diff --git a/.idea/.gitignore b/.idea/.gitignore index 13566b8..a9d7db9 100644 --- a/.idea/.gitignore +++ b/.idea/.gitignore @@ -6,3 +6,5 @@ # Datasource local storage ignored files /dataSources/ /dataSources.local.xml +# GitHub Copilot persisted chat sessions +/copilot/chatSessions diff --git a/README.md b/README.md index 68964df..c862aff 100644 --- a/README.md +++ b/README.md @@ -78,11 +78,17 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa ``` ### servoing +#### PS5 controller Terminal 3:\ **At the moment the servoing doesnt work with the collision checker (self collision still works).** ```bash ros2 launch ur_robotiq_servo ps5_servo.launch.py ``` +#### Keyboard +Terminal 3: +```bash +ros2 run servo_keyboard servo_keyboard_input +``` After launching you need to change the controller to enable the servo mode.\ Terminal 4: @@ -91,4 +97,23 @@ ros2 control switch_controllers --deactivate joint_trajectory_controller ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller ros2 control switch_controllers --activate forward_position_controller ros2 control switch_controllers --activate forward_gripper_position_controller +``` + +For the real robot you need to change to the scaled position controller: +```bash +ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller +ros2 control switch_controllers --deactivate robotiq_gripper_joint_trajectory_controller +ros2 control switch_controllers --activate scaled_forward_position_controller +ros2 control switch_controllers --activate forward_gripper_position_controller +``` + +Terminal 5: +Activate the Servo Node +```bash +ros2 service call ros2 service call /servo_node/start_servo std_srvs/srv/Trigger {} +``` + +### extract the urdf from xacro file +```bash +ros2 run xacro xacro src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro > src/ur_robotiq_description/urdf/ur_robotiq.urdf name:=ur3e ``` \ No newline at end of file diff --git a/UR_Robotiq.humble.repos b/UR_Robotiq.humble.repos index aa37cd5..8fd9130 100644 --- a/UR_Robotiq.humble.repos +++ b/UR_Robotiq.humble.repos @@ -13,9 +13,8 @@ repositories: version: ros2 ros2_robotiq_gripper: type: git - url: https://github.com/NikoFeith/ros2_robotiq_gripper.git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git version: main cartesian_controllers: type: git - url: https://github.com/NikoFeith/cartesian_controllers.git - version: ros2 \ No newline at end of file + url: https://github.com/NikoFeith/cartesian_controllers.git \ No newline at end of file diff --git a/src/robotiq_2f/README.md b/src/__init__.py similarity index 100% rename from src/robotiq_2f/README.md rename to src/__init__.py diff --git a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt deleted file mode 100644 index f96d87b..0000000 --- a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(robotiq_2f_controllers) - -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) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -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() diff --git a/src/robotiq_2f/robotiq_2f_controllers/package.xml b/src/robotiq_2f/robotiq_2f_controllers/package.xml deleted file mode 100644 index ab0ddb2..0000000 --- a/src/robotiq_2f/robotiq_2f_controllers/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - robotiq_2f_controllers - 0.0.0 - TODO: Package description - niko - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt deleted file mode 100644 index 20cbfc6..0000000 --- a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(robotiq_2f_description) - -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) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -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() diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml deleted file mode 100644 index ce06c22..0000000 --- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml +++ /dev/null @@ -1,9 +0,0 @@ -robotiq_2f_140_gripper: - ros__parameters: - # Physical limits - min_position: 0.0 # Meters (fully closed) - max_position: 0.14 # Meters (fully open) - min_speed: 0.02 # Meters per second - max_speed: 0.15 # Meters per second - min_force: 20.0 # Newtons - max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml deleted file mode 100644 index 6a106a5..0000000 --- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml +++ /dev/null @@ -1,11 +0,0 @@ -robotiq_2f_140_gripper: - ros__parameters: - robot_ip: "192.168.1.11" - robot_port: 63352 - # Physical limits - min_position: 0.0 # Meters (fully closed) - max_position: 0.085 # Meters (fully open) - min_speed: 0.02 # Meters per second - max_speed: 0.15 # Meters per second - min_force: 20.0 # Newtons - max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl 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96 118 97 119 98 120 98 120 97 119 99 35 98 120 99 35 100 35 100 35 99 35 101 35 101 121 99 122 102 123 102 123 99 122 103 124 100 125 101 126 104 127 104 127 101 126 102 128 98 129 100 130 105 131 105 131 100 130 104 132 96 133 98 134 106 135 106 135 98 134 105 136 97 137 96 138 107 139 107 139 96 138 106 140 99 141 97 142 103 143 103 143 97 142 107 144 108 145 109 146 103 147 106 148 110 149 111 150 112 151 107 152 113 153 113 153 107 152 106 148 113 153 106 148 114 154 114 154 106 148 111 150 115 155 116 156 102 157 105 158 117 159 118 160 104 161 119 162 120 163 118 160 121 164 105 158 105 158 121 164 122 165 105 158 122 165 106 148 106 148 122 165 123 166 106 148 123 166 110 149 120 163 124 167 104 161 104 161 124 167 125 168 104 161 125 168 105 158 105 158 125 168 126 169 105 158 126 169 117 159 116 156 127 170 102 157 102 157 127 170 128 171 102 157 128 171 104 161 104 161 128 171 129 172 104 161 129 172 119 162 112 151 130 173 107 152 107 152 130 173 131 174 107 152 131 174 103 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0 0 1 1 2 2 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 2 2 4 4 0 0 0 0 4 4 6 6 0 0 6 6 11 11 11 11 6 6 8 8 11 11 8 8 12 12 12 12 8 8 10 10 12 12 10 10 13 13 5 14 14 15 15 16 5 14 15 16 7 17 7 17 15 16 16 18 7 17 16 18 9 19 16 18 17 20 9 19 9 19 17 20 18 21 9 19 18 21 10 22 10 22 18 21 19 23 10 22 19 23 13 24 13 24 19 23 20 25 13 24 20 25 21 26 20 25 22 27 21 26 21 26 22 27 23 28 21 26 23 28 24 29 23 28 25 30 24 29 24 29 25 30 26 31 24 29 26 31 27 32 26 31 28 33 27 32 27 32 28 33 29 34 27 32 29 34 30 35 29 34 28 33 31 36 31 36 28 33 32 37 28 33 26 31 32 37 32 37 26 31 25 30 32 37 25 30 33 38 25 30 23 28 33 38 33 38 23 28 22 27 33 38 22 27 34 39 22 27 20 25 34 39 34 39 20 25 19 23 34 39 19 23 35 40 19 23 18 21 35 40 35 40 18 21 17 20 35 40 17 20 36 41 14 15 37 42 15 16 15 16 37 42 36 41 15 16 36 41 16 18 16 18 36 41 17 20 38 43 39 44 40 45 41 46 42 47 43 48 38 43 40 45 44 49 44 49 40 45 45 50 44 49 45 50 46 51 46 51 45 50 47 52 46 51 47 52 48 53 48 53 49 54 46 51 46 51 49 54 50 55 46 51 50 55 44 49 44 49 50 55 41 46 44 49 41 46 38 43 38 43 41 46 43 48 38 43 43 48 39 44 40 56 51 57 52 58 40 56 52 58 45 59 45 59 52 58 53 60 45 59 53 60 47 61 47 61 53 60 54 62 47 61 54 62 48 63 48 63 54 62 55 64 48 63 55 64 56 65 56 65 55 64 57 66 56 65 57 66 58 67 58 67 57 66 59 68 58 67 59 68 60 69 61 70 59 68 57 66 61 70 57 66 62 71 62 71 57 66 55 64 62 71 55 64 63 72 63 73 55 64 54 62 63 73 54 62 64 74 64 74 54 62 53 60 64 74 53 60 65 75 65 76 53 60 52 58 65 76 52 58 66 77 66 77 52 58 51 57 66 77 51 57 67 78 83 127 102 128 81 129 81 129 102 128 103 130 81 129 103 130 79 131 104 132 105 133 106 119 106 119 105 133 107 119 106 119 107 119 108 119 108 119 107 119 109 119 108 119 109 119 110 134 111 135 112 136 113 137 113 137 112 136 114 138 113 137 114 138 104 132 104 132 114 138 115 139 104 132 115 139 105 133 103 130 116 140 79 131 79 131 116 140 117 141 79 131 117 141 77 142 77 142 117 141 118 143 77 142 118 143 75 144 75 144 118 143 119 145 75 144 119 145 73 146 109 119 120 147 110 134 110 134 120 147 121 148 110 134 121 148 122 149 122 149 121 148 123 150 122 149 123 150 85 151 85 151 123 150 124 152 85 151 124 152 83 127 83 127 124 152 125 153 83 127 125 153 102 128 119 145 126 154 73 146 73 146 126 154 127 155 73 146 127 155 71 156 71 156 127 155 128 157 71 156 128 157 68 158 68 158 128 157 129 159 68 158 129 159 111 135 111 135 129 159 130 119 111 135 130 119 112 136 129 160 131 161 132 162 129 160 132 162 130 163 130 163 132 162 133 164 130 163 133 164 112 165 112 165 133 164 134 166 112 165 134 166 114 167 114 167 134 166 135 168 114 167 135 168 115 169 115 169 135 168 136 170 115 169 136 170 105 171 105 171 136 170 137 172 105 171 137 172 107 173 107 173 137 172 138 174 107 173 138 174 109 175 109 175 138 174 139 176 109 175 139 176 120 177 120 177 139 176 140 178 120 177 140 178 121 179 121 179 140 178 141 180 121 179 141 180 123 181 123 181 141 180 142 182 123 181 142 182 124 183 143 184 144 185 145 186 145 186 144 185 146 187 145 186 146 187 147 187 147 187 146 187 148 187 147 187 148 187 149 188 149 188 148 187 150 189 149 188 150 189 151 190 151 190 150 189 152 191 151 190 152 191 153 187 153 187 152 191 154 187 153 187 154 187 155 187 155 187 154 187 156 187 155 187 156 187 157 187 158 192 159 193 160 194 158 192 160 194 161 195 161 195 160 194 162 196 161 195 162 196 163 197 163 197 162 196 164 198 163 197 164 198 165 198 165 198 164 198 166 199 165 198 166 199 167 200 167 200 166 199 168 201 167 200 168 201 169 202 169 202 168 201 170 203 169 202 170 203 171 204 171 204 170 203 172 205 171 204 172 205 173 206 173 206 172 205 174 207 173 206 174 207 175 208 175 208 174 207 176 209 175 208 176 209 177 210 177 210 176 209 178 211 177 