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Forward Controller working

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But its not using the Gap as Control Value but the angles
This commit is contained in:
Niko Feith 2024-04-16 15:42:43 +02:00
parent 95cf345de4
commit 5b86af00da
9 changed files with 68 additions and 113 deletions
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2
src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt
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@ -15,7 +15,7 @@ find_package(realtime_tools REQUIRED)
include_directories(include)
add_library(${PROJECT_NAME}
add_library(robotiq_2f_controllers SHARED
src/robotiq_forward_controller.cpp
)
ament_target_dependencies(${PROJECT_NAME}

1
src/robotiq_2f/robotiq_2f_controllers/include/robotiq_2f_controllers/robotiq_forward_controller.hpp
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@ -68,6 +68,7 @@ public:
protected:
std::string joint_name_;
std::vector<std::string> command_interface_types_;
std::vector<std::string> state_interface_types_;
// communication interface
bool new_msg_ = false;

74
src/robotiq_2f/robotiq_2f_controllers/src/robotiq_forward_controller.cpp
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@ -11,23 +11,43 @@ controller_interface::CallbackReturn RobotiqForwardController::on_init()
{
joint_name_ = auto_declare<std::string>("joint", joint_name_);
command_interface_types_ =
auto_declare<std::vector<std::string>>("command_interfaces", command_interface_types_);
auto_declare<std::vector<std::string>>("command_interfaces", command_interface_types_);
state_interface_types_ =
auto_declare<std::vector<std::string>>("state_interfaces", state_interface_types_);
if (joint_name_.empty()) {
RCLCPP_ERROR(get_node()->get_logger(), "Missing 'joint_name' parameter.");
return CallbackReturn::ERROR;
}
else{
RCLCPP_INFO(get_node()->get_logger(), "Joint name: %s.", joint_name_.c_str());
}
return CallbackReturn::SUCCESS;
}
controller_interface::InterfaceConfiguration RobotiqForwardController::command_interface_configuration()
const
controller_interface::InterfaceConfiguration RobotiqForwardController::command_interface_configuration() const
{
controller_interface::InterfaceConfiguration conf = {config_type::INDIVIDUAL, {}};
RCLCPP_DEBUG(get_node()->get_logger(), "Starting configuration of command interfaces.");
conf.names.reserve(command_interface_types_.size());
for (const auto & interface_type : command_interface_types_)
{
conf.names.push_back(joint_name_ + "/" + interface_type);
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
for (const auto& interface_map_entry : command_interface_map_) {
const std::string& interface_type = interface_map_entry.first;
config.names.push_back(joint_name_ + "/" + interface_type);
}
RCLCPP_DEBUG(get_node()->get_logger(), "Completed configuration of command interfaces.");
return conf;
return config;
}
controller_interface::InterfaceConfiguration RobotiqForwardController::state_interface_configuration() const {
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::NONE; // Or whatever is appropriate
return config;
}
controller_interface::CallbackReturn RobotiqForwardController::on_configure(const rclcpp_lifecycle::State &)
@ -47,18 +67,23 @@ controller_interface::CallbackReturn RobotiqForwardController::on_configure(cons
controller_interface::CallbackReturn RobotiqForwardController::on_activate(const rclcpp_lifecycle::State &)
{
// clear out vectors in case of restart
joint_position_command_interface_.clear();
max_velocity_command_interface_.clear();
max_effort_command_interface_.clear();
RCLCPP_INFO(get_node()->get_logger(), "Available command interfaces:");
for (const auto& interface : command_interfaces_) {
RCLCPP_INFO(get_node()->get_logger(), "Interface Name: %s, Interface Type: %s", interface.get_name().c_str(), interface.get_interface_name().c_str());
}
// assign command interfaces
for (auto & interface : command_interfaces_)
{
command_interface_map_[interface.get_interface_name()]->push_back(interface);
}
// clear out vectors in case of restart
joint_position_command_interface_.clear();
max_velocity_command_interface_.clear();
max_effort_command_interface_.clear();
return CallbackReturn::SUCCESS;
// assign command interfaces
for (auto & interface : command_interfaces_)
{
command_interface_map_[interface.get_interface_name()]->push_back(interface);
}
return CallbackReturn::SUCCESS;
}
controller_interface::return_type RobotiqForwardController::update(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/)
@ -71,6 +96,11 @@ controller_interface::return_type RobotiqForwardController::update(const rclcpp:
desired_max_effort_ = command_msg_->max_effort;
}
// Set the hardware interface commands
if (joint_position_command_interface_.empty()) {
RCLCPP_FATAL(get_node()->get_logger(), "Command interface is not available.");
return controller_interface::return_type::ERROR;
}
joint_position_command_interface_[0].get().set_value(desired_position_);
max_velocity_command_interface_[0].get().set_value(desired_max_velocity_);
max_effort_command_interface_[0].get().set_value(desired_max_effort_);
@ -100,4 +130,8 @@ controller_interface::CallbackReturn RobotiqForwardController::on_shutdown(const
{
return CallbackReturn::SUCCESS;
}
}
}
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(robotiq_2f_controllers::RobotiqForwardController, controller_interface::ControllerInterface)

82
src/robotiq_2f/robotiq_2f_controllers/src/robotiq_forward_controller_old.cpp
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@ -1,82 +0,0 @@
#include "robotiq_2f_controllers/robotiq_forward_controller.hpp"
#include <pluginlib/class_list_macros.hpp>
namespace robotiq_2f_controllers
{
RobotiqForwardController::RobotiqForwardController()
{
}
controller_interface::InterfaceConfiguration RobotiqForwardController::command_interface_configuration() const
{
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
config.names.emplace_back(joint_name_ + hardware_interface::HW_IF_POSITION);
config.names.emplace_back(joint_name_ + "/set_gripper_max_effort");
config.names.emplace_back(joint_name_ + "/set_gripper_max_velocity");
return config;
}
controller_interface::InterfaceConfiguration RobotiqForwardController::state_interface_configuration() const
{
controller_interface::InterfaceConfiguration config;
config.type = controller_interface::interface_configuration_type::NONE;
return config;
}
void RobotiqForwardController::command_callback(const robotiq_2f_msgs::msg::ForwardCommand::SharedPtr msg)
{
desired_position_ = msg->position;
desired_max_velocity_ = msg->max_velocity;
desired_max_effort_ = msg->max_effort;
}
controller_interface::return_type RobotiqForwardController::update(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/)
{
// Set the hardware interface commands
position_command_.set_value(desired_position_);
max_effort_command_.set_value(desired_max_effort_);
max_velocity_command_.set_value(desired_max_velocity_);
return controller_interface::return_type::OK;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqForwardController::on_init()
{
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqForwardController::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
{
joint_name_ = get_node()->declare_parameter<std::string>("joint_name", "finger_joint");
auto command_interfaces = get_node()->get_node_base_interface();
auto position_handle = robot_hardware.get_handle(joint_name_ + hardware_interface::HW_IF_POSITION);
position_command_ = hardware_interface::LoanedCommandInterface(command_interfaces_[0].);
max_effort_command_ = hardware_interface::LoanedCommandInterface(command_interfaces_[0].);
max_velocity_command_ = hardware_interface::LoanedCommandInterface(command_interfaces_(joint_name_ + "/set_gripper_max_velocity"));
command_subscriber_ = get_node()->create_subscription<robotiq_2f_msgs::msg::ForwardCommand>(
"~/command", 10, std::bind(&RobotiqForwardController::command_callback, this, std::placeholders::_1));
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqForwardController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
{
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqForwardController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
{
for (size_t i = 0; i < command_interfaces_.size(); ++i) {
command_interfaces_[i].set_value(std::numeric_limits<double>::quiet_NaN());
}
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
} // namespace robotiq_2f_controllers
PLUGINLIB_EXPORT_CLASS(robotiq_2f_controllers::RobotiqForwardController, controller_interface::ControllerInterface)

4
src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml
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@ -1,7 +1,7 @@
robotiq_2f_gripper:
# Physical limits
min_position: 0.0 # Meters (fully closed)
max_position: 0.14 # Meters (fully open)
min_position: 0.0 # radiant (fully open)
max_position: 0.695 # radiant (fully open)
min_speed: 0.02 # Meters per second
max_speed: 0.15 # Meters per second
min_force: 20.0 # Newtons

5
src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
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@ -8,7 +8,7 @@ controller_manager:
fake_gripper_controller:
type: joint_trajectory_controller/JointTrajectoryController
forward_gripper_position_controller:
type: position_controllers/JointGroupPositionController
type: robotiq_2f_controllers/RobotiqForwardController
robotiq_activation_controller:
type: robotiq_controllers/RobotiqActivationController
@ -21,8 +21,7 @@ robotiq_gripper_controller:
forward_gripper_position_controller:
ros__parameters:
joints:
- finger_joint
joint: finger_joint
fake_gripper_controller:
ros__parameters:

6
src/robotiq_2f/robotiq_2f_description/launch/robotiq_control.launch.py
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@ -122,9 +122,9 @@ def generate_launch_description():
controller_spawner_inactive_names = ["forward_gripper_position_controller",
"fake_gripper_controller"]
else:
controller_spawner_names = ["fake_gripper_controller"]
controller_spawner_inactive_names = ["forward_gripper_position_controller",
"robotiq_gripper_controller"]
controller_spawner_names = ["forward_gripper_position_controller"]
controller_spawner_inactive_names = ["robotiq_gripper_controller",
"fake_gripper_controller"]
controller_spawners = [controller_spawner(name) for name in controller_spawner_names] + [
controller_spawner(name, active=False) for name in controller_spawner_inactive_names

3
src/robotiq_2f/robotiq_2f_description/package.xml
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@ -17,9 +17,12 @@
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>robotiq_2f_msgs</exec_depend>
<exec_depend>ros2_control</exec_depend>
<exec_depend>ros2_controllers</exec_depend>
<exec_depend>robotiq_2f_controllers</exec_depend>
<exec_depend>gripper_controllers</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>

4
src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp
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@ -311,9 +311,9 @@ std::vector<hardware_interface::CommandInterface> RobotiqGripperHardwareInterfac
gripper_force_ = gripper_force_multiplier;
command_interfaces.emplace_back(
hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_));
hardware_interface::CommandInterface(info_.joints[0].name, "max_velocity", &gripper_speed_));
command_interfaces.emplace_back(
hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_));
hardware_interface::CommandInterface(info_.joints[0].name, "max_effort", &gripper_force_));
command_interfaces.emplace_back(
hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_cmd", &reactivate_gripper_cmd_));
command_interfaces.emplace_back(