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keyboard servo for ur and gripper

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ligerfotis 2024-04-12 17:28:51 +02:00
parent d2de869e86
commit 7ce6aaa707
15 changed files with 1104 additions and 3 deletions
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.idea/.gitignore vendored
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# Datasource local storage ignored files # Datasource local storage ignored files
/dataSources/ /dataSources/
/dataSources.local.xml /dataSources.local.xml
# GitHub Copilot persisted chat sessions
/copilot/chatSessions

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src/__init__.py Normal file
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src/servo_keyboard/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(servo_keyboard)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(control_msgs REQUIRED)
find_package(controller_manager_msgs REQUIRED)
add_executable(servo_keyboard_input src/servo_keyboard_input.cpp)
target_include_directories(servo_keyboard_input PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_features(servo_keyboard_input PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
# Include directories
target_include_directories(servo_keyboard_input PRIVATE
${rclcpp_INCLUDE_DIRS}
${geometry_msgs_INCLUDE_DIRS}
${control_msgs_INCLUDE_DIRS}
${controller_manager_msgs_INCLUDE_DIRS}
)
# Link the executable with required libraries
ament_target_dependencies(servo_keyboard_input
rclcpp
geometry_msgs
control_msgs
controller_manager_msgs
)
install(TARGETS servo_keyboard_input
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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src/servo_keyboard/LICENSE Normal file
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26
src/servo_keyboard/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>servo_keyboard</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ligerfotis@gmail.com">Fotios Lyegrakis</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- Dependencies -->
<depend>rclcpp</depend>
<depend>control_msgs</depend>
<depend>geometry_msgs</depend>
<build_depend>controller_manager_msgs</build_depend>
<exec_depend>controller_manager_msgs</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

