From: Walter Fetter Lages Date: Wed, 28 Nov 2018 22:22:02 +0000 (-0200) Subject: Add wam_node_sim to simulate a wam_node using Gazebo in place of the real robot. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=1d904d63ac3ced4797635a32da2c0008c12bb89b;p=ufrgs_wam.git Add wam_node_sim to simulate a wam_node using Gazebo in place of the real robot. --- diff --git a/ufrgs_wam/package.xml b/ufrgs_wam/package.xml index f9af292..1bcf585 100644 --- a/ufrgs_wam/package.xml +++ b/ufrgs_wam/package.xml @@ -1,7 +1,7 @@ ufrgs_wam - 2.0.0 + 3.0.0 The ufrgs_wam package @@ -43,8 +43,11 @@ catkin wam_description - wam_gazebo_ros_control - wam_controllers + + pid_plus_gravity_controller + computed_torque_controller + wam_simulation + wam_node_sim diff --git a/wam_node_sim/CMakeLists.txt b/wam_node_sim/CMakeLists.txt new file mode 100644 index 0000000..d1ad783 --- /dev/null +++ b/wam_node_sim/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 2.8.3) +project(wam_node_sim) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS +# bullet + geometry_msgs + roscpp + std_msgs + std_srvs + wam_msgs + wam_srvs + trajectory_msgs + orocos_kdl + kdl_parser +) + +find_package(cmake_modules REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + +find_package(Eigen REQUIRED) + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs# wam_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES wam_node_sim +# CATKIN_DEPENDS bullet geometry_msgs roscpp std_msgs std_srvs wam_msgs wam_srvs geometry_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Eigen_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/wam_node_sim.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${PROJECT_NAME} src/wam_node_sim.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_node_sim.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h new file mode 100644 index 0000000..98f8d0d --- /dev/null +++ b/wam_node_sim/include/wam_node_sim/detail/rate_limiter-impl.h @@ -0,0 +1,74 @@ +/* + Copyright 2012 Barrett Technology + + This file is part of libbarrett. + + This version of libbarrett is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + + This version of libbarrett is distributed in the hope that it will be + useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this version of libbarrett. If not, see + . + + Further, non-binding information about licensing is available at: + +*/ + +/* + * rate_limiter-inl.h + * + * Created on: Apr 12, 2012 + * Author: dc + */ + + +#ifndef WAM_NODE_SIM_RATE_LIMITER_IMPL_H_ +#define WAM_NODE_SIM_RATE_LIMITER_IMPL_H_ + +#include +#include + +namespace wam_node_sim { + +template int sgn(T val) +{ + return (T(0) < val) - (val < T(0)); +} + +template +void RateLimiter::setLimit(const T& newLimit) +{ + // Limit must be non-negative. Zero is a special value meaning "don't limit". + for(int i=0;i < newLimit.rows();i++) + assert(newLimit[i] == fabs(newLimit[i])); + limit = newLimit; + maxDelta = T_s * limit; +} + +template +void RateLimiter::setCurVal(const T& newPos) +{ + data = newPos; +} + +template +T &RateLimiter::getLimit(const T &x) +{ + delta = x-data; + for(int i;i < x.rows();i++) + if(limit[i] == 0.0) data[i]=x[i]; + else data[i] += sgn(delta[i])*std::min(fabs(delta[i]),maxDelta[i]); + + return data; +} + + +} +#endif diff --git a/wam_node_sim/include/wam_node_sim/detail/wam-impl.h b/wam_node_sim/include/wam_node_sim/detail/wam-impl.h new file mode 100644 index 0000000..7b60b25 --- /dev/null +++ b/wam_node_sim/include/wam_node_sim/detail/wam-impl.h @@ -0,0 +1,304 @@ +/* + Copyright 2009, 2010, 2011, 2012 Barrett Technology + + This file is part of libbarrett. + + This version of libbarrett is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + + This version of libbarrett is distributed in the hope that it will be + useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this version of libbarrett. If not, see + . + + Further, non-binding information about licensing is available at: + +*/ + +/* + * wam-inl.h + * + * Created on: Sep 25, 2009 + * Author: dc + */ + +#ifndef WAM_NODE_SIM_WAM_IMPL_H_ +#define WAM_NODE_SIM_WAM_IMPL_H_ + +//#include // usleep + +//#include +//#include +//#include + +//#define EIGEN_USE_NEW_STDVECTOR +//#include +#include +//#include + +//#include + +#include +#include + +namespace barrett +{ + +template +Wam::Wam(const std::string& sysName) +{ + ros::NodeHandle node_("wam"); // WAM specific nodehandle + wam_cmd_pub=node_.advertise("command", 1); // wam/command + jointStatesSubscriber_=node_.subscribe("/joint_states",10,&Wam::jointStatesCB,this); + + std::string robotDescription; + if(!node_.getParam("/robot_description",robotDescription)) + ROS_ERROR("Could