210 178 211 179 212 179 212 178 211 180 213 180 213 178 211 181 214 180 213 181 214 182 215 183 216 184 217 185 218 185 218 184 217 186 219 185 218 186 219 187 220 187 220 186 219 188 119 187 220 188 119 189 119 189 119 188 119 190 119 189 119 190 119 191 221 191 221 190 119 192 222 191 221 192 222 193 223 193 223 192 222 194 224 193 223 194 224 195 225 195 225 194 224 182 226 195 225 182 226 181 119 196 227 171 228 197 229 197 229 171 228 173 230 197 229 173 230 198 231 199 232 163 233 200 234 200 234 163 233 165 235 200 234 165 235 201 236 201 236 165 235 167 237 201 236 167 237 196 227 196 227 167 237 169 238 196 227 169 238 171 228 202 239 203 240 204 241 204 241 203 240 205 242 204 241 205 242 206 243 206 243 205 242 158 244 206 243 158 244 199 232 199 232 158 244 161 245 199 232 161 245 163 233 207 246 208 247 209 248 209 248 208 247 210 249 209 248 210 249 211 250 211 250 210 249 212 251 211 250 212 251 213 252 173 230 175 253 198 231 198 231 175 253 177 254 198 231 177 254 214 255 214 255 177 254 179 256 214 255 179 256 215 257 215 257 179 256 180 258 215 257 180 258 207 246 207 246 180 258 216 259 207 246 216 259 208 247 212 251 217 260 213 252 213 252 217 260 218 261 213 252 218 261 219 262 219 262 218 261 220 263 219 262 220 263 202 239 202 239 220 263 221 264 202 239 221 264 203 240 364 463 365 464 366 465 367 466 368 467 369 468 370 469 371 470 372 471 372 471 371 470 367 466 367 466 369 468 372 471 372 471 369 468 373 472 372 471 373 472 374 473 374 473 373 472 375 474 374 473 375 474 376 475 375 474 377 476 376 475 376 475 377 476 378 477 376 475 378 477 379 478 379 478 378 477 380 479 379 478 380 479 381 480 382 481 383 482 384 483 384 483 383 482 385 484 384 483 385 484 386 485 386 485 385 484 387 486 386 485 387 486 388 487 388 487 387 486 381 480 388 487 381 480 389 488 389 488 381 480 380 479 390 489 391 490 392 491 392 491 391 490 393 492 392 491 393 492 394 493 391 490 395 494 393 492 393 492 395 494 396 495 393 492 396 495 397 496 398 497 370 469 399 498 399 498 370 469 372 471 399 498 372 471 400 499 400 499 372 471 374 473 400 499 374 473 401 500 401 500 374 473 376 475 401 500 376 475 402 501 402 501 376 475 379 478 402 501 379 478 403 502 403 502 379 478 381 480 403 502 381 480 404 503 404 503 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48 53 49 54 46 51 46 51 49 54 50 55 46 51 50 55 44 49 44 49 50 55 41 46 44 49 41 46 38 43 38 43 41 46 43 48 38 43 43 48 39 44 40 56 51 57 52 58 40 56 52 58 45 59 45 59 52 58 53 60 45 59 53 60 47 61 47 61 53 60 54 62 47 61 54 62 48 63 48 63 54 62 55 64 48 63 55 64 56 65 56 65 55 64 57 66 56 65 57 66 58 67 58 67 57 66 59 68 58 67 59 68 60 69 61 70 59 68 57 66 61 70 57 66 62 71 62 71 57 66 55 64 62 71 55 64 63 72 63 73 55 64 54 62 63 73 54 62 64 74 64 74 54 62 53 60 64 74 53 60 65 75 65 76 53 60 52 58 65 76 52 58 66 77 66 77 52 58 51 57 66 77 51 57 67 78 83 123 102 115 81 124 81 124 102 115 103 125 81 124 103 125 79 126 104 127 105 128 106 129 106 129 105 128 107 130 106 129 107 130 108 131 108 131 107 130 109 132 108 131 109 132 110 133 111 134 112 115 113 135 113 135 112 115 114 136 113 135 114 136 104 127 104 127 114 136 115 137 104 127 115 137 105 128 103 125 116 138 79 126 79 126 116 138 117 139 79 126 117 139 77 140 77 140 117 139 118 141 77 140 118 141 75 142 75 142 118 141 119 143 75 142 119 143 73 115 109 132 120 144 110 133 110 133 120 144 121 145 110 133 121 145 122 115 122 115 121 145 123 146 122 115 123 146 85 147 85 147 123 146 124 148 85 147 124 148 83 123 83 123 124 148 125 149 83 123 125 149 102 115 119 143 126 115 73 115 73 115 126 115 127 115 73 115 127 115 71 115 71 115 127 115 128 150 71 115 128 150 68 151 68 151 128 150 129 152 68 151 129 152 111 134 111 134 129 152 130 153 111 134 130 153 112 115 129 154 131 155 132 156 129 154 132 156 130 157 130 157 132 156 133 158 130 157 133 158 112 159 112 159 133 158 134 160 112 159 134 160 114 161 114 161 134 160 135 162 114 161 135 162 115 163 115 163 135 162 136 164 115 163 136 164 105 165 105 165 136 164 137 166 105 165 137 166 107 167 107 167 137 166 138 168 107 167 138 168 109 169 109 169 138 168 139 170 109 169 139 170 120 171 120 171 139 170 140 172 120 171 140 172 121 173 121 173 140 172 141 174 121 173 141 174 123 175 123 175 141 174 142 176 123 175 142 176 124 177 143 178 144 178 145 178 145 178 144 178 146 178 145 178 146 178 147 178 147 178 146 178 148 179 147 178 148 179 149 180 149 180 148 179 150 181 149 180 150 181 151 178 151 178 150 181 152 182 151 178 152 182 153 183 153 183 152 182 154 184 153 183 154 184 155 185 155 185 154 184 156 186 155 185 156 186 157 187 158 188 159 189 160 190 158 188 160 190 161 191 161 191 160 190 162 192 161 191 162 192 163 193 163 193 162 192 164 194 163 193 164 194 165 195 165 195 164 194 166 196 165 195 166 196 167 197 167 197 166 196 168 198 167 197 168 198 169 199 169 199 168 198 170 200 169 199 170 200 171 201 171 201 170 200 172 202 171 201 172 202 173 203 173 203 172 202 174 204 173 203 174 204 175 205 175 205 174 204 176 206 175 205 176 206 177 207 177 207 176 206 178 208 177 207 178 208 179 209 179 209 178 208 180 210 180 210 178 208 181 211 180 210 181 211 182 212 183 115 184 115 185 115 185 115 184 115 186 115 185 115 186 115 187 213 187 213 186 115 188 214 187 213 188 214 189 215 189 215 188 214 190 216 189 215 190 216 191 217 191 217 190 216 192 218 191 217 192 218 193 219 193 219 192 218 194 220 193 219 194 220 195 221 195 221 194 220 182 222 195 221 182 222 181 115 196 223 171 224 197 225 197 225 171 224 173 226 197 225 173 226 198 227 199 228 163 229 200 230 200 230 163 229 165 231 200 230 165 231 201 232 201 232 165 231 167 233 201 232 167 233 196 223 196 223 167 233 169 178 196 223 169 178 171 224 202 234 203 178 204 235 204 235 203 178 205 236 204 235 205 236 206 237 206 237 205 236 158 238 206 237 158 238 199 228 199 228 158 238 161 239 199 228 161 239 163 229 207 240 208 241 209 242 209 242 208 241 210 243 209 242 210 243 211 178 211 178 210 243 212 178 211 178 212 178 213 244 173 226 175 178 198 227 198 227 175 178 177 245 198 227 177 245 214 246 214 246 177 245 179 247 214 246 179 247 215 248 215 248 179 247 180 249 215 248 180 249 207 240 207 240 180 249 216 250 207 240 216 250 208 241 212 178 217 251 213 244 213 244 217 251 218 252 213 244 218 252 219 253 219 253 218 252 220 254 219 253 220 254 202 234 202 234 220 254 221 255 202 234 221 255 203 178 364 457 365 458 366 459 367 460 368 461 369 462 370 463 371 464 372 465 372 465 371 464 367 460 367 460 369 462 372 465 372 465 369 462 373 466 372 465 373 466 374 467 374 467 373 466 375 468 374 467 375 468 376 469 375 468 377 470 376 469 376 469 377 470 378 471 376 469 378 471 379 472 379 472 378 471 380 473 379 472 380 473 381 474 382 475 383 476 384 477 384 477 383 476 385 478 384 477 385 478 386 479 386 479 385 478 387 480 386 479 387 480 388 481 388 481 387 480 381 474 388 481 381 474 389 482 389 482 381 474 380 473 390 483 391 484 392 485 392 485 391 484 393 486 392 485 393 486 394 487 391 484 395 488 393 486 393 486 395 488 396 489 393 486 396 489 397 490 398 491 370 463 399 492 399 492 370 463 372 465 399 492 372 465 400 493 400 493 372 465 374 467 400 493 374 467 401 494 401 494 374 467 376 469 401 494 376 469 402 495 402 495 376 469 379 472 402 495 379 472 403 496 403 496 379 472 381 474 403 496 381 474 404 497 404 497 381 474 387 480 404 497 387 480 405 498 405 498 387 480 385 478 405 498 385 478 406 499 406 499 385 478 383 476 406 499 383 476 407 500 397 490 408 501 393 486 393 486 408 501 409 502 393 486 409 502 394 487 394 487 409 502 410 503 394 487 410 503 411 504 412 505 398 491 413 506 413 506 398 491 399 492 413 506 399 492 414 507 414 507 399 492 400 508 414 507 400 508 415 509 415 509 400 508 401 510 415 509 401 510 416 511 416 511 401 510 402 512 416 511 402 512 417 513 417 513 402 512 403 514 417 513 403 514 418 515 418 515 403 514 404 516 418 515 404 516 419 517 419 517 404 516 405 518 419 517 405 518 420 519 420 519 405 518 406 520 420 519 406 520 421 521 421 521 406 520 407 522 421 521 407 522 366 459 382 475 390 483 383 476 383 476 390 483 392 485 383 476 392 485 407 500 407 500 392 485 394 487 407 522 394 487 366 459 366 459 394 487 411 504 366 459 411 504 364 457 422 523 418 515 423 524 423 524 418 515 419 517 423 524 419 517 424 525 424 525 419 517 420 519 424 525 420 519 425 526 425 526 420 519 421 521 425 526 421 521 426 527 426 527 421 521 366 459 426 527 366 459 427 528 427 528 366 459 365 458 427 528 365 458 428 529 428 529 365 458 429 530 428 529 429 530 430 531 430 531 429 530 431 532 430 531 431 532 432 533 432 533 431 532 433 534 432 533 433 534 434 535 434 535 433 534 435 536 434 535 435 536 436 537 435 536 437 538 436 537 436 537 437 538 438 539 436 537 438 539 439 540 439 540 438 539 440 541 439 540 440 541 441 542 441 542 440 541 442 543 441 542 442 543 443 544 443 544 442 543 444 545 443 544 444 545 445 546 445 546 444 545 446 547 445 546 446 547 447 548 447 548 446 547 412 505 447 548 412 505 448 549 448 549 412 505 413 506 448 549 413 506 449 550 449 550 413 506 414 507 449 550 414 507 450 551 450 551 414 507 415 509 450 551 415 509 451 552 451 552 415 509 416 511 451 552 416 511 422 523 422 523 416 511 417 513 422 523 417 513 418 515 368 461 471 589 472 590 472 590 471 589 473 591 471 589 474 592 473 591 473 591 474 592 475 593 473 591 475 593 476 594 475 593 477 595 476 594 476 594 477 595 478 596 476 594 478 596 479 597 478 596 480 598 479 597 479 597 480 598 481 599 479 597 481 599 482 600 481 599 483 601 482 600 482 600 483 601 484 602 