389
src/servo_keyboard/src/servo_keyboard_input.cpp Normal file
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2021, PickNik LLC
* 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 PickNik LLC 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.
*********************************************************************/
/* Title : servo_keyboard_input.cpp
* Project : moveit2_tutorials
* Created : 05/31/2021
* Author : Adam Pettinger
*/
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <control_msgs/msg/joint_jog.hpp>
#include <controller_manager_msgs/srv/switch_controller.hpp> // Add necessary includes
#include <std_msgs/msg/float64_multi_array.hpp> // Add necessary includes
#include <signal.h>
#include <stdio.h>
#include <termios.h>
#include <unistd.h>
// Define used keys
#define KEYCODE_LEFT 0x44
#define KEYCODE_RIGHT 0x43
#define KEYCODE_UP 0x41
#define KEYCODE_DOWN 0x42
#define KEYCODE_PERIOD 0x2E
#define KEYCODE_SEMICOLON 0x3B
#define KEYCODE_E 0x65
#define KEYCODE_W 0x77
#define KEYCODE_1 0x31
#define KEYCODE_2 0x32
#define KEYCODE_3 0x33
#define KEYCODE_4 0x34
#define KEYCODE_5 0x35
#define KEYCODE_6 0x36
#define KEYCODE_R 0x72
#define KEYCODE_Q 0x71
#define KEYCODE_PLUS 0x2B // Keycode for the plus sign (+)
#define KEYCODE_MINUS 0x2D // Keycode for the minus sign (-)
#define KEYCODE_GRIPPER 0x67 // Keycode for the gripper control button (g)
// Some constants used in the Servo Teleop demo
const std::string TWIST_TOPIC = "/servo_node/delta_twist_cmds";
const std::string JOINT_TOPIC = "/servo_node/delta_joint_cmds";
const std::string GRIPPER_TOPIC = "/forward_gripper_position_controller/commands";
const size_t ROS_QUEUE_SIZE = 10;
const std::string EEF_FRAME_ID = "world";
const std::string BASE_FRAME_ID = "tool0";
// A class for reading the key inputs from the terminal
class KeyboardReader
{
public:
KeyboardReader() : kfd(0)
{
// get the console in raw mode
tcgetattr(kfd, &cooked);
struct termios raw;
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c_lflag &= ~(ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(kfd, TCSANOW, &raw);
}
void readOne(char* c)
{
int rc = read(kfd, c, 1);
if (rc < 0)
{
throw std::runtime_error("read failed");
}
}
void shutdown()
{
tcsetattr(kfd, TCSANOW, &cooked);
}
private:
int kfd;
struct termios cooked;
};
// Converts key-presses to Twist or Jog commands for Servo, in lieu of a controller
class KeyboardServo
{
public:
KeyboardServo();
int keyLoop();
private:
void spin();
void handlePlusPress();
void handleMinusPress();
void publishGripperCommand(double finger_joint_angle);
rclcpp::Node::SharedPtr nh_;
rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_pub_;
rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr joint_pub_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr gripper_cmd_pub_;
std::string frame_to_publish_;
double joint_vel_cmd_;
double gripper_speed_multiplier_;
double last_finger_joint_angle_;
double gripper_lower_limit_;
double gripper_upper_limit_;
};
KeyboardServo::KeyboardServo()
: frame_to_publish_(BASE_FRAME_ID),
joint_vel_cmd_(1.0),
gripper_speed_multiplier_(0.01), // Example value, adjust as needed
last_finger_joint_angle_(0.0), // Example value, adjust as needed
gripper_lower_limit_(0.0), // Example value, adjust as needed
gripper_upper_limit_(0.70) // Example value, adjust as needed
{
nh_ = rclcpp::Node::make_shared("servo_keyboard_input");
twist_pub_ = nh_->create_publisher<geometry_msgs::msg::TwistStamped>(TWIST_TOPIC, ROS_QUEUE_SIZE);
joint_pub_ = nh_->create_publisher<control_msgs::msg::JointJog>(JOINT_TOPIC, ROS_QUEUE_SIZE);
gripper_cmd_pub_ = nh_->create_publisher<std_msgs::msg::Float64MultiArray>(GRIPPER_TOPIC, ROS_QUEUE_SIZE);
}
KeyboardReader input;
void KeyboardServo::publishGripperCommand(double finger_joint_angle)
{
auto msg = std::make_unique<std_msgs::msg::Float64MultiArray>();
msg->data.push_back(finger_joint_angle);
gripper_cmd_pub_->publish(std::move(msg));
}
void quit(int sig)
{
(void)sig;
input.shutdown();
rclcpp::shutdown();
exit(0);
}
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
KeyboardServo keyboard_servo;
signal(SIGINT, quit);
int rc = keyboard_servo.keyLoop();
input.shutdown();
rclcpp::shutdown();
return rc;
}
void KeyboardServo::spin()
{
while (rclcpp::ok())
{
rclcpp::spin_some(nh_);
}
}
void KeyboardServo::handlePlusPress()
{
// Calculate the new finger joint angle
double delta_angle = 1.0 * gripper_speed_multiplier_;
double new_finger_joint_angle = last_finger_joint_angle_ + delta_angle;
// printf("New finger joint angle: %f\n", new_finger_joint_angle);
// Check if the new angle is within the limits