not find 'robot_description'."); + + KDL::Tree tree; + if (!kdl_parser::treeFromString(robotDescription,tree)) + ROS_ERROR("Failed to construct KDL tree."); + + + KDL::SegmentMap::const_iterator s=tree.getRootSegment(); + KDL::Chain chain; + if (!tree.getChain(GetTreeElementSegment(s->second).getName(),"wam_tool_plate",chain)) + ROS_ERROR("Failed to get chain from KDL tree."); + + fwdKinSolverPos_=new KDL::ChainFkSolverPos_recursive(chain); +} + +template +Wam::~Wam() +{ + wam_cmd_pub.shutdown(); + jointStatesSubscriber_.shutdown(); + delete fwdKinSolverPos_; +} + +template +void Wam::trackReferenceSignal(jp_type &referenceSignal) +{ + trajectory_msgs::JointTrajectoryPoint jointRef; + + for(size_t i=0; i < DOF;i++) + { + jointRef.positions.push_back(referenceSignal[i]); + jointRef.velocities.push_back(0.0); + jointRef.accelerations.push_back(0.0); + } + + wam_cmd_pub.publish(jointRef); +} + + +template +inline const typename Wam::jp_type& Wam::getHomePosition() const +{ + static jp_type home={0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0}; + return home; +} + + +template +typename Wam::jt_type Wam::getJointTorques() const +{ + return wamJointEffort_; +} + +template +inline typename Wam::jp_type Wam::getJointPositions() const +{ + return wamJointPosition_; +} + +template +inline typename Wam::jv_type Wam::getJointVelocities() const +{ + return wamJointVelocity_; +} + +template +typename Wam::cp_type Wam::getToolPosition() const +{ + KDL::JntArray jointPosition(DOF); + for(int i;i < DOF;i++) jointPosition(i)=wamJointPosition_[i]; + + KDL::Frame frame; + if(fwdKinSolverPos_->JntToCart(jointPosition,frame) < 0) + ROS_ERROR("Failed to compute forward kinematics."); + + cp_type cp; + for(int i=0;i < 3;i++) cp[i]=frame.p.data[i]; + + return cp; +} + +template +typename Wam::cv_type Wam::getToolVelocity() const +{ + return cv_type(); +} + +template +Eigen::Quaterniond Wam::getToolOrientation() const +{ + KDL::JntArray jointPosition(DOF); + for(int i;i < DOF;i++) jointPosition(i)=wamJointPosition_[i]; + + KDL::Frame frame; + if(fwdKinSolverPos_->JntToCart(jointPosition,frame) < 0) + ROS_ERROR("Failed to compute forward kinematics."); + + double x,y,z,w; + frame.M.GetQuaternion(x,y,z,w); + return Eigen::Quaterniond(w,x,y,z); +} +/* +template +inline typename Wam::pose_type Wam::getToolPose() const +{ + return boost::make_tuple(getToolPosition(), getToolOrientation()); +} +*/ + +/* +template +inline math::Matrix<6,DOF> Wam::getToolJacobian() const +{ + kin.eval(getJointPositions(), getJointVelocities()); + return math::Matrix<6,DOF>(kin.impl->tool_jacobian); +} +*/ + +template +void Wam::gravityCompensate(bool compensate) +{ + +} + +/* +template +bool Wam::updateGravity(double val) +{ + return (gravity.setGravity(val)); +} +*/ + +template +inline bool Wam::isGravityCompensated() +{ + return true; +} + +template +inline void Wam::moveHome(bool blocking) +{ + moveTo(getHomePosition(), blocking); +} + +template +inline void Wam::moveHome(bool blocking, double velocity) +{ + moveTo(getHomePosition(), blocking, velocity); +} + +template +inline void Wam::moveHome(bool blocking, double velocity, double acceleration) +{ + moveTo(getHomePosition(), blocking, velocity, acceleration); +} + +template +inline void Wam::moveTo(const jp_type& destination, bool blocking, double velocity, double acceleration) +{ +// moveTo(currentPosHelper(getJointPositions()), getJointVelocities(), destination, blocking, velocity, acceleration); +// moveTo(currentPosHelper(getJointPositions()), /*jv_type(0.0),*/ destination, blocking, velocity, acceleration); +} + +template +inline void Wam::moveTo(const cp_type& destination, bool blocking, double velocity, double acceleration) +{ +// moveTo(currentPosHelper(getToolPosition()), /*cv_type(0.0),*/ destination, blocking, velocity, acceleration); +} + +template +inline void Wam::moveTo(const Eigen::Quaterniond& destination, bool blocking, double velocity, double acceleration) +{ +// moveTo(currentPosHelper(getToolOrientation()), destination, blocking, velocity, acceleration); +} + +/* +template +inline void Wam::moveTo(const pose_type& destination, bool blocking, double velocity, double acceleration) +{ +// moveTo(currentPosHelper(getToolPose()), destination, blocking, velocity, acceleration); +} +*/ + +template +template +void Wam::moveTo(const T& currentPos, /*const typename T::unitless_type& currentVel,*/ const T& destination, bool blocking, double velocity, double acceleration) +{ + bool started = false; +// boost::promise threadPtrPromise; +// boost::shared_future