482 600 484 602 485 603 484 602 486 604 485 603 485 603 486 604 487 605 485 603 487 605 488 606 487 605 489 607 488 606 488 606 489 607 490 608 488 606 490 608 491 609 397 490 492 610 493 611 493 611 492 610 491 609 493 611 491 609 494 612 494 612 491 609 490 608 495 613 496 614 497 615 495 613 497 615 498 616 498 616 497 615 499 617 498 616 499 617 500 618 500 618 499 617 501 619 500 618 501 619 502 620 502 620 501 619 503 621 502 620 503 621 504 622 505 623 506 624 507 625 505 623 507 625 508 626 508 626 507 625 509 627 508 626 509 627 510 628 510 628 509 627 511 629 510 628 511 629 512 630 512 630 511 629 513 631 512 630 513 631 514 632 513 631 515 633 514 632 514 632 515 633 516 634 517 635 518 636 519 637 519 637 518 636 520 638 519 637 520 638 495 613 495 613 520 638 496 614 516 634 515 633 521 639 516 634 521 639 522 640 522 640 521 639 523 641 522 640 523 641 524 642 524 642 523 641 525 643 524 642 525 643 526 644 526 644 525 643 527 645 526 644 527 645 528 646 528 646 527 645 529 647 528 646 529 647 530 648 530 648 529 647 531 649 530 648 531 649 532 650 532 650 531 649 533 651 532 650 533 651 534 652 534 652 533 651 535 653 534 652 535 653 536 654 536 654 535 653 537 655 536 654 537 655 538 656 538 656 537 655 539 657 538 656 539 657 540 658 540 658 539 657 541 659 540 658 541 659 542 660 542 660 541 659 543 661 542 660 543 661 544 662 544 662 543 661 545 663 544 662 545 663 546 664 546 664 545 663 547 665 546 664 547 665 548 666 548 666 547 665 549 666 548 666 549 666 550 667 550 667 549 666 551 668 550 667 551 668 552 669 552 669 551 668 553 670 552 669 553 670 554 671 554 671 553 670 555 672 554 671 555 672 556 673 556 673 555 672 557 673 556 673 557 673 558 674 558 674 557 673 559 675 558 674 559 675 560 676 560 676 559 675 561 677 560 676 561 677 562 678 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- - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - diff --git a/src/robotiq_2f/robotiq_2f_description/package.xml b/src/robotiq_2f/robotiq_2f_description/package.xml deleted file mode 100644 index 4118eee..0000000 --- a/src/robotiq_2f/robotiq_2f_description/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - robotiq_2f_description - 0.0.0 - TODO: Package description - niko - TODO: License declaration - - ament_cmake - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro deleted file mode 100644 index 519b1c5..0000000 --- a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - robotiq_2f_interface/RobotiqGripperHardwareInterface - 0.14 - ${robot_ip} - ${robot_port} - 1.0 - 0.5 - - - - - - - - - 0.14 - - - - - - - ${prefix}finger_joint - -1 - - - - - - ${prefix}finger_joint - 1 - - - - - - ${prefix}finger_joint - -1 - - - - - - ${prefix}robotiq_140_left_knuckle_joint - -1 - - - - - - ${prefix}robotiq_140_left_knuckle_joint - 1 - - - - - - - - - - - - - - - - diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro deleted file mode 100644 index e69de29..0000000 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro deleted file mode 100644 index e69de29..0000000 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro deleted file mode 100644 index e69de29..0000000 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro deleted file mode 100644 index e69de29..0000000 diff --git a/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro b/src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro deleted file mode 100644 index e69de29..0000000 diff --git a/src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt deleted file mode 100644 index 2f1bfeb..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(robotiq_2f_interface) - -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(rclcpp_lifecycle REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(lifecycle_msgs REQUIRED) -find_package(pluginlib REQUIRED) - -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() diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp deleted file mode 100644 index 2b8b280..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/Robotiq2fSocketAdapter.hpp +++ /dev/null @@ -1,356 +0,0 @@ -// Robotiq2fSocketAdapter.hpp - -#ifndef ROBOTIQ2F_SOCKET_ADAPTER_HPP -#define ROBOTIQ2F_SOCKET_ADAPTER_HPP - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include // For close() -#include // For memset() -#include // For select() system call - -#include // For std::runtime_error -#include // For errno -#include - -// Enum for Gripper Status -enum class GripperStatus { - RESET = 0, - ACTIVATING = 1, - // UNUSED = 2, // This value is currently not used by the gripper firmware - ACTIVE = 3 -}; - -// Enum for Object Status -enum class ObjectStatus { - MOVING = 0, - STOPPED_OUTER_OBJECT = 1, - STOPPED_INNER_OBJECT = 2, - AT_DEST = 3 -}; - -class Robotiq2fSocketAdapter { -public: - - Robotiq2fSocketAdapter() ; - ~Robotiq2fSocketAdapter(); - - // Connection management - /** - * Establishes a TCP connection to the Robotiq gripper. - * - * Attempts to open a socket and connect to the specified hostname and port. If the adapter - * is already connected, it will disconnect and attempt to reconnect. - * - * @param hostname The IP address or hostname of the Robotiq gripper. - * @param port The port number on which the gripper is listening for connections. - * @return True if the connection was successfully established, False otherwise. - * - * @throws std::runtime_error if socket creation fails. - */ - bool connect(const std::string& hostname, int port); - /** - * Closes the connection to the Robotiq gripper. - * - * Safely shuts down and closes the current socket connection to the gripper. If the socket - * is already closed or was never connected, this method has no effect. This method is - * thread-safe and can be called concurrently with other operations on the adapter. - */ - void disconnect(); - - - /** - * Sets multiple gripper variables using a map of variable names to integer/double values. - * - * This method allows setting multiple configuration parameters of the gripper simultaneously. - * The variable names must match the expected variable identifiers used by the gripper. - * Integer/double values are used directly in the command sent to the gripper. - * - * @param variableMap A map where each key is a string representing the variable name and - * each value is an integer representing the variable's desired value. - * @return True if the command was successfully sent and acknowledged by the gripper, False otherwise. - * - * @throws std::runtime_error if the adapter is not connected to the gripper or if sending the command fails. - */ - bool setGripperVariables(const std::map& variableMap); - bool setGripperVariables(const std::map& variableMap); - - /** - * Sets a single gripper variable. - * - * Allows setting a single configuration parameter of the gripper. The method overloads allow - * specifying the variable value as either an integer or a double, depending on the expected - * variable type. - * - * @param variable The variable name, matching the gripper's expected variable identifiers. - * @param value The desired value for the variable, either as an int or a double. - * @return True if the command was successfully sent and acknowledged by the gripper, False otherwise. - * - * @throws std::runtime_error if the adapter is not connected to the gripper or if sending the command fails. - */ - bool setGripperVariable(const std::string& variable, int value); - bool setGripperVariable(const std::string& variable, double value); - - /** - * Retrieves the current value of a specified gripper variable. - * - * Sends a command to the gripper to report the current value of a specific configuration parameter. - * The method parses the gripper's response to extract the variable value. - * - * @param variable The variable name, matching the gripper's expected variable identifiers. - * @return The current value of the variable as an integer. Returns -1 if the command fails or - * if the variable is not recognized by the gripper. - * - * @throws std::runtime_error if the adapter is not connected to the gripper, if sending the command fails, - * or if the response from the gripper is malformed. - */ - int getGripperVariable(const std::string& variable); - - // Gripper status - bool isGripperActive(); - int getGripperPosition(); - int getGripperForce(); - int force(); - int speed(); - int position(); - - /** - * Checks if the gripper is currently active. - * - * Queries the current state of the gripper to determine if it is active. This method interprets - * the gripper's status based on the last known communication and does not initiate a new request - * to the gripper. - * - * @return True if the gripper is in the ACTIVE state, False otherwise. - * - * @throws std::runtime_error if unable to retrieve the gripper's status, typically due to communication issues. - */ - bool is_active(); - - - // Activates the gripper and optionally performs auto-calibration - /** - * Activates the Robotiq gripper and optionally performs auto-calibration. - * - * This method sends an activation command to the gripper, bringing it from a RESET or INACTIVE - * state to an ACTIVE state. If autoCalibrate is set to true, it also initiates an auto-calibration - * procedure to determine the maximum and minimum positions of the gripper's motion range. - * - * @param autoCalibrate A boolean flag indicating whether to perform auto-calibration after - * activation. Default is true. - * - * @note Activation and auto-calibration may take several seconds to complete. The