if (new_finger_joint_angle <= gripper_upper_limit_)
{
// Update the finger joint angle
last_finger_joint_angle_ = new_finger_joint_angle;
// printf("New finger joint angle: %f\n", last_finger_joint_angle_);
// Publish the gripper command with the new angle
publishGripperCommand(last_finger_joint_angle_);
}
}
void KeyboardServo::handleMinusPress()
{
// Calculate the new finger joint angle
double delta_angle = -1.0 * gripper_speed_multiplier_;
double new_finger_joint_angle = last_finger_joint_angle_ + delta_angle;
// Check if the new angle is within the limits
if (new_finger_joint_angle >= gripper_lower_limit_)
{
// Update the finger joint angle
last_finger_joint_angle_ = new_finger_joint_angle;
// Publish the gripper command with the new angle
publishGripperCommand(last_finger_joint_angle_);
}
}
int KeyboardServo::keyLoop()
{
char c;
bool publish_twist = false;
bool publish_joint = false;
std::thread{ std::bind(&KeyboardServo::spin, this) }.detach();
puts("Reading from keyboard");
puts("---------------------------");
puts("Use arrow keys and the '.' and ';' keys to Cartesian jog");
puts("Use 'W' to Cartesian jog in the world frame, and 'E' for the End-Effector frame");
puts("Use 1|2|3|4|5|6|7 keys to joint jog. 'R' to reverse the direction of jogging.");
puts("Use '+' to open the gripper, '-' to close it.");
puts("'Q' to quit.");
for (;;)
{
// get the next event from the keyboard
try
{
input.readOne(&c);
}
catch (const std::runtime_error&)
{
perror("read():");
return -1;
}
RCLCPP_DEBUG(nh_->get_logger(), "value: 0x%02X\n", c);
// // Create the messages we might publish
auto twist_msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
auto joint_msg = std::make_unique<control_msgs::msg::JointJog>();
// Use read key-press
switch (c)
{
case KEYCODE_LEFT:
RCLCPP_DEBUG(nh_->get_logger(), "LEFT");
twist_msg->twist.linear.y = -1.0;
publish_twist = true;
break;
case KEYCODE_RIGHT:
RCLCPP_DEBUG(nh_->get_logger(), "RIGHT");
twist_msg->twist.linear.y = 1.0;
publish_twist = true;
break;
case KEYCODE_UP:
RCLCPP_DEBUG(nh_->get_logger(), "UP");
twist_msg->twist.linear.x = 1.0;
publish_twist = true;
break;
case KEYCODE_DOWN:
RCLCPP_DEBUG(nh_->get_logger(), "DOWN");
twist_msg->twist.linear.x = -1.0;
publish_twist = true;
break;
case KEYCODE_PERIOD:
RCLCPP_DEBUG(nh_->get_logger(), "PERIOD");
twist_msg->twist.linear.z = -1.0;
publish_twist = true;
break;
case KEYCODE_SEMICOLON:
RCLCPP_DEBUG(nh_->get_logger(), "SEMICOLON");
twist_msg->twist.linear.z = 1.0;
publish_twist = true;
break;
case KEYCODE_E:
RCLCPP_DEBUG(nh_->get_logger(), "E");
frame_to_publish_ = EEF_FRAME_ID;
break;
case KEYCODE_W:
RCLCPP_DEBUG(nh_->get_logger(), "W");
frame_to_publish_ = BASE_FRAME_ID;
break;
case KEYCODE_1:
RCLCPP_DEBUG(nh_->get_logger(), "1");
joint_msg->joint_names.push_back("shoulder_lift_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
case KEYCODE_2:
RCLCPP_DEBUG(nh_->get_logger(), "2");
joint_msg->joint_names.push_back("shoulder_pan_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
case KEYCODE_3:
RCLCPP_DEBUG(nh_->get_logger(), "3");
joint_msg->joint_names.push_back("elbow_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
case KEYCODE_4:
RCLCPP_DEBUG(nh_->get_logger(), "4");
joint_msg->joint_names.push_back("wrist_1_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
case KEYCODE_5:
RCLCPP_DEBUG(nh_->get_logger(), "5");
joint_msg->joint_names.push_back("wrist_2_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
case KEYCODE_6:
RCLCPP_DEBUG(nh_->get_logger(), "6");
joint_msg->joint_names.push_back("wrist_3_joint");
joint_msg->velocities.push_back(joint_vel_cmd_);
publish_joint = true;
break;
// case KEYCODE_7:
// RCLCPP_DEBUG(nh_->get_logger(), "7");
// joint_msg->joint_names.push_back("finger_joint");
// joint_msg->velocities.push_back(joint_vel_cmd_);
// publish_joint = true;
// break;
case KEYCODE_R:
RCLCPP_DEBUG(nh_->get_logger(), "R");
joint_vel_cmd_ *= -1;
break;
case KEYCODE_Q:
RCLCPP_DEBUG(nh_->get_logger(), "quit");
return 0;
// Add cases for other keys as needed
case KEYCODE_PLUS:
RCLCPP_DEBUG(nh_->get_logger(), "PLUS");
handlePlusPress();
break;
case KEYCODE_MINUS:
RCLCPP_DEBUG(nh_->get_logger(), "MINUS");
handleMinusPress();
break;
}
// If a key requiring a publish was pressed, publish the message now
if (publish_twist)
{
twist_msg->header.stamp = nh_->now();
twist_msg->header.frame_id = frame_to_publish_;
twist_pub_->publish(std::move(twist_msg));
publish_twist = false;
}
else if (publish_joint)
{
joint_msg->header.stamp = nh_->now();
joint_msg->header.frame_id = BASE_FRAME_ID;
joint_pub_->publish(std::move(joint_msg));
publish_joint = false;
}
}
return 0;
}