threadPtrFuture(threadPtrPromise.get_future()); +// boost::thread* threadPtr = new boost::thread(&Wam::moveToThread, this, boost::ref(currentPos), /*currentVel,*/ boost::ref(destination), velocity, acceleration, &started, threadPtrFuture); +// mtThreadGroup.add_thread(threadPtr); +// threadPtrPromise.set_value(threadPtr); + + + // wait until move starts + while ( !started ) { +// btsleep(0.001); + } + + if (blocking) { + while (!moveIsDone()) { +// btsleep(0.01); + } + } +} + +template +bool Wam::moveIsDone() const +{ + return doneMoving; +} + +template +void Wam::idle() +{ +// supervisoryController.disconnectInput(); +} + + +//template +//template +//void Wam::moveToThread(const T& currentPos, /*const typename T::unitless_type& currentVel,*/ const T& destination, double velocity, double acceleration, bool* started, boost::shared_future threadPtrFuture) +//{ + + +//} + +template +void Wam::jointStatesCB(const sensor_msgs::JointState &jointStates) +{ + for(int i=0;i < DOF;i++) + { + wamJointPosition_[i]=jointStates.position[i]; + wamJointVelocity_[i]=jointStates.velocity[i]; + wamJointEffort_[i]=jointStates.effort[i]; + } +} + + +} + +#endif diff --git a/wam_node_sim/include/wam_node_sim/rate_limiter.h b/wam_node_sim/include/wam_node_sim/rate_limiter.h new file mode 100644 index 0000000..ac555ee --- /dev/null +++ b/wam_node_sim/include/wam_node_sim/rate_limiter.h @@ -0,0 +1,86 @@ +/* + Copyright 2012 Barrett Technology + + This file is part of libbarrett. + + This version of libbarrett is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + + This version of libbarrett is distributed in the hope that it will be + useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this version of libbarrett. If not, see + . + + Further, non-binding information about licensing is available at: + +*/ + +/* + * rate_limiter.h + * + * Created on: Apr 12, 2012 + * Author: dc + */ + +#ifndef WAM_NODE_SIM_RATE_LIMITER_H_ +#define WAM_NODE_SIM_RATE_LIMITER_H_ + +#include + +namespace wam_node_sim +{ + +template +class RateLimiter +{ + public: + RateLimiter(double Ts=1.0/250.0) + { + T limit; + limit.setZero(); + T_s=Ts; + setLimit(limit); + } + + RateLimiter(const T &limit,double Ts=1.0/250.0) + { + T_s=Ts; + setLimit(limit); + } + + ~RateLimiter(void) + { + + } + + void setLimit(const T& newLimit); + + void setCurVal(const T& newPos); + + T &getLimit(const T &x); + + private: + + double T_s; + T limit; + T maxDelta; + T data; + + T delta; +}; + + +} + + +// include template definitions +#include + + +#endif /* WAM_NODE_SIM_RATE_LIMITER_H_ */ diff --git a/wam_node_sim/include/wam_node_sim/wam.h b/wam_node_sim/include/wam_node_sim/wam.h new file mode 100644 index 0000000..6e2c161 --- /dev/null +++ b/wam_node_sim/include/wam_node_sim/wam.h @@ -0,0 +1,192 @@ +/** + * Copyright 2009-2014 Barrett Technology + * + * This file is part of libbarrett. + * + * This version of libbarrett is free software: you can redistribute it + * and/or modify it under the terms of the GNU General Public License as + * published by the Free Software Foundation, either version 3 of the + * License, or (at your option) any later version. + * + * This version of libbarrett is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this version of libbarrett. If not, see + * . + * + * Barrett Technology Inc. + * 73 Chapel Street + * Newton, MA 02458 + * + */ + +/** Defines systems::Wam. + * + * @file systems/wam.h + * @date 09/25/2009 + * @author Dan Cody + */ + + +#ifndef WAM_NODE_SIM_WAM_H_ +#define WAM_NODE_SIM_WAM_H_ + + +//#include + +//#include +#include +//#include + +#include "ros/ros.h" +#include "trajectory_msgs/JointTrajectoryPoint.h" + +#include + +namespace barrett +{ + +template +class Wam { + typedef Eigen::Matrix jt_type; + typedef Eigen::Matrix jp_type; + typedef Eigen::Matrix jv_type; + typedef Eigen::Matrix cp_type; + typedef Eigen::Matrix cv_type; + +public: + /** Constructor for Wam + * + * GenericPucks must be ordered by joint and must break into torque groups as arranged. + */ + Wam(const std::string& sysName = "Wam"); + + /** Destructor for Wam + */ + ~Wam(); + + /** trackReferenceSignal() used for following updating input. (any barrett input units for control) + */ + void trackReferenceSignal(jp_type & referenceSignal); //NOLINT: non-const reference for syntax + + /** getHomePosition() returns home postion of individual joints in Radians + */ + const jp_type& getHomePosition() const; + + /** getJointTorques() returns joint torques in Newtons per meter + */ + jt_type getJointTorques() const; + + /** getJointPositions() returns joint Position values in Radians + */ + jp_type