method - * waits for the gripper to acknowledge activation before returning. - * - * @throws std::runtime_error if the adapter is not connected to the gripper, if sending the - * activation command fails, or if the gripper does not reach the expected state within - * a reasonable timeframe. - */ - void activate(bool autoCalibrate = true); - /** - * Performs auto-calibration of the gripper. - * - * This method initiates an auto-calibration sequence where the gripper fully opens and closes to determine - * its operational range. This is useful for ensuring accurate position control, especially if the mechanical - * setup of the gripper has been altered or if it is being used for the first time. - * - * @param log A boolean flag indicating whether to log the calibration results. Defaults to true. When set - * to true, the final calibration values will be logged to the standard output. - * - * @note This method assumes the gripper is already activated. If the gripper is not in an active state, - * the calibration sequence may fail. Ensure the gripper is activated before calling this method. - * - * @throws std::runtime_error if the adapter is not connected to the gripper, if the gripper is not in an - * active state, or if the calibration sequence fails. - */ - void autoCalibrate(bool log=true); - - /** - * Deactivates the gripper. - * - * Sends a command to transition the gripper from an active state back to a reset state. This method - * is useful for safely shutting down the gripper or preparing it for a state change. - * - * @note This method should be called before disconnecting from the gripper or when the gripper is not - * needed for an extended period to ensure it is left in a safe state. - * - * @throws std::runtime_error if the adapter is not connected to the gripper or if the deactivation command fails. - */ - void deactivate(); - - // Move Commands - /** - * Commands the gripper to move to a specified position. - * - * Instructs the gripper to move to a given position with specified speed and force. The position, - * speed, and force parameters are automatically clipped to the valid range supported by the gripper. - * - * @param position The target position for the gripper, typically in the range [0, 255]. - * @param speed The speed at which the gripper should move, typically in the range [0, 255]. - * @param force The force to be applied by the gripper, typically in the range [0, 255]. - * @return A tuple containing a boolean indicating success of the command, and an integer representing the clipped target position. - * - * @throws std::runtime_error if there's an error in sending the move command or if the adapter is not connected to a gripper. - */ - std::tuple move(int position, int speed, int force); - /** - * Commands the gripper to move to a specified position and waits for the move to complete. - * - * This method instructs the gripper to move to the given position with specified speed and force, - * then blocks until the gripper acknowledges reaching the target position or stops moving due to - * detecting an object. - * - * @param position The target position for the gripper, typically in the range [0, 255]. - * @param speed The speed at which the gripper should move, typically in the range [0, 255]. - * @param force The force to be applied by the gripper, typically in the range [0, 255]. - * @return A tuple containing the final position of the gripper as an integer and the object status - * as an `ObjectStatus` enumeration value. - * - * @throws std::runtime_error if there's an error in sending the move command, if the adapter is not - * connected to a gripper, or if the gripper does not reach the target position within a - * reasonable time frame. - */ - std::tuple move_and_wait_for_pos(int position, int speed, int force); - -private: - // Custom deleter for the smart pointer managing the socket descriptor - struct SocketDeleter { - void operator()(int* ptr) { - if (ptr && *ptr >= 0) { - close(*ptr); - } - delete ptr; - } - }; - - // Smart pointer to manage the socket descriptor with the custom deleter - std::unique_ptr _sockfd; - std::mutex socketMutex; // Mutex for socket access synchronization - - // bounds of the encoded gripper states - int _min_position = 0; - int _max_position = 255; - int _min_speed = 0; - int _max_speed = 255; - int _min_force = 0; - int _max_force = 255; - - int open_position = _min_position; - int closed_position = _max_position; - - - /** - * Sends a command to the connected Robotiq gripper. - * - * Constructs and sends a command string to the gripper over the established socket connection. - * This method ensures thread-safe access to the socket and handles low-level socket write operations. - * - * @param cmd The command string to be sent to the gripper. Must conform to the gripper's protocol. - * @return True if the command was successfully sent, False if there was an error sending the command. - * - * @throws std::runtime_error if attempted on a disconnected socket. - */ - bool sendCommand(const std::string& cmd); - - /** - * Receives a response from the Robotiq gripper. - * - * Waits for and reads a response from the gripper within a specified timeout period. This method - * is blocking but allows specifying a timeout to prevent indefinite waiting. It ensures thread-safe - * access to the socket and handles low-level socket read operations. - * - * @param timeout_ms The timeout in milliseconds to wait for a response. Defaults to 2000 milliseconds. - * @return A string containing the response from the gripper. If the operation times out or fails, an empty string is returned. - * - * @throws std::runtime_error if attempted on a disconnected socket or if a select() call fails. - */ - std::string receiveResponse(int timeout_ms=2000); - - - /** - * Checks if the received data is an acknowledgement message from the gripper. - * - * This method parses the received data string to determine if it matches the expected acknowledgement - * pattern or message, indicating that a previously sent command was received and executed by the gripper. - * - * @param data The raw string data received from the gripper. - * @return True if the data represents an acknowledgement message, False otherwise. - */ - bool isAck(const std::string& data); - - // Helper Functions - /** - * Clips a variable to ensure it falls within a specified range. - * - * This helper function ensures that a given value does not exceed the minimum and maximum bounds - * defined for it. It is particularly useful for sanitizing command parameters like position, speed, - * and force values before sending them to the gripper. - * - * @param min_value The minimum allowable value for the variable. - * @param variable The current value of the variable to be clipped. - * @param max_value The maximum allowable value for the variable. - * @return The clipped value, constrained within the specified min and max bounds. - */ - int clip_val(int min_value, int variable, int max_value); - /** - * Blocks until the gripper reaches a specified status. - * - * This method polls the gripper's status at regular intervals until it matches the expected status - * or until a timeout occurs. It is used internally to synchronize actions like activation, deactivation, - * and calibration with the gripper's state transitions. - * - * @param expectedStatus The GripperStatus enumeration value the method waits for the gripper to achieve. - * - * @throws std::runtime_error if the gripper does not reach the expected status within a reasonable time frame, - * indicating a possible communication issue or a failure in executing the command. - */ - void waitForGripperStatus(GripperStatus expectedStatus); - - // Resets the gripper - /** - * Resets the gripper to its initial state. - * - * Sends a command to the gripper to transition it to the RESET state. This is often used as a first step - * in a sequence of commands that prepare the gripper for operation, ensuring it starts from a known state. - * - * @note This method can be used to recover the gripper from error states or to prepare it for reactivation. - * - * @throws std::runtime_error if the adapter is not connected to the gripper or if the reset command fails. - */ - void reset(); - - // Define the command strings and encoding used for communication - const std::string SET_COMMAND = "SET"; - const std::string GET_COMMAND = "GET"; - const std::string ACK_MESSAGE = "ack"; - - // Commands - const std::string CMD_ACT = "ACT"; // Activation - const std::string CMD_GTO = "GTO"; // GoTo - const std::string CMD_ATR = "ATR"; // Automatic Release - const std::string CMD_ADR = "ADR"; // Advanced Control - const std::string CMD_FOR = "FOR"; // Force - const std::string CMD_SPE = "SPE"; // Speed - const std::string CMD_POS = "POS"; // Position - const std::string CMD_STA = "STA"; // Status - const std::string CMD_PRE = "PRE"; // Position Request - const std::string CMD_OBJ = "OBJ"; // Object Detection - const std::string CMD_FLT = "FLT"; // Fault - - // Constants buffer sizes - const size_t BUFFER_SIZE = 1024; // Adjust as necessary -}; - -#endif // ROBOTIQ2F_SOCKET_ADAPTER_HPP diff --git a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp b/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp deleted file mode 100644 index f0754fc..