosnode->subscribe("/atlas/joint_states", 1000, SetJointStates);
pub_joint_commands_ =
rosnode->advertise<osrf_msgs::JointCommands>(
"/atlas/joint_commands", 1, true);
subscriber_spinner_.reset(new ros::AsyncSpinner(1, &subscriber_queue_));
subscriber_spinner_->start();
}
void Atlas_Sim_Ros_Control::cleanup()
{
subscriber_spinner_->stop();
}
void Atlas_Sim_Ros_Control::read(ros::Time time, ros::Duration period)
{
//Normally we would read joint angles from hardware here, but we get those via ROS topic as we use Gazebo
}
void Atlas_Sim_Ros_Control::write(ros::Time time, ros::Duration period)
{
jointcommands.header.stamp = time;
pub_joint_commands_.publish(jointcommands);
}
}
int main(int argc, char** argv){
try{
ROS_INFO("starting");
ros::init(argc, argv, "atlas_sim_ros_control");
atlas_sim_ros_control::Atlas_Sim_Ros_Control atlas_sim_ros_control_interface;
sleep(2);
// Publish Atlas user mode
ros::NodeHandle nh;
ros::NodeHandle controller_nh("joint_controllers");
ros::Publisher pub_user_mode_ = nh.advertise<std_msgs::String>("/atlas/control_mode",1,true);
std_msgs::String msg;
std::stringstream ss;
ss << "User";
msg.data = ss.str();
pub_user_mode_.publish(msg);
controller_manager::ControllerManager cm(&atlas_sim_ros_control_interface, controller_nh);
ros::AsyncSpinner spinner(2);
spinner.start();
ros::Rate loop_rate(1000);
ros::Time last_time = ros::Time::now();
while (ros::ok())
{
ros::Time current_time = ros::Time::now();
ros::Duration elapsed_time = current_time - last_time;
last_time = current_time;
atlas_sim_ros_control_interface.read(current_time, elapsed_time);
cm.update(current_time, elapsed_time);
atlas_sim_ros_control_interface.write(current_time, elapsed_time);
loop_rate.sleep();
}
atlas_sim_ros_control_interface.cleanup();
}
catch(...)
{
ROS_ERROR("Unhandled exception!");
return -1;
}
return 0;
}