getJointPositions() const; + + /** getJointVelocities() returns joint velocity values in meters per second + */ + jv_type getJointVelocities() const; + + /** getToolPosition() returns Tool Position in Cartesian Space meters + */ + cp_type getToolPosition() const; + + /** getToolVelocity() returns Tool velocity in meters per second + */ + cv_type getToolVelocity() const; + + /** getToolOrientation() returns Tool Orientation in Quaternions + */ + Eigen::Quaterniond getToolOrientation() const; + + /** getToolPose() returns Tool Pose as a combination of + */ +// pose_type getToolPose() const; + + /** getToolJacobian() returns matrix of first order partial derivatives. + */ +// math::Matrix<6,DOF> getToolJacobian() const; + + /** gravityCompensate() method activates Gravity Compensation for WAM + */ + void gravityCompensate(bool compensate = true); + + /** updateGravity() method updates the value of Gravity applied for WAM + */ + bool updateGravity(double val = -9.8); + + /** isGravityCompensated() returns flag as to the status of Gravity Compensation + */ + bool isGravityCompensated(); + + /** moveHome(bool blocking, double velocity, double acceleration) method sends WAM to stored Home Position + * + * Blocking Allows/Disallows other functions to happen while Movement is under way + * Velocity Speed value in m/s + * Acceleration Acceleration value in m/s^2 + * Function is overloaded to allow multiple types of calls. + */ + void moveHome(bool blocking = true); + void moveHome(bool blocking, double velocity); + void moveHome(bool blocking, double velocity, double acceleration); + + /** moveTo() method sends WAM to desired point based on input type. + * + * Function is overloaded to allow moves any type of Barrett Unit Types input. + * Destination Based on type cartesian(xyz), joint(radians), quaternoind(orientation), pose + * blocking Determines whether program should wait for move to finish before continuing + * velocity Speed at which to move + * acceleration value in radians per second + */ + void moveTo(const jp_type& destination, bool blocking = true, double velocity = 0.5, double acceleration = 0.5); + void moveTo(const cp_type& destination, bool blocking = true, double velocity = 0.1, double acceleration = 0.2); + void moveTo(const Eigen::Quaterniond& destination, bool blocking = true, double velocity = 0.5, double acceleration = 0.5); +// void moveTo(const pose_type& destination, bool blocking = true, double velocity = 0.1, double acceleration = 0.2); + template void moveTo(const T& currentPos, /*const typename T::unitless_type& currentVel,*/ const T& destination, bool blocking, double velocity, double acceleration); + + /** moveIsDone() method returns false while the trajectory controller for the most recent moveTo() command is still active. + * + * Only useful if the moveTo() is non-blocking. + */ + bool moveIsDone() const; + + /** idle() method Terminates the position controller (if active). + * + * To prevent uncontrolled falling, you should ensure you have set gravityCompensate(true) before calling idle(). + */ + void idle(); + + /** getEmMutex() method allows access to ExecutionManagers Mutex in LowLevelWam Class. + */ +// thread::Mutex& getEmMutex() const { return llww.getEmMutex(); } + + +private: + + bool doneMoving; +// boost::thread_group mtThreadGroup; + + // Used to calculate TP and TO if the values aren't already being calculated in the control loop. +// mutable math::Kinematics kin; + + ros::Publisher wam_cmd_pub; // controller command + ros::Subscriber jointStatesSubscriber_; + jp_type wamJointPosition_; + jv_type wamJointVelocity_; + jt_type wamJointEffort_; + KDL::ChainFkSolverPos_recursive *fwdKinSolverPos_; + + void jointStatesCB(const sensor_msgs::JointState &jointStates); + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +} + +// include template definitions +#include + +#endif /* WAM_NODE_SIM_WAM_H_ */ diff --git a/wam_node_sim/launch/gazebo.launch b/wam_node_sim/launch/gazebo.launch new file mode 100644 index 0000000..b732414 --- /dev/null +++ b/wam_node_sim/launch/gazebo.