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/include/robotiq_2f_interface/hardware_interface.hpp +++ /dev/null @@ -1,104 +0,0 @@ -// hardware_interface.hpp - -#ifndef ROBOTIQ2F_HARDWARE_INTERFACE_HPP -#define ROBOTIQ2F_HARDWARE_INTERFACE_HPP - -#include -#include -#include -#include -#include -#include - -#include - -#include -#include - -#include -#include - -#include - -namespace robotiq_driver -{ -class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface -{ -public: - // Constructors - ROBOTIQ_DRIVER_PUBLIC RobotiqGripperHardwareInterface(); - ROBOTIQ_DRIVER_PUBLIC ~RobotiqGripperHardwareInterface(); - // ROBOTIQ_DRIVER_PUBLIC explicit RobotiqGripperHardwareInterface(std::unique_ptr socket_factory); - - // Lifecycle Management - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override; - ROBOTIQ_DRIVER_PUBLIC CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override; - - // State and Command Interfaces - ROBOTIQ_DRIVER_PUBLIC std::vector export_state_interfaces() override; - ROBOTIQ_DRIVER_PUBLIC std::vector export_command_interfaces() override; - - // Data Access (Read/Write) - ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type read(const rclcpp::Time& time, const rclcpp::Duration& period) override; - ROBOTIQ_DRIVER_PUBLIC hardware_interface::return_type write(const rclcpp::Time& time, const rclcpp::Duration& period) override; - -protected: // Likely changes the access to protected from private - // Members for driver interaction - std::unique_ptr socket_adapter_; - // std::unique_ptr driver_factory_; - - // Background communication thread - std::thread communication_thread_; - std::atomic communication_thread_is_running_; - void background_task(); - - static constexpr double NO_NEW_CMD_ = std::numeric_limits::quiet_NaN(); - - // Conversion Methods - double convertRawToPosition(int raw_position); - int convertPositionToRaw(double position); - int convertSpeedToRaw(double speed); - int convertForceToRaw(double force); - - // Gripper Commands - std::atomic write_command_; - std::atomic write_force_; - std::atomic write_speed_; - std::atomic gripper_current_state_; - - - // Gripper State Tracking - double gripper_position_ = 0.0; - double gripper_velocity_ = 0.0; - double gripper_position_command_ = 0.0; - - double reactivate_gripper_cmd_ = 0.0; - std::atomic reactivate_gripper_async_cmd_; - double reactivate_gripper_response_ = 0.0; - double gripper_force_ = 0.0; - double gripper_speed_ = 0.0; - std::atomic> reactivate_gripper_async_response_; - - // Connection Variables - std::string robot_ip_; - int robot_port_; - - // Parameters for physical limits and configuration - double min_position_; - double max_position_; - double min_speed_; - double max_speed_; - double min_force_; - double max_force_; - - // loop time - constexpr auto gripperCommsLoopPeriod = std::chrono::milliseconds{ 10 }; - - // Logger - const auto logger_ = rclcpp::get_logger("RobotiqGripperHardwareInterface"); -}; -} - -#endif //ROBOTIQ2F_HARDWARE_INTERFACE_HPP \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp b/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp deleted file mode 100644 index 9d99ab7..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/src/Robotiq2fSocketAdapter.cpp +++ /dev/null @@ -1,369 +0,0 @@ -#include "Robotiq2fSocketAdapter.hpp" - - -Robotiq2fSocketAdapter::Robotiq2fSocketAdapter() : _sockfd(new int(-1)) { -} - - -Robotiq2fSocketAdapter::~Robotiq2fSocketAdapter() { - disconnect(); // Ensure the socket is closed properly. -} - -// Connection and disconnection -bool Robotiq2fSocketAdapter::connect(const std::string& hostname, int port) { - std::lock_guard lock(socketMutex); - if (*_sockfd >= 0) { - std::cerr << "Already connected. Disconnecting to reconnect.\n"; - disconnect(); - } - - int sock = socket(AF_INET, SOCK_STREAM, 0); - if (sock < 0) { - std::cerr << "Socket creation failed: " << strerror(errno) << "\n"; - return false; - } - *_sockfd = sock; - - sockaddr_in serv_addr{}; - memset(&serv_addr, 0, sizeof(serv_addr)); - serv_addr.sin_family = AF_INET; - serv_addr.sin_port = htons(port); - - if (inet_pton(AF_INET, hostname.c_str(), &serv_addr.sin_addr) <= 0) { - std::cerr << "Invalid address: " << hostname << "\n"; - close(*_sockfd); - *_sockfd = -1; - return false; - } - - if (::connect(_sockfd, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0) { - std::cerr << "Connection to " << hostname << ":" << port << " failed: " << strerror(errno) << "\n"; - close(*_sockfd); - *_sockfd = -1; - return false; - } - - return true; -} - -void Robotiq2fSocketAdapter::disconnect() { - std::lock_guard lock(socketMutex); - if (*_sockfd >= 0) { - if (close(*_sockfd) == -1) { - std::cerr << "Error closing socket: " << strerror(errno) << "\n"; - } else { - std::cout << "Disconnected successfully.\n"; - } - *_sockfd = -1; - } -} - -// Utility methods -bool Robotiq2fSocketAdapter::sendCommand(const std::string& cmd) { - std::lock_guard lock(socketMutex); - if (*_sockfd < 0) { - std::cerr << "Attempted to send command on a disconnected socket.\n"; - return false; - } - - ssize_t result = send(*_sockfd, cmd.c_str(), cmd.length(), 0); - if (result < 0) { - std::cerr << "Failed to send command: " << strerror(errno) << "\n"; - return false; - } - - return true; -} - -std::string Robotiq2fSocketAdapter::receiveResponse(int timeout_ms=2000) { - std::lock_guard lock(socketMutex); - if (*_sockfd < 0) { - std::cerr << "Attempted to receive response on a disconnected socket.\n"; - return ""; - } - - std::string result; - char buffer[BUFFER_SIZE]; - bool complete_response = false; - - timeval tv; - tv.tv_sec = timeout_ms / 1000; - tv.tv_usec = (timeout_ms % 1000) * 1000; - - // Loop to receive data until a complete response is obtained or a timeout occurs - while (!complete_response) { - fd_set readfds; - FD_ZERO(&readfds); - FD_SET(*_sockfd, &readfds); - - int activity = select(*_sockfd + 1, &readfds, nullptr, nullptr, &tv); - if (activity == -1) { - std::cerr << "[receiveResponse] Error in select(): " << strerror(errno) << "\n"; - return ""; - } else if (activity == 0) { - std::cerr << "Timeout occurred while waiting for response.\n"; - return ""; - } - - ssize_t bytes_read = recv(*_sockfd, buffer, BUFFER_SIZE - 1, 0); - if (bytes_read < 0) { - if (errno != EAGAIN && errno != EWOULDBLOCK) { - std::cerr << "Failed to receive response: " << strerror(errno) << "\n"; - } - return ""; - } else if (bytes_read == 0) { - std::cerr << "Connection closed by peer.\n"; - return ""; - } else { - buffer[bytes_read] = '\0'; - result += buffer; - - // Check if we have a complete response: - if (result.find("\n") != std::string::npos) { - complete_response = true; - } - } - } - - return result; -} - -bool Robotiq2fSocketAdapter::isAck(const std::string& data) { - return data == ACK_MESSAGE; -} - -int Robotiq2fSocketAdapter::clip_val(int min_value, int value, int max_value) { - return std::max(min_value, std::min(value, max_value)); -} - -void Robotiq2fSocketAdapter::waitForGripperStatus(GripperStatus expectedStatus) { - int retries = 0; - int status = getGripperVariable(CMD_STA); - while (static_cast(status) != expectedStatus && retries < MAX_RETRIES) { - std::this_thread::sleep_for(std::chrono::milliseconds(RETRY_DELAY_MS)); - status = getGripperVariable(CMD_STA); - retries++; - } - if (retries >= MAX_RETRIES) { - throw std::runtime_error("Gripper failed to reach expected status."); - } -} - - -// Gripper variable Getter and Setter -bool Robotiq2fSocketAdapter::setGripperVariables(const std::map& variableMap) { - return setGripperVariables(reinterpret_cast&>(variableMap)); -} - -bool Robotiq2fSocketAdapter::setGripperVariables(const std::map& variableMap) { - // Build the command string - std::string cmd = SET_COMMAND; - for (const auto& [variable, value] : variableMap) { - std::stringstream ss; - ss << value; - cmd += " " + commandVariables.at(variable) + " " + ss.str(); - } - cmd += "\n"; - - // Send the command and receive the response - std::lock_guard lock(socketMutex); - if (*_sockfd < 0) { - throw std::runtime_error("Cannot set variables on a disconnected socket."); - return false; - } - - if (!sendCommand(cmd)) { - throw std::runtime_error("[setGripperVariables] Sending command failed."); - return false; - } - - std::string response = receiveResponse(); - return isAck(response); -} - -bool Robotiq2fSocketAdapter::setGripperVariable(const std::string& variable, int value) { - return setGripperVariable(variable, static_cast(value)); // Convert int to double -} - -bool Robotiq2fSocketAdapter::setGripperVariable(const std::string& variable, double value) { - std::stringstream ss; - ss << value; // Convert the value to a string - - std::string cmd = SET_COMMAND + " " + commandVariables.at(variable) + " " + ss.str() + "\n"; - - std::lock_guard lock(socketMutex); - if (*_sockfd < 0) { - throw std::runtime_error("Cannot set variables on a disconnected socket."); - return false; - } - - if (!sendCommand(cmd)) { - throw std::runtime_error("[setGripperVariable] Sending command failed."); - return false; // Sending command failed - } - - std::string response = receiveResponse(); - return isAck(response); -} - -int Robotiq2fSocketAdapter::getGripperVariable(const std::string& variable) { - std::string cmd = GET_COMMAND + " " + commandVariables.at(variable) + "\n"; - - std::lock_guard lock(socketMutex); - if (*_sockfd < 0) { - throw std::runtime_error("Cannot get variables on a disconnected socket."); - return -1; - } - - if (!sendCommand(cmd)) { - throw std::runtime_error("[getGripperVariable] Sending command failed."); - return -1; // Error sending command - } - - std::string response = receiveResponse(); - - // Parse the response (assuming format: "variable_name value") - std::istringstream iss(response); - std::string var_name, value_str; - - if (!