38
src/ur_robotiq_description/launch/ur_robotiq_control.launch.py
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@ -6,7 +6,8 @@ from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.conditions import IfCondition, UnlessCondition from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution
# from moveit_configs_utils import MoveItConfigsBuilder
# from launch_param_builder import ParameterBuilder
def launch_setup(context, *args, **kwargs): def launch_setup(context, *args, **kwargs):
# Initialize Arguments # Initialize Arguments
@ -170,6 +171,7 @@ def launch_setup(context, *args, **kwargs):
robot_description = {"robot_description": robot_description_content} robot_description = {"robot_description": robot_description_content}
initial_joint_controllers = PathJoinSubstitution( initial_joint_controllers = PathJoinSubstitution(
[FindPackageShare(description_package), "config", controllers_file] [FindPackageShare(description_package), "config", controllers_file]
) )
@ -275,6 +277,38 @@ def launch_setup(context, *args, **kwargs):
}, },
], ],
) )
############################################################################################################
# # Get parameters for the Servo node
# servo_params = (
# ParameterBuilder("ur_robotiq_servo")
# .yaml(
# parameter_namespace="moveit_servo",
# file_path="config/ur_robotiq_simulated_config.yaml",
# )
# .to_dict()
# )
# print(servo_params)
#
# # A node to publish world -> panda_link0 transform
# static_tf = Node(
# package="tf2_ros",
# executable="static_transform_publisher",
# name="static_transform_publisher",
# output="log",
# arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"],
# )
#
# # The servo cpp interface demo
# # Creates the Servo node and publishes commands to it
# servo_node = Node(
# package="moveit2_tutorials",
# executable="servo_cpp_interface_demo",
# output="screen",
# parameters=[
# servo_params,
# robot_description,
# ],
# )
robot_state_publisher_node = Node( robot_state_publisher_node = Node(
package="robot_state_publisher", package="robot_state_publisher",
@ -353,6 +387,8 @@ def launch_setup(context, *args, **kwargs):
ur_control_node, ur_control_node,
dashboard_client_node, dashboard_client_node,
controller_stopper_node, controller_stopper_node,
# static_tf,
# servo_node,
robot_state_publisher_node, robot_state_publisher_node,
rviz_node, rviz_node,
initial_joint_controller_spawner_stopped, initial_joint_controller_spawner_stopped,