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_node_sim/launch/wam_node_sim.launch b/wam_node_sim/launch/wam_node_sim.launch new file mode 100644 index 0000000..c9a8301 --- /dev/null +++ b/wam_node_sim/launch/wam_node_sim.launch @@ -0,0 +1,3 @@ + + + diff --git a/wam_node_sim/package.xml b/wam_node_sim/package.xml new file mode 100644 index 0000000..42576d7 --- /dev/null +++ b/wam_node_sim/package.xml @@ -0,0 +1,74 @@ + + + wam_node_sim + 0.0.0 + ROS node to simulate the wam_node, which runs the actual Barrett WAM. + + + + + Walter Fetter Lages + + + + + + GPLv2 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + Eigen + bullet + geometry_msgs + roscpp + std_msgs + std_srvs + wam_msgs + wam_srvs + trajetory_msgs + orocos_kdl + kdl_parser + Eigen + bullet + geometry_msgs + roscpp + std_msgs + std_srvs + wam_msgs + wam_srvs + trajetory_msgs + orocos_kdl + kdl_parser + + + + + + + + + diff --git a/wam_node_sim/src/wam_node.cpp.orig b/wam_node_sim/src/wam_node.cpp.orig new file mode 100644 index 0000000..866ca0b --- /dev/null +++ b/wam_node_sim/src/wam_node.cpp.orig @@ -0,0 +1,908 @@ +/* + Copyright 2012 Barrett Technology + + This file is part of barrett-ros-pkg. + + This version of barrett-ros-pkg is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + + This version of barrett-ros-pkg is distributed in the hope that it will be + useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this version of barrett-ros-pkg. If not, see + . + + Barrett Technology holds all copyrights on barrett-ros-pkg. As the sole + copyright holder, Barrett reserves the right to release future versions + of barrett-ros-pkg under a different license. + + File: wam_node.cpp + Date: 5 June, 2012 + Author: Kyle Maroney + */ + +#include +#include + +#include // BarrettHand threading +#include + +#include "ros/ros.h" +#include "tf/transform_datatypes.h" + +#include "wam_msgs/RTJointPos.h" +#include "wam_msgs/RTJointVel.h" +#include "wam_msgs/RTCartPos.h" +#include "wam_msgs/RTCartVel.h" +#include "wam_msgs/RTOrtnPos.h" +#include "wam_msgs/RTOrtnVel.h" +#include "wam_srvs/GravityComp.h" +#include "wam_srvs/Hold.h" +#include "wam_srvs/JointMove.h" +#include "wam_srvs/PoseMove.h" +#include "wam_srvs/CartPosMove.h" +#include "wam_srvs/OrtnMove.h" +#include "wam_srvs/BHandFingerPos.h" +#include "wam_srvs/BHandGraspPos.h" +#include "wam_srvs/BHandSpreadPos.h" +#include "wam_srvs/BHandFingerVel.h" +#include "wam_srvs/BHandGraspVel.h" +#include "wam_srvs/BHandSpreadVel.h" +#include "std_srvs/Empty.h" +#include "sensor_msgs/JointState.h" +#include "geometry_msgs/PoseStamped.h" + +#include +#include +#include +#include +#include +#include +#include + +static const int PUBLISH_FREQ = 250; // Default Control Loop / Publishing Frequency +static const int BHAND_PUBLISH_FREQ = 5; // Publishing Frequency for the BarretHand +static const double SPEED = 0.03; // Default Cartesian Velocity + +using namespace barrett; + +//Creating a templated multiplier for our real-time computation +template + class Multiplier : public systems::System, public systems::SingleOutput + { + public: + Input input1; + public: + Input input2; + + public: + Multiplier(std::string sysName = "Multiplier") : + systems::System(sysName), systems::SingleOutput(this), input1(this), input2(this) + { + } + virtual ~Multiplier() + { + mandatoryCleanUp(); + } + + protected: + OutputType data; + virtual void operate() + { + data = input1.getValue() * input2.getValue(); + this->outputValue->setData(&data); + } + + private: + DISALLOW_COPY_AND_ASSIGN(Multiplier); + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; + +//Creating a templated converter from Roll, Pitch, Yaw to Quaternion for real-time computation +class ToQuaternion : public systems::SingleIO::type, Eigen::Quaterniond> +{ +public: + Eigen::Quaterniond outputQuat; + +public: + ToQuaternion(std::string sysName = "ToQuaternion") : + systems::SingleIO::type, Eigen::Quaterniond>(sysName) + { + } + virtual ~ToQuaternion() + { + mandatoryCleanUp(); + } + +protected: + btQuaternion q; + virtual void operate() + { + const math::Vector<3>::type &inputRPY = input.getValue(); + q.setEulerZYX(inputRPY[2], inputRPY[1], inputRPY[0]); + outputQuat.x() = q.getX(); + outputQuat.y() = q.getY(); + outputQuat.z() = q.getZ(); + outputQuat.w() = q.getW(); + this->outputValue->setData(&outputQuat); + } + +private: + DISALLOW_COPY_AND_ASSIGN(ToQuaternion); + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//Simple Function for converting Quaternion to RPY +math::Vector<3>::type toRPY(Eigen::Quaterniond inquat) +{ + math::Vector<3>::type newRPY; + btQuaternion q(inquat.x(), inquat.y(), inquat.z(), inquat.w()); + btMatrix3x3(q).getEulerZYX(newRPY[2], newRPY[1], newRPY[0]); + return newRPY; +} + +//WamNode Class +template + class WamNode + { + BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF); + protected: + bool cart_vel_status, ortn_vel_status, jnt_vel_status; + bool jnt_pos_status, cart_pos_status, ortn_pos_status, new_rt_cmd; + double cart_vel_mag, ortn_vel_mag; + systems::Wam& wam; + Hand* hand; + jp_type jp, jp_cmd, jp_home; + jp_type rt_jp_cmd, rt_jp_rl; + jv_type rt_jv_cmd; + cp_type cp_cmd, rt_cv_cmd; + cp_type