(iss >> var_name >> value_str)) { - throw std::runtime_error("Invalid gripper response format."); - return -1; - } - - if (var_name != variable) { - throw std::runtime_error("Unexpected response - variable name mismatch."); - return -1; - } - - try { - return std::stoi(value_str); - } catch (const std::exception& ex) { - std::cerr << "Failed to parse gripper response: " << ex.what() << std::endl; - return -1; - } -} - -// Activation, deactivation and reset of the Gripper -void Robotiq2fSocketAdapter::activate(bool autoCalibrate) { - reset(); // Always start with a reset to ensure a known state - setGripperVariable(CMD_ACT, 1); // Activate the gripper - waitForGripperStatus(GripperStatus::ACTIVE); // Wait until active - - if (autoCalibrate) { - auto_calibrate(); - } -} - -void Robotiq2fSocketAdapter::reset() { - setGripperVariable(CMD_ACT, 0); - setGripperVariable(CMD_ATR, 0); - waitForGripperStatus(GripperStatus::RESET); -} - - -void Robotiq2fSocketAdapter::deactivate() { - if (is_active()) { - reset(); - } -} - -// State subsscriber -bool Robotiq2fSocketAdapter::is_active(){ - GripperStatus status = static_cast(getGripperVariable(CMD_STA)); - return GripperStatus::ACTIVE == status; -} - -int Robotiq2fSocketAdapter::force(){ - return getGripperVariable(CMD_FOR); -} - -int Robotiq2fSocketAdapter::speed(){ - return getGripperVariable(CMD_SPE); -} - -int Robotiq2fSocketAdapter::position(){ - return getGripperVariable(CMD_POS); -} - -// Movement Methods -std::tuple Robotiq2fSocketAdapter::move(int position, int speed, int force) { - int clippedPosition = clip_val(_min_position, position, _max_position); - int clippedSpeed = clip_val(_min_speed, speed, _max_speed); - int clippedForce = clip_val(_min_force, force, _max_force); - - // Create a map for gripper variables (similar to Python's OrderedDict) - std::map variableMap = { - { CMD_POS, clippedPosition }, - { CMD_SPE, clippedSpeed }, - { CMD_FOR, clippedForce }, - { CMD_GTO, 1 } - }; - - bool setResult = setGripperVariables(variableMap); - return std::make_tuple(setResult, clippedPosition); -} - -std::tuple Robotiq2fSocketAdapter::move_and_wait_for_pos(int position, int speed, int force) { - int clippedPosition = clip_val(min_position, position, max_position); - int clippedSpeed = clip_val(min_speed, speed, max_speed); - int clippedForce = clip_val(min_force, force, max_force); - - // Set gripper variables to initiate the move - std::map variableMap = { - { CMD_POS, clippedPosition }, - { CMD_SPE, clippedSpeed }, - { CMD_FOR, clippedForce }, - { CMD_GTO, 1 } - }; - bool setResult = setGripperVariables(variableMap); - if (!setResult) { - // Handle the error case, e.g., throw an exception - throw std::runtime_error("Failed to set variables for move."); - } - - // Wait until position is acknowledged: - while(getGripperVariable(CMD_PRE) != clippedPosition) { - std::this_thread::sleep_for(std::chrono::milliseconds(10)); // Adjust sleep as needed - } - - // Wait until not moving - int currentObjectStatus = getGripperVariable(CMD_OBJ); - while (ObjectStatus(currentObjectStatus) == ObjectStatus::MOVING) { - std::this_thread::sleep_for(std::chrono::milliseconds(10)); // Adjust sleep as needed - currentObjectStatus = getGripperVariable(CMD_OBJ); - } - - // Report final position and object status - int finalPosition = getGripperVariable(CMD_POS); - ObjectStatus finalStatus = static_cast(currentObjectStatus); - return std::make_tuple(finalPosition, finalStatus); -} - - -void Robotiq2fSocketAdapter::auto_calibrate(bool log=true) { - // Open in case we are holding an object - std::tuple result = move_and_wait_for_pos(open_position, 64, 1); - if (std::get<1>(result) != ObjectStatus::AT_DEST) { - throw std::runtime_error("Calibration failed opening to start."); - } - - // Close as far as possible - result = move_and_wait_for_pos(closed_position, 64, 1); - if (std::get<1>(result) != ObjectStatus::AT_DEST) { - throw std::runtime_error("Calibration failed because of an object."); - } - _max_position = std::get<0>(result); // Update max position - - // Open as far as possible - result = move_and_wait_for_pos(open_position, 64, 1); - if (std::get<1>(result) != ObjectStatus::AT_DEST) { - throw std::runtime_error("Calibration failed because of an object."); - } - _min_position = std::get<0>(result); // Update min position - - if (log) { - std::cout << "Gripper auto-calibrated to [" - << _min_position << ", " << _max_position << "]\n"; - } -} diff --git a/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp b/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp deleted file mode 100644 index 76d5adc..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/src/hardware_interface.cpp +++ /dev/null @@ -1,385 +0,0 @@ -#include "RobotiqGripperHardwareInterface.hpp" - -namespace robotiq_driver -{ -RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface() - : communication_thread_is_running_(false) -{ - // socket_factory_ = std::make_unique(); -} - -RobotiqGripperHardwareInterface::~RobotiqGripperHardwareInterface() -{ - if (communication_thread_is_running_.load()) - { - communication_thread_is_running_.store(false); - if (communication_thread_.joinable()) - { - communication_thread_.join(); - } - } -} - -hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info) -{ - RCLCPP_DEBUG(rclcpp::get_logger("RobotiqGripperHardwareInterface"), "on_init"); - - if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) - { - return CallbackReturn::ERROR; - } - - // Loading paramters from Hardware info and .yaml file - auto node = this->get_node(); - node->declare_parameter("min_position", 0.0); - node->declare_parameter("max_position", 0.14); - node->declare_parameter("min_speed", 0.02); - node->declare_parameter("max_speed", 0.15); - node->declare_parameter("min_force", 20.0); - node->declare_parameter("max_force", 235.0); - try - { - robot_ip_ = info_.hardware_parameters.at("robot_ip"); - robot_port_ = std::stod(info_.hardware_parameters.at("robot_port")); - node->get_parameter("min_position", min_position_); - node->get_parameter("max_position", max_position_); - node->get_parameter("min_speed", min_speed_); - node->get_parameter("max_speed", max_speed_); - node->get_parameter("min_force", min_force_); - node->get_parameter("max_force", max_force_); - } - catch (const std::exception& e) - { - RCLCPP_FATAL(rclcpp::get_logger("RobotiqGripperHardwareInterface"), - "Failed to load parameters: %s", e.what()); - return CallbackReturn::ERROR; - } - - gripper_position_ = std::numeric_limits::quiet_NaN(); - gripper_velocity_ = std::numeric_limits::quiet_NaN(); - gripper_position_command_ = std::numeric_limits::quiet_NaN(); - reactivate_gripper_cmd_ = NO_NEW_CMD_; - reactivate_gripper_async_cmd_.store(false); - - const hardware_interface::ComponentInfo& joint = info_.joints[0]; - - // There is one command interface: position. - if (joint.command_interfaces.size() != 1) - { - RCLCPP_FATAL(logger_, "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) - { - RCLCPP_FATAL(logger_, "Joint '%s' has %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION); - return CallbackReturn::ERROR; - } - - // There are two state interfaces: position and velocity. - if (joint.state_interfaces.size() != 2) - { - RCLCPP_FATAL(logger_, "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return CallbackReturn::ERROR; - } - - for (int i = 0; i < 2; ++i) - { - if (!(joint.state_interfaces[i].name == hardware_interface::HW_IF_POSITION || - joint.state_interfaces[i].name == hardware_interface::HW_IF_VELOCITY)) - { - RCLCPP_FATAL(logger_, "Joint '%s' has %s state interface. Expected %s or %s.", joint.name.c_str(), - joint.state_interfaces[i].name.c_str(), hardware_interface::HW_IF_POSITION, - hardware_interface::HW_IF_VELOCITY); - return CallbackReturn::ERROR; - } - } - - // Socket Factory -> not added yet - - return CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_configure(const rclcpp_lifecycle::State& /*previous_state*/) -{ - RCLCPP_DEBUG(logger_, "on_configure"); - try - { - if (hardware_interface::SystemInterface::on_configure(previous_state) != CallbackReturn::SUCCESS) - { - return CallbackReturn::ERROR; - } - - socket_adapter_ = std::make_unique(); - if (!socket_adapter_->connect(robot_ip_, robot_port_)) - { - RCLCPP_ERROR(logger_, "Cannot connect to the Robotiq gripper at %s:%d", robot_ip_.c_str(), robot_port_); - return CallbackReturn::ERROR; - } - } - catch (const std::exception& e) - { - RCLCPP_ERROR(logger_, "Cannot configure the Robotiq gripper: %s", e.what()); - return CallbackReturn::ERROR; - } - - return CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_activate(const rclcpp_lifecycle::State& /*previous_state*/) -{ - RCLCPP_DEBUG(logger_, "on_activate"); - - // set some default values for joints - if (std::isnan(gripper_position_)) - { - gripper_position_ = 0; - gripper_velocity_ = 0; - gripper_position_command_ = 0; - } - - // Activate the gripper. - try - { - socket_adapter_->deactivate(); - socket_adapter_->activate(); - - communication_thread_is_running_.store(true); - communication_thread_ = std::thread([this] { this->background_task(); }); - } - catch (const std::exception& e) - { - RCLCPP_FATAL(logger_, "Failed to communicate with the Robotiq gripper: %s", e.what()); - return CallbackReturn::ERROR; - } - - RCLCPP_INFO(logger_, "Robotiq Gripper successfully activated!"); - return CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/) -{ - RCLCPP_DEBUG(logger_, "on_deactivate"); - - communication_thread_is_running_.store(false); - communication_thread_.join(); - if (communication_thread_.joinable()) - { - communication_thread_.join(); - } - - try - { - socket_adapter_->deactivate(); - } - catch (const std::exception& e) - { - RCLCPP_ERROR(logger_, "Failed to deactivate the Robotiq gripper: %s", e.what()); - return CallbackReturn::ERROR; - } - RCLCPP_INFO(logger_, "Robotiq Gripper successfully deactivated!"); - return CallbackReturn::SUCCESS; -} - -std::vector RobotiqGripperHardwareInterface::export_state_interfaces() -{ - RCLCPP_DEBUG(logger_, "export_state_interfaces"); - - std::vector state_interfaces; - - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_ - ) - ); - - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[0].name, hardware_interface::HW_IF_VELOCITY, &gripper_velocity_ - ) - ); - - return state_interfaces; -} - -std::vector RobotiqGripperHardwareInterface::export_command_interfaces() -{ - RCLCPP_DEBUG(logger_, "export_command_interfaces"); - - std::vector command_interfaces; - - command_interfaces.emplace_back( - hardware_interface::CommandInterface( - info_.joints[0].name, hardware_interface::HW_IF_POSITION, &gripper_position_command_ - ) - ); - - // Handling potential uninitialized parameter 'gripper_speed_multiplier' - double gripper_speed_multiplier = 1.0; - if (info_.hardware_parameters.find("gripper_speed_multiplier") != info_.hardware_parameters.end()) { - gripper_speed_multiplier = std::stod(info_.hardware_parameters["gripper_speed_multiplier"]); - } - gripper_speed_ = gripper_speed_multiplier; - - // Handling potential uninitialized parameter 'gripper_force_multiplier' - double gripper_force_multiplier = 1.0; - if (info_.hardware_parameters.find("gripper_force_multiplier") != info_.hardware_parameters.end()) { - gripper_force_multiplier = std::stod(info_.hardware_parameters["gripper_force_multiplier"]); - } - gripper_force_ = gripper_force_multiplier; - - command_interfaces.emplace_back( - hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_velocity", &gripper_speed_)); - command_interfaces.emplace_back( - hardware_interface::CommandInterface(info_.joints[0].name, "set_gripper_max_effort", &gripper_force_)); - command_interfaces.emplace_back( - hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_cmd", &reactivate_gripper_cmd_)); - command_interfaces.emplace_back( - hardware_interface::CommandInterface("reactivate_gripper", "reactivate_gripper_response", &reactivate_gripper_response_)); - - return command_interfaces; -} - -hardware_interface::return_type RobotiqGripperHardwareInterface::read(const rclcpp::Time& time, const rclcpp::Duration& /*period*/) -{ - RCLCPP_DEBUG(logger_, "Reading state from the gripper"); - - // Fetch current position and other states from the hardware - try { - int raw_position = socket_adapter_->getGripperPosition(); // This should be an existing method in your adapter - double new_position = convertRawToPosition(raw_position); - rclcpp::Time current_time = time; - - if (!std::isnan(gripper_position_)) { - double time_difference = (current_time - last_update_time_).seconds(); // Calculate time difference in seconds - if (time_difference > 0) { - gripper_velocity_ = (new_position - gripper_position_) / time_difference; // Calculate velocity - } - } - - gripper_position_ = new_position; // Update current position - last_update_time_ = current_time; // Update last update timestamp - - } catch (const std::exception& e) { - RCLCPP_ERROR(logger_, "Failed to read from Robotiq gripper: %s", e.what()); - return hardware_interface::return_type::ERROR; - } - - // Handle reactivation command if set - if (!std::isnan(reactivate_gripper_cmd_) && reactivate_gripper_cmd_ != NO_NEW_CMD_) { - RCLCPP_INFO(logger_, "Sending gripper reactivation request."); - reactivate_gripper_async_cmd_.store(true); - reactivate_gripper_cmd_ = NO_NEW_CMD_; // Reset command - } - - // Process asynchronous reactivation response if available - if (reactivate_gripper_async_response_.load().has_value()) { - reactivate_gripper_response_ = reactivate_gripper_async_response_.load().value(); - reactivate_gripper_async_response_.store(std::nullopt); // Reset response - } - - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type RobotiqGripperHardwareInterface::write(const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) -{ - try { - // Use the conversion methods to scale the command values to the range expected by the hardware - int scaled_position = convertPositionToRaw(gripper_position_command_); - int scaled_speed = convertSpeedToRaw(gripper_speed_); - int scaled_force = convertForceToRaw(gripper_force_); - - // Store the scaled values into atomic variables - write_command_.store(scaled_position); - write_speed_.store(scaled_speed); - write_force_.store(scaled_force); - - } catch (const std::exception& e) { - RCLCPP_ERROR(logger_, "Failed to write to Robotiq gripper: %s", e.what()); - return hardware_interface::return_type::ERROR; - } - - return hardware_interface::return_type::OK; -} - -void RobotiqGripperHardwareInterface::background_task() -{ - while (communication_thread_is_running_.load()) - { - try - { - // Re-activate the gripper - // This can be used, for example, to re-run the auto-calibration. - if (reactivate_gripper_async_cmd_.load()) - { - socket_adapter_->deactivate(); - socket_adapter_->activate(); - reactivate_gripper_async_cmd_.store(false); - reactivate_gripper_async_response_.store(true); - } - - // Write the latest command to the gripper. - int scaled_position = write_command_.load(); - int scaled_speed = write_speed_.load(); - int scaled_force = write_force_.load(); - - if (!socket_adapter_->move(scaled_position, scaled_speed, scaled_force)) { - throw std::runtime_error("Failed to send move command to Robotiq gripper."); - } - - // Read the state of the gripper. - int raw_position = socket_adapter_->getGripperPosition(); - gripper_current_state_.store(convertRawToPosition(raw_position)); - } - catch (std::exception& e) - { - RCLCPP_ERROR(logger_, "Error in background task: %s", e.what()); - } - - std::this_thread::sleep_for(gripperCommsLoopPeriod); // Sleep for a predefined period - } -} - - - -// Conversion methods -double RobotiqGripperHardwareInterface::convertRawToPosition(int raw_position) { - if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) { - throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly."); - } - double scaled_position = min_position_ + (static_cast(raw_position) / 255.0) * (max_position_ - min_position_); - return std::max(min_position_, std::min(scaled_position, max_position_)); -} - -uint8_t RobotiqGripperHardwareInterface::convertPositionToRaw(double position) { - if (std::isnan(min_position_) || std::isnan(max_position_) || min_position_ >= max_position_) { - throw std::runtime_error("Invalid gripper position limits: min_position_ or max_position_ are not configured correctly."); - } - double scaled = (position - min_position_) / (max_position_ - min_position_) * 255.0; - return static_cast(std::clamp(scaled, 0.0, 255.0)); -} - -uint8_t RobotiqGripperHardwareInterface::convertSpeedToRaw(double speed) { - if (std::isnan(min_speed_) || std::isnan(max_speed_) || min_speed_ >= max_speed_) { - throw std::runtime_error("Invalid gripper speed limits: min_speed_ or max_speed_ are not configured correctly."); - } - double scaled = (speed - min_speed_) / (max_speed_ - min_speed_) * 255.0; - return static_cast(std::clamp(scaled, 0.0, 255.0)); -} - -uint8_t RobotiqGripperHardwareInterface::convertForceToRaw(double force) { - if (std::isnan(min_force_) || std::isnan(max_force_) || min_force_ >= max_force_) { - throw std::runtime_error("Invalid gripper force limits: min_force_ or max_force_ are not configured correctly."); - } - double scaled = (force - min_force_) / (max_force_ - min_force_) * 255.0; - return static_cast(std::clamp(scaled, 0.0, 255.0)); -} - -} // namespace robotiq_driver - -#include "pluginlib/class_list_macros.hpp" - -PLUGINLIB_EXPORT_CLASS(robotiq_2f_interface::RobotiqGripperHardwareInterface, hardware_interface::SystemInterface) diff --git a/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp b/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp deleted file mode 100644 index 7992e05..0000000 --- a/src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include "RobotiqGripperHardwareInterface.hpp" - -class TestableRobotiqGripperHardwareInterface : public robotiq_driver::RobotiqGripperHardwareInterface { -public: - using robotiq_driver::RobotiqGripperHardwareInterface::convertPositionToRaw; - using robotiq_driver::RobotiqGripperHardwareInterface::convertRawToPosition; - using robotiq_driver::RobotiqGripperHardwareInterface::convertSpeedToRaw; - using robotiq_driver::RobotiqGripperHardwareInterface::convertForceToRaw; -}; - -class RobotiqGripperConversionTests : public ::testing::Test { -protected: - TestableRobotiqGripperHardwareInterface gripper_interface; - - void SetUp() override { - gripper_interface.min_position_ = 0.0; - gripper_interface.max_position_ = 0.14; - gripper_interface.min_speed_ = 0.02; - gripper_interface.max_speed_ = 0.15; - gripper_interface.min_force_ = 20.0; - gripper_interface.max_force_ = 235.0; - } -}; - -// Test for convertPositionToRaw -TEST_F(RobotiqGripperConversionTests, PositionToRawValidInput) { - EXPECT_EQ(gripper_interface.convertPositionToRaw(0.07), 