0
src/ur_robotiq_servo/__init__.py Normal file
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3
src/ur_robotiq_servo/config/joy-params.yaml
View File

@ -1,7 +1,8 @@
joy_node: joy_node:
ros__parameters: ros__parameters:
device_id: 0 device_id: 0
device_name: "PS5 Controller" # device_name: "PS5 Controller"
device_name: "Keyboard"
deadzone: 0.5 deadzone: 0.5
autorepeat_rate: 20.0 autorepeat_rate: 20.0
sticky_buttons: false sticky_buttons: false

6
src/ur_robotiq_servo/config/kb-params.yaml Normal file
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@ -0,0 +1,6 @@
keyboard_servo_node:
ros__parameters:
linear_speed_multiplier: 0.2
gripper_speed_multiplier: 0.02
gripper_lower_limit: 0.0
gripper_upper_limit: 0.70

46
src/ur_robotiq_servo/launch/kb_servo.launch.py Normal file
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@ -0,0 +1,46 @@
import os
from launch import LaunchDescription
from launch_ros.actions import Node
import ament_index_python.packages
from launch_param_builder import ParameterBuilder
from moveit_configs_utils import MoveItConfigsBuilder
def generate_launch_description():
config_directory = os.path.join(
ament_index_python.packages.get_package_share_directory('ur_robotiq_servo'),
'config')
joy_params = os.path.join(config_directory, 'joy-params.yaml')
ps5_params = os.path.join(config_directory, 'ps5-params.yaml')
moveit_config = (
MoveItConfigsBuilder("moveit_resources_panda")
.robot_description(file_path="config/panda.urdf.xacro")
.to_moveit_configs()
)
# Get parameters for the Servo node
servo_params = (
ParameterBuilder("moveit_servo")
.yaml(
parameter_namespace="moveit_servo",
file_path="config/panda_simulated_config.yaml",
)
.to_dict()
)
# The servo cpp interface demo
# Creates the Servo node and publishes commands to it
servo_node = Node(
package="moveit2_tutorials",
executable="servo_cpp_interface_demo",
output="screen",
parameters=[
servo_params,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
],
)
return LaunchDescription([
servo_node
])