rt_cp_cmd, rt_cp_rl; + Eigen::Quaterniond ortn_cmd, rt_op_cmd, rt_op_rl; + pose_type pose_cmd; + math::Vector<3>::type rt_ortn_cmd; + systems::ExposedOutput orientationSetPoint, current_ortn; + systems::ExposedOutput cart_dir, current_cart_pos, cp_track; + systems::ExposedOutput::type> rpy_cmd, current_rpy_ortn; + systems::ExposedOutput jv_track; + systems::ExposedOutput jp_track; + systems::TupleGrouper rt_pose_cmd; + systems::Summer cart_pos_sum; + systems::Summer::type> ortn_cmd_sum; + systems::Ramp ramp; + systems::RateLimiter jp_rl; + systems::RateLimiter cp_rl; + Multiplier mult_linear; + Multiplier::type, math::Vector<3>::type> mult_angular; + ToQuaternion to_quat, to_quat_print; + Eigen::Quaterniond ortn_print; + ros::Time last_cart_vel_msg_time, last_ortn_vel_msg_time, last_jnt_vel_msg_time; + ros::Time last_jnt_pos_msg_time, last_cart_pos_msg_time, last_ortn_pos_msg_time; + ros::Duration rt_msg_timeout; + + //Subscribed Topics + wam_msgs::RTCartVel cart_vel_cmd; + wam_msgs::RTOrtnVel ortn_vel_cmd; + + //Subscribers + ros::Subscriber cart_vel_sub; + ros::Subscriber ortn_vel_sub; + ros::Subscriber jnt_vel_sub; + ros::Subscriber jnt_pos_sub; + ros::Subscriber cart_pos_sub; + ros::Subscriber ortn_pos_sub; + + //Published Topics + sensor_msgs::JointState wam_joint_state, bhand_joint_state; + geometry_msgs::PoseStamped wam_pose; + + //Publishers + ros::Publisher wam_joint_state_pub, bhand_joint_state_pub, wam_pose_pub; + + //Services + ros::ServiceServer gravity_srv, go_home_srv, hold_jpos_srv, hold_cpos_srv; + ros::ServiceServer hold_ortn_srv, joint_move_srv, pose_move_srv; + ros::ServiceServer cart_move_srv, ortn_move_srv, hand_close_srv; + ros::ServiceServer hand_open_grsp_srv, hand_close_grsp_srv, hand_open_sprd_srv; + ros::ServiceServer hand_close_sprd_srv, hand_fngr_pos_srv, hand_fngr_vel_srv; + ros::ServiceServer hand_grsp_pos_srv, hand_grsp_vel_srv, hand_sprd_pos_srv; + ros::ServiceServer hand_sprd_vel_srv; + + public: + WamNode(systems::Wam& wam_) : + wam(wam_), hand(NULL), ramp(NULL, SPEED) + { + } + void + init(ProductManager& pm); + + ~WamNode() + { + } + + bool + gravity(wam_srvs::GravityComp::Request &req, wam_srvs::GravityComp::Response &res); + bool + goHome(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + bool + holdJPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res); + bool + holdCPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res); + bool + holdOrtn(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res); + bool + jointMove(wam_srvs::JointMove::Request &req, wam_srvs::JointMove::Response &res); + bool + poseMove(wam_srvs::PoseMove::Request &req, wam_srvs::PoseMove::Response &res); + bool + cartMove(wam_srvs::CartPosMove::Request &req, wam_srvs::CartPosMove::Response &res); + bool + ortnMove(wam_srvs::OrtnMove::Request &req, wam_srvs::OrtnMove::Response &res); + bool + handOpenGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + bool + handCloseGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + bool + handOpenSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + bool + handCloseSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res); + bool + handFingerPos(wam_srvs::BHandFingerPos::Request &req, wam_srvs::BHandFingerPos::Response &res); + bool + handGraspPos(wam_srvs::BHandGraspPos::Request &req, wam_srvs::BHandGraspPos::Response &res); + bool + handSpreadPos(wam_srvs::BHandSpreadPos::Request &req, wam_srvs::BHandSpreadPos::Response &res); + bool + handFingerVel(wam_srvs::BHandFingerVel::Request &req, wam_srvs::BHandFingerVel::Response &res); + bool + handGraspVel(wam_srvs::BHandGraspVel::Request &req, wam_srvs::BHandGraspVel::Response &res); + bool + handSpreadVel(wam_srvs::BHandSpreadVel::Request &req, wam_srvs::BHandSpreadVel::Response &res); + void + cartVelCB(const wam_msgs::RTCartVel::ConstPtr& msg); + void + ortnVelCB(const wam_msgs::RTOrtnVel::ConstPtr& msg); + void + jntVelCB(const wam_msgs::RTJointVel::ConstPtr& msg); + void + jntPosCB(const wam_msgs::RTJointPos::ConstPtr& msg); + void + cartPosCB(const wam_msgs::RTCartPos::ConstPtr& msg); + void + publishWam(ProductManager& pm); + void + publishHand(void); + void + updateRT(ProductManager& pm); + }; + +// Templated Initialization Function +template + void WamNode::init(ProductManager& pm) + { + ros::NodeHandle n_("wam"); // WAM specific nodehandle + ros::NodeHandle nh_("bhand"); // BarrettHand specific nodehandle + + //Setting up real-time command timeouts and initial values + cart_vel_status = false; //Bool for determining cartesian velocity real-time state + ortn_vel_status = false; //Bool for determining orientation velocity real-time