128); -} - -TEST_F(RobotiqGripperConversionTests, PositionToRawBoundaryInput) { - EXPECT_EQ(gripper_interface.convertPositionToRaw(0.0), 0); - EXPECT_EQ(gripper_interface.convertPositionToRaw(0.14), 255); -} - -// Test for convertRawToPosition -TEST_F(RobotiqGripperConversionTests, RawToPositionValidInput) { - ASSERT_NEAR(gripper_interface.convertRawToPosition(128), 0.07, 0.01); -} - -TEST_F(RobotiqGripperConversionTests, RawToPositionBoundaryInput) { - ASSERT_NEAR(gripper_interface.convertRawToPosition(0), 0.0, 0.01); - ASSERT_NEAR(gripper_interface.convertRawToPosition(255), 0.14, 0.01); -} - -// Test for convertSpeedToRaw -TEST_F(RobotiqGripperConversionTests, SpeedToRawValidInput) { - EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.085), 128); -} - -TEST_F(RobotiqGripperConversionTests, SpeedToRawBoundaryInput) { - EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.02), 0); - EXPECT_EQ(gripper_interface.convertSpeedToRaw(0.15), 255); -} - -// Test for convertForceToRaw -TEST_F(RobotiqGripperConversionTests, ForceToRawValidInput) { - EXPECT_EQ(gripper_interface.convertForceToRaw(127.5), 128); -} - -TEST_F(RobotiqGripperConversionTests, ForceToRawBoundaryInput) { - EXPECT_EQ(gripper_interface.convertForceToRaw(20.0), 0); - EXPECT_EQ(gripper_interface.convertForceToRaw(235.0), 255); -} - -int main(int argc, char **argv) { - ::testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} \ No newline at end of file diff --git a/src/servo_keyboard/CMakeLists.txt b/src/servo_keyboard/CMakeLists.txt new file mode 100644 index 0000000..5fba1ea --- /dev/null +++ b/src/servo_keyboard/CMakeLists.txt @@ -0,0 +1,52 @@ +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 + $ + $) +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() diff --git a/src/servo_keyboard/LICENSE b/src/servo_keyboard/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/servo_keyboard/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/src/robotiq_2f/robotiq_2f_interface/package.xml b/src/servo_keyboard/package.xml similarity index 59% rename from src/robotiq_2f/robotiq_2f_interface/package.xml rename to src/servo_keyboard/package.xml index 2b5bbdb..9014e35 100644 --- a/src/robotiq_2f/robotiq_2f_interface/package.xml +++ b/src/servo_keyboard/package.xml @@ -1,19 +1,21 @@ - robotiq_2f_interface + servo_keyboard 0.0.0 TODO: Package description - root - TODO: License declaration + Fotios Lyegrakis + Apache-2.0 ament_cmake + rclcpp - rclcpp_lifecycle - hardware_interface - lifecycle_msgs - pluginlib + control_msgs + geometry_msgs + controller_manager_msgs + controller_manager_msgs + ament_lint_auto ament_lint_common diff --git a/src/servo_keyboard/src/servo_keyboard_input.cpp b/src/servo_keyboard/src/servo_keyboard_input.cpp new file mode 100644 index 0000000..e29dc4a --- /dev/null +++ b/src/servo_keyboard/src/servo_keyboard_input.cpp @@ -0,0 +1,389 @@ +/********************************************************************* + * 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 +#include +#include +#include // Add necessary includes +#include // Add necessary includes + +#include +#include +#include +#include + +// 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::SharedPtr twist_pub_; + rclcpp::Publisher::SharedPtr joint_pub_; + rclcpp::Publisher::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(TWIST_TOPIC, ROS_QUEUE_SIZE); + joint_pub_ = nh_->create_publisher(JOINT_TOPIC, ROS_QUEUE_SIZE); + gripper_cmd_pub_ = nh_->create_publisher(GRIPPER_TOPIC, ROS_QUEUE_SIZE); +} + +KeyboardReader input; + +void KeyboardServo::publishGripperCommand(double finger_joint_angle) +{ + auto msg = std::make_unique(); + 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(); + auto joint_msg = std::make_unique(); + + // 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; +} \ No newline at end of file diff --git a/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml b/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml new file mode 100644 index 0000000..526dffb --- /dev/null +++ b/src/ur_robotiq_description/config/ur_robotiq_calibration.yaml @@ -0,0 +1,44 @@ +kinematics: + shoulder: + x: 0 + y: 0 + z: 0.1519161231793138 + roll: -0 + pitch: 0 + yaw: -8.3688888041777445e-08 + upper_arm: + x: -9.8255319984929057e-05 + y: 0 + z: 0 + roll: 1.5713473529266058 + pitch: 0 + yaw: 4.5372573280303068e-06 + forearm: + x: -0.24361145101605494 + y: 0 + z: 0 + roll: 3.138959939545904 + pitch: 3.141417818890341 + yaw: 3.1415861917625292 + wrist_1: + x: -0.21328351386382516 + y: -0.00058695912107010507 + z: 0.13086135281159214 + roll: 0.0044853210843803608 + pitch: 0.00071590512460444685 + yaw: -2.0286176909971606e-06 + wrist_2: + x: 9.0086536104922084e-05 + y: -0.085314349728116412 + z: -6.1195228207677147e-05 + roll: 1.5715136178239859 + pitch: 0 + yaw: 1.3915445690113049e-06 + wrist_3: + x: -0.00014076969524819022 + y: 0.092309359181826575 + z: -0.00011628039579221433 + roll: 1.5695366459205147 + pitch: 3.1415926535897931 + yaw: 3.1415925648453848 + hash: calib_2535041911463403862 \ No newline at end of file diff --git a/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py b/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py index 776bc8a..616a956 100644 --- a/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py +++ b/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py @@ -6,7 +6,8 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.conditions import IfCondition, UnlessCondition 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): # Initialize Arguments @@ -170,6 +171,7 @@ def launch_setup(context, *args, **kwargs): robot_description = {"robot_description": robot_description_content} + initial_joint_controllers = PathJoinSubstitution( [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( package="robot_state_publisher", @@ -353,6 +387,8 @@ def launch_setup(context, *args, **kwargs): ur_control_node, dashboard_client_node, controller_stopper_node, + # static_tf, + # servo_node, robot_state_publisher_node, rviz_node, initial_joint_controller_spawner_stopped, diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf b/src/ur_robotiq_description/urdf/ur_robotiq.urdf index bdf5bba..91f4648 100644 --- a/src/ur_robotiq_description/urdf/ur_robotiq.urdf +++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf @@ -1,9 +1,9 @@ - + - + - + ur_robot_driver/URPositionHardwareInterface 0.0.0.0 @@ -99,7 +99,7 @@ - 0.0 + 1.4 @@ -131,7 +131,7 @@ - 0.0 + 1.57 @@ -163,7 +163,7 @@ - 0.0 + -1.57 @@ -591,7 +591,7 @@ - + @@ -600,7 +600,7 @@ - + @@ -618,7 +618,7 @@ - + @@ -627,7 +627,7 @@ - + @@ -640,7 +640,7 @@ - + @@ -649,7 +649,7 @@ - + @@ -662,7 +662,7 @@ - + @@ -671,7 +671,7 @@ - + @@ -704,7 +704,7 @@ - + @@ -713,7 +713,7 @@ - + @@ -726,7 +726,7 @@ - + @@ -735,7 +735,7 @@ - + @@ -748,7 +748,7 @@ - + @@ -757,7 +757,7 @@ - + @@ -770,7 +770,7 @@ - + @@ -779,7 +779,7 @@ - + @@ -812,7 +812,7 @@ - + @@ -821,7 +821,7 @@ - + diff --git a/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro b/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro deleted file mode 100644 index d35f7a3..0000000 --- a/src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml b/src/ur_robotiq_servo/__init__.py similarity index 100% rename from src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml rename to src/ur_robotiq_servo/__init__.py diff --git a/src/ur_robotiq_servo/config/joy-params.yaml b/src/ur_robotiq_servo/config/joy-params.yaml index 8ad2d13..f8747b6 100644 --- a/src/ur_robotiq_servo/config/joy-params.yaml +++ b/src/ur_robotiq_servo/config/joy-params.yaml @@ -1,7 +1,8 @@ joy_node: ros__parameters: device_id: 0 - device_name: "PS5 Controller" +# device_name: "PS5 Controller" + device_name: "Keyboard" deadzone: 0.5 autorepeat_rate: 20.0 sticky_buttons: false diff --git a/src/ur_robotiq_servo/config/kb-params.yaml b/src/ur_robotiq_servo/config/kb-params.yaml new file mode 100644 index 0000000..acc2b1d --- /dev/null +++ b/src/ur_robotiq_servo/config/kb-params.yaml @@ -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 \ No newline at end of file diff --git a/src/ur_robotiq_servo/launch/kb_servo.launch.py b/src/ur_robotiq_servo/launch/kb_servo.launch.py new file mode 100644 index 0000000..14e3a40 --- /dev/null +++ b/src/ur_robotiq_servo/launch/kb_servo.launch.py @@ -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 + ]) \ No newline at end of file diff --git a/src/ur_robotiq_servo/package.xml b/src/ur_robotiq_servo/package.xml index 3099325..88eaedd 100644 --- a/src/ur_robotiq_servo/package.xml +++ b/src/ur_robotiq_servo/package.xml @@ -14,6 +14,7 @@ std_srvs joy moveit_servo + keyboard ament_copyright ament_flake8 diff --git a/src/ur_robotiq_servo/servo_keyboard_input.py b/src/ur_robotiq_servo/servo_keyboard_input.py new file mode 100644 index 0000000..4e3dc49 --- /dev/null +++ b/src/ur_robotiq_servo/servo_keyboard_input.py @@ -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() diff --git a/src/ur_robotiq_servo/setup.py b/src/ur_robotiq_servo/setup.py index d91e499..1df7211 100644 --- a/src/ur_robotiq_servo/setup.py +++ b/src/ur_robotiq_servo/setup.py @@ -24,7 +24,9 @@ setup( tests_require=['pytest'], entry_points={ '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', ], }, ) diff --git a/src/ur_robotiq_servo/ur_robotiq_servo/kb_control.py b/src/ur_robotiq_servo/ur_robotiq_servo/kb_control.py new file mode 100644 index 0000000..bb7c843 --- /dev/null +++ b/src/ur_robotiq_servo/ur_robotiq_servo/kb_control.py @@ -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() \ No newline at end of file