1
src/ur_robotiq_servo/package.xml
View File

@ -14,6 +14,7 @@
<depend>std_srvs</depend> <depend>std_srvs</depend>
<depend>joy</depend> <depend>joy</depend>
<depend>moveit_servo</depend> <depend>moveit_servo</depend>
<depend>keyboard</depend>
<test_depend>ament_copyright</test_depend> <test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend> <test_depend>ament_flake8</test_depend>

196
src/ur_robotiq_servo/servo_keyboard_input.py Normal file
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@ -0,0 +1,196 @@
#!/usr/bin/env python3
import sys
import tty
import termios
import threading
import signal
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import TwistStamped
from control_msgs.msg import JointJog
# Define key codes
KEYCODE_RIGHT = 0x43
KEYCODE_LEFT = 0x44
KEYCODE_UP = 0x41
KEYCODE_DOWN = 0x42
KEYCODE_PERIOD = 0x2E
KEYCODE_SEMICOLON = 0x3B
KEYCODE_1 = 0x31
KEYCODE_2 = 0x32
KEYCODE_3 = 0x33
KEYCODE_4 = 0x34
KEYCODE_5 = 0x35
KEYCODE_6 = 0x36
KEYCODE_7 = 0x37
KEYCODE_Q = 0x71
KEYCODE_R = 0x72
KEYCODE_J = 0x6A
KEYCODE_T = 0x74
KEYCODE_W = 0x77
KEYCODE_E = 0x65
# Constants used in the Servo Teleop demo
TWIST_TOPIC = "/servo_node/delta_twist_cmds"
JOINT_TOPIC = "/servo_node/delta_joint_cmds"
ROS_QUEUE_SIZE = 10
PLANNING_FRAME_ID = "world"
EE_FRAME_ID = "tool0"
class KeyboardReader:
def __init__(self):
self.file_descriptor = sys.stdin.fileno()
self.old_settings = termios.tcgetattr(self.file_descriptor)
tty.setraw(self.file_descriptor)
def read_one(self):
return sys.stdin.read(1)
def shutdown(self):
termios.tcsetattr(self.file_descriptor, termios.TCSADRAIN, self.old_settings)
class KeyboardServo:
def __init__(self):
self.joint_vel_cmd = 1.0
self.command_frame_id = PLANNING_FRAME_ID
self.node = rclpy.create_node("servo_keyboard_input")
self.twist_pub = self.node.create_publisher(TwistStamped, TWIST_TOPIC, ROS_QUEUE_SIZE)
self.joint_pub = self.node.create_publisher(JointJog, JOINT_TOPIC, ROS_QUEUE_SIZE)
self.switch_input = self.node.create_client(ServoCommandType, "servo_node/switch_command_type")
self.request = ServoCommandType.Request()
def spin(self):
rclpy.spin(self.node)
def key_loop(self):
publish_twist = False
publish_joint = False
print("Reading from keyboard")
print("---------------------------")
print("All commands are in the planning frame")
print("Use arrow keys and the '.' and ';' keys to Cartesian jog")
print("Use 1|2|3|4|5|6|7 keys to joint jog. 'r' to reverse the direction of jogging.")
print("Use 'j' to select joint jog.")
print("Use 't' to select twist")
print("Use 'w' and 'e' to switch between sending command in planning frame or end effector frame")
print("'Q' to quit.")
while True:
c = input()
twist_msg = TwistStamped()
joint_msg = JointJog()
joint_msg.joint_names = [
"shoulder_lift_joint",
"shoulder_pan_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_2_joint",
"finger_joint",
]
joint_msg.velocities = [0.0] * 7
# Use read key-press
if c == '\x1b': # ANSI escape sequence
c = input()
if c == '[':
c = input()
if c == 'A':
twist_msg.twist.linear.x = 0.5 # UP
publish_twist = True
elif c == 'B':
twist_msg.twist.linear.x = -0.5 # DOWN
publish_twist = True
elif c == 'C':
twist_msg.twist.linear.y = 0.5 # RIGHT
publish_twist = True
elif c == 'D':
twist_msg.twist.linear.y = -0.5 # LEFT
publish_twist = True
elif ord(c) == KEYCODE_PERIOD:
twist_msg.twist.linear.z = -0.5 # '.'
publish_twist = True
elif ord(c) == KEYCODE_SEMICOLON:
twist_msg.twist.linear.z = 0.5 # ';'
publish_twist = True
elif ord(c) == KEYCODE_1:
joint_msg.velocities[0] = self.joint_vel_cmd # '1'
publish_joint = True
elif ord(c) == KEYCODE_2:
joint_msg.velocities[1] = self.joint_vel_cmd # '2'
publish_joint = True
elif ord(c) == KEYCODE_3:
joint_msg.velocities[2] = self.joint_vel_cmd # '3'
publish_joint = True
elif ord(c) == KEYCODE_4:
joint_msg.velocities[3] = self.joint_vel_cmd # '4'
publish_joint = True
elif ord(c) == KEYCODE_5:
joint_msg.velocities[4] = self.joint_vel_cmd # '5'
publish_joint = True
elif ord(c) == KEYCODE_6:
joint_msg.velocities[5] = self.joint_vel_cmd # '6'
publish_joint = True
elif ord(c) == KEYCODE_7:
joint_msg.velocities[6] = self.joint_vel_cmd # '7'
publish_joint = True
elif ord(c) == KEYCODE_R:
self.joint_vel_cmd *= -1 # 'r'
elif ord(c) == KEYCODE_J:
self.request.command_type = ServoCommandType.Request.JOINT_JOG # 'j'
if self.switch_input.wait_for_service(timeout_sec=1):
result = self.switch_input.call(self.request)
if result.success:
print("Switched to input type: JointJog")
else:
print("Could not switch input to: JointJog")
elif ord(c) == KEYCODE_T:
self.request.command_type = ServoCommandType.Request.TWIST # 't'
if self.switch_input.wait_for_service(timeout_sec=1):
result = self.switch_input.call(self.request)
if result.success:
print("Switched to input type: Twist")
else:
print("Could not switch input to: Twist")
elif ord(c) == KEYCODE_W:
print(f"Command frame set to: {PLANNING_FRAME_ID}") # 'w'
self.command_frame_id = PLANNING_FRAME_ID
elif ord(c) == KEYCODE_E:
print(f"Command frame set to: {EE_FRAME_ID}") # 'e'
self.command_frame_id = EE_FRAME_ID
elif ord(c) == KEYCODE_Q:
print("Quit") # 'Q'
return 0
# If a key requiring a publish was pressed, publish the message now
if publish_twist:
twist_msg.header.stamp = self.node.get_clock().now().to_msg()
twist_msg.header.frame_id = self.command_frame_id
self.twist_pub.publish(twist_msg)
publish_twist = False
elif publish_joint:
joint_msg.header.stamp = self.node.get_clock().now().to_msg()
joint_msg.header.frame_id = PLANNING_FRAME_ID
self.joint_pub.publish(joint_msg)
publish_joint = False
return 0
def quit_handler(sig, frame):
input_reader.shutdown()
rclpy.shutdown()
sys.exit(0)
if __name__ == "__main__":
signal.signal(signal.SIGINT, quit_handler)
rclpy.init(args=sys.argv)
input_reader = KeyboardReader()
servo_keyboard = KeyboardServo()
threading.Thread(target=servo_keyboard.spin).start()
servo_keyboard.key_loop()

4
src/ur_robotiq_servo/setup.py
View File

@ -24,7 +24,9 @@ setup(
tests_require=['pytest'], tests_require=['pytest'],
entry_points={ entry_points={
'console_scripts': [ 'console_scripts': [
'ps5_servo = ur_robotiq_servo.ps5_control:main' 'ps5_servo = ur_robotiq_servo.ps5_control:main',
'kb_servo = ur_robotiq_servo.kb_control:main',
# 'servo_kb_input = ur_robotiq_servo.servo_keyboard_input:main',
], ],
}, },
) )

142
src/ur_robotiq_servo/ur_robotiq_servo/kb_control.py Normal file
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@ -0,0 +1,142 @@
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Joy, JointState
from geometry_msgs.msg import TwistStamped
from control_msgs.msg import JointJog
from std_srvs.srv import Trigger
from std_msgs.msg import Float64MultiArray, MultiArrayDimension, MultiArrayLayout
import keyboard
class KBControllerNode(Node):
def __init__(self):
super().__init__('kb_controller_node')
# States
self.mode = 'twist' # Initialize mode to 'twist'. Alternatives: 'twist', 'joint'
self.last_button_state = 0 # Track the last state of the toggle button to detect presses
self.last_finger_joint_angle = 0.0
# Parameters
self.linear_speed_multiplier = self.declare_parameter('linear_speed_multiplier', 1.0)
self.linear_speed_multiplier = self.get_parameter('linear_speed_multiplier').get_parameter_value().double_value
self.get_logger().info(f"Linear speed multiplier: {self.linear_speed_multiplier}")
self.use_fake_hardware = self.declare_parameter('use_fake_hardware', False)
self.use_fake_hardware = self.get_parameter('use_fake_hardware').get_parameter_value().bool_value
self.get_logger().info(f"Use fake hardware: {self.use_fake_hardware}")
self.gripper_speed_multiplier = self.declare_parameter('gripper_speed_multiplier', 1.0)
self.gripper_speed_multiplier = (self.get_parameter('gripper_speed_multiplier')
.get_parameter_value().double_value)
self.get_logger().info(f"Gripper speed multiplier: {self.gripper_speed_multiplier}")
self.gripper_lower_limit = self.declare_parameter('gripper_lower_limit', 1.0)
self.gripper_lower_limit = (self.get_parameter('gripper_lower_limit')
.get_parameter_value().double_value)
self.get_logger().info(f"Gripper lower limit: {self.gripper_lower_limit}")
self.gripper_upper_limit = self.declare_parameter('gripper_upper_limit', 1.0)
self.gripper_upper_limit = (self.get_parameter('gripper_upper_limit')
.get_parameter_value().double_value)
self.get_logger().info(f"Gripper upper limit: {self.gripper_upper_limit}")
# Subscriber and Publisher
self.joint_state_sub = self.create_subscription(
JointState,
'/joint_states',
self.joint_state_callback,
10)
self.joy_sub = self.create_subscription(
Joy,
'/joy',
self.keyboard_callback,
10)
self.twist_pub = self.create_publisher(
TwistStamped,
'/servo_node/delta_twist_cmds',
10)
self.joint_pub = self.create_publisher(
JointJog,
'/servo_node/delta_joint_cmds',
10)
self.gripper_cmd_pub = self.create_publisher(
Float64MultiArray,
'/forward_gripper_position_controller/commands',
10)
# Services
self.servo_client = self.create_client(Trigger, '/servo_node/start_servo')
srv_msg = Trigger.Request()
while not self.servo_client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('/servo_node/start_servo service not available, waiting again...')
self.call_start_servo()
self.get_logger().info('kb_servo_node started!')
def call_start_servo(self):
request = Trigger.Request()
future = self.servo_client.call_async(request)
rclpy.spin_until_future_complete(self, future)
response = future.result()
if response.success:
self.get_logger().info(f'Successfully called start_servo: {response.message}')
else:
self.get_logger().info('Failed to call start_servo')
def joint_state_callback(self, msg):
try:
index = msg.name.index('finger_joint')
self.last_finger_joint_angle = msg.position[index]
except ValueError:
self.get_logger().error('finger_joint not found in /joint_states msg')
def keyboard_callback(self, event):
# Process keyboard events
print("Key pressed")
if event.event_type == keyboard.KEY_DOWN:
# Handle key presses
if event.name == 't':
# Toggle mode between twist and joint control
self.mode = 'joint' if self.mode == 'twist' else 'twist'
self.get_logger().info(f'Mode switched to: {self.mode}')
elif event.name == 'w':
# Move forward
self.publish_twist(1.0 * self.linear_speed_multiplier) # Adjust speed as needed
self.get_logger().info('Moving forward')
elif event.name == 's':
# Move backward
self.publish_twist(-1.0 * self.linear_speed_multiplier) # Adjust speed as needed
self.get_logger().info('Moving backward')
elif event.event_type == keyboard.KEY_UP:
# Handle key releases
if event.name == 'w' or event.name == 's':
# Stop moving
self.publish_twist(0.0)
self.get_logger().info('Stopped moving')
def publish_twist(self, linear_speed):
twist_msg = TwistStamped()
twist_msg.header.frame_id = 'tool0'
twist_msg.header.stamp = self.get_clock().now().to_msg()
twist_msg.twist.linear.x = linear_speed
twist_msg.twist.linear.y = 0.0 # Adjust as needed
twist_msg.twist.linear.z = 0.0 # Adjust as needed
twist_msg.twist.angular.x = 0.0
twist_msg.twist.angular.y = 0.0
twist_msg.twist.angular.z = 0.0
self.twist_pub.publish(twist_msg)
def main(args=None):
rclpy.init(args=args)
node = KBControllerNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()