state + new_rt_cmd = false; //Bool for determining if a new real-time message was received + rt_msg_timeout.fromSec(0.3); //rt_status will be determined false if rt message is not received in specified time + cart_vel_mag = SPEED; //Setting default cartesian velocity magnitude to SPEED + ortn_vel_mag = SPEED; + pm.getExecutionManager()->startManaging(ramp); //starting ramp manager + + ROS_INFO(" \n %zu-DOF WAM", DOF); + jp_home = wam.getJointPositions(); + + if (pm.foundHand()) //Does the following only if a BarrettHand is present + { + std::cout << "Barrett Hand" << std::endl; + hand = pm.getHand(); + + // Adjust the torque limits to allow for BarrettHand movements at extents + pm.getSafetyModule()->setTorqueLimit(3.0); + + // Move j3 in order to give room for hand initialization + jp_type jp_init = wam.getJointPositions(); + jp_init[3] -= 0.35; + usleep(500000); + wam.moveTo(jp_init); + + usleep(500000); + hand->initialize(); + hand->update(); + + //Publishing the following topics only if there is a BarrettHand present + bhand_joint_state_pub = nh_.advertise < sensor_msgs::JointState > ("joint_states", 1); // bhand/joint_states + + //Advertise the following services only if there is a BarrettHand present + hand_open_grsp_srv = nh_.advertiseService("open_grasp", &WamNode::handOpenGrasp, this); // bhand/open_grasp + hand_close_grsp_srv = nh_.advertiseService("close_grasp", &WamNode::handCloseGrasp, this); // bhand/close_grasp + hand_open_sprd_srv = nh_.advertiseService("open_spread", &WamNode::handOpenSpread, this); // bhand/open_spread + hand_close_sprd_srv = nh_.advertiseService("close_spread", &WamNode::handCloseSpread, this); // bhand/close_spread + hand_fngr_pos_srv = nh_.advertiseService("finger_pos", &WamNode::handFingerPos, this); // bhand/finger_pos + hand_grsp_pos_srv = nh_.advertiseService("grasp_pos", &WamNode::handGraspPos, this); // bhand/grasp_pos + hand_sprd_pos_srv = nh_.advertiseService("spread_pos", &WamNode::handSpreadPos, this); // bhand/spread_pos + hand_fngr_vel_srv = nh_.advertiseService("finger_vel", &WamNode::handFingerVel, this); // bhand/finger_vel + hand_grsp_vel_srv = nh_.advertiseService("grasp_vel", &WamNode::handGraspVel, this); // bhand/grasp_vel + hand_sprd_vel_srv = nh_.advertiseService("spread_vel", &WamNode::handSpreadVel, this); // bhand/spread_vel + + //Set up the BarrettHand joint state publisher + const char* bhand_jnts[] = {"inner_f1", "inner_f2", "inner_f3", "spread", "outer_f1", "outer_f2", "outer_f3"}; + std::vector < std::string > bhand_joints(bhand_jnts, bhand_jnts + 7); + bhand_joint_state.name.resize(7); + bhand_joint_state.name = bhand_joints; + bhand_joint_state.position.resize(7); + } + + wam.gravityCompensate(true); // Turning on Gravity Compenstation by Default when starting the WAM Node + + //Setting up WAM joint state publisher + const char* wam_jnts[] = {"wam_j1", "wam_j2", "wam_j3", "wam_j4", "wam_j5", "wam_j6", "wam_j7"}; + std::vector < std::string > wam_joints(wam_jnts, wam_jnts + 7); + wam_joint_state.name = wam_joints; + wam_joint_state.name.resize(DOF); + wam_joint_state.position.resize(DOF); + wam_joint_state.velocity.resize(DOF); + wam_joint_state.effort.resize(DOF); + + //Publishing the following rostopics + wam_joint_state_pub = n_.advertise < sensor_msgs::JointState > ("joint_states", 1); // wam/joint_states + wam_pose_pub = n_.advertise < geometry_msgs::PoseStamped > ("pose", 1); // wam/pose + + //Subscribing to the following rostopics + cart_vel_sub = n_.subscribe("cart_vel_cmd", 1, &WamNode::cartVelCB, this); // wam/cart_vel_cmd + ortn_vel_sub = n_.subscribe("ortn_vel_cmd", 1, &WamNode::ortnVelCB, this); // wam/ortn_vel_cmd + jnt_vel_sub = n_.subscribe("jnt_vel_cmd", 1, &WamNode::jntVelCB, this); // wam/jnt_vel_cmd + jnt_pos_sub = n_.subscribe("jnt_pos_cmd", 1, &WamNode::jntPosCB, this); // wam/jnt_pos_cmd + cart_pos_sub = n_.subscribe("cart_pos_cmd", 1, &WamNode::cartPosCB, this); // wam/cart_pos_cmd + + //Advertising the following rosservices + gravity_srv = n_.advertiseService("gravity_comp", &WamNode::gravity, this); // wam/gravity_comp + go_home_srv = n_.advertiseService("go_home", &WamNode::goHome, this); // wam/go_home + hold_jpos_srv = n_.advertiseService("hold_joint_pos", &WamNode::holdJPos, this); // wam/hold_joint_pos + hold_cpos_srv = n_.advertiseService("hold_cart_pos", &WamNode::holdCPos, this); // wam/hold_cart_pos + hold_ortn_srv = n_.advertiseService("hold_ortn", &WamNode::holdOrtn, this); // wam/hold_ortn + joint_move_srv = n_.advertiseService("joint_move", &WamNode::jointMove, this); // wam/joint_move + pose_move_srv = n_.advertiseService("pose_move", &WamNode::poseMove, this); // wam/pose_move + cart_move_srv = n_.advertiseService("cart_move", &WamNode::cartMove, this); // wam/cart_pos_move + ortn_move_srv = n_.advertiseService("ortn_move", &WamNode::ortnMove, this); // wam/ortn_move + + } + +// gravity_comp service callback +template + bool WamNode::gravity(wam_srvs::GravityComp::Request &req, wam_srvs::GravityComp::Response &res) + { + wam.gravityCompensate(req.gravity); + ROS_INFO("Gravity Compensation Request: %s", (req.gravity) ? "true" : "false"); + return true; + } + +// goHome Function for sending the WAM safely back to its home starting position. +template + bool WamNode::goHome(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Returning to Home Position"); + + if (hand != NULL) + { + hand->open(Hand::GRASP, true); + hand->close(Hand::SPREAD, true); + } + for (size_t i = 0; i < DOF; i++) + jp_cmd[i] = 0.0; + wam.moveTo(jp_cmd, true); + jp_home[3] -= 0.3; + wam.moveTo(jp_home, true); + jp_home[3] += 0.3; + wam.moveTo(jp_home, true); + return true; + } + +//Function to hold WAM Joint Positions +template + bool WamNode::holdJPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Joint Position Hold request: %s", (req.hold) ? "true" : "false"); + + if (req.hold) + wam.moveTo(wam.getJointPositions()); + else + wam.idle(); + return true; + } + +//Function to hold WAM end effector Cartesian Position +template + bool WamNode::holdCPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Cartesian Position Hold request: %s", (req.hold) ? "true" : "false"); + + if (req.hold) + wam.moveTo(wam.getToolPosition()); + else + wam.idle(); + return true; + } + +//Function to hold WAM end effector Orientation +template + bool WamNode::holdOrtn(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Orientation Hold request: %s", (req.hold) ? "true" : "false"); + + if (req.hold) + { + orientationSetPoint.setValue(wam.getToolOrientation()); + wam.trackReferenceSignal(orientationSetPoint.output); + } + else + wam.idle(); + return true; + } + +//Function to command a joint space move to the WAM +template + bool WamNode::jointMove(wam_srvs::JointMove::Request &req, wam_srvs::JointMove::Response &res) + { + if (req.joints.size() != DOF) + { + ROS_INFO("Request Failed: %zu-DOF request received, must be %zu-DOF", req.joints.size(), DOF); + return false; + } + ROS_INFO("Moving Robot to Commanded Joint Pose"); + for (size_t i = 0; i < DOF; i++) + jp_cmd[i] = req.joints[i]; + wam.moveTo(jp_cmd, false); + return true; + } + +//Function to command a pose move to the WAM +template + bool WamNode::poseMove(wam_srvs::PoseMove::Request &req, wam_srvs::PoseMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded Pose"); + + cp_cmd[0] = req.pose.position.x; + cp_cmd[1] = req.pose.position.y; + cp_cmd[2] = req.pose.position.z; + ortn_cmd.x() = req.pose.orientation.x; + ortn_cmd.y() = req.pose.orientation.y; + ortn_cmd.z() = req.pose.orientation.z; + ortn_cmd.w() = req.pose.orientation.w; + + pose_cmd = boost::make_tuple(cp_cmd, ortn_cmd); + + //wam.moveTo(pose_cmd, false); //(TODO:KM Update Libbarrett API for Pose Moves) + ROS_INFO("Pose Commands for WAM not yet supported by API"); + return false; + } + +//Function to command a cartesian move to the WAM +template + bool WamNode::cartMove(wam_srvs::CartPosMove::Request &req, wam_srvs::CartPosMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded Cartesian Position"); + + for (int i = 0; i < 3; i++) + cp_cmd[i] = req.position[i]; + wam.moveTo(cp_cmd, false); + return true; + } + +//Function to command an orientation move to the WAM +template + bool WamNode::ortnMove(wam_srvs::OrtnMove::Request &req, wam_srvs::OrtnMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded End Effector Orientation"); + + ortn_cmd.x() = req.orientation[0]; + ortn_cmd.y() = req.orientation[1]; + ortn_cmd.z() = req.orientation[2]; + ortn_cmd.w() = req.orientation[3]; + + wam.moveTo(ortn_cmd, false); + return true; + } + +//Function to open the BarrettHand Grasp +template + bool WamNode::handOpenGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Opening the BarrettHand Grasp"); + hand->open(Hand::GRASP, false); + return true; + } + +//Function to close the BarrettHand Grasp +template + bool WamNode::handCloseGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Closing the BarrettHand Grasp"); + hand->close(Hand::GRASP, false); + return true; + } + +//Function to open the BarrettHand Spread +template + bool WamNode::handOpenSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Opening the BarrettHand Spread"); + hand->open(Hand::SPREAD, false); + return true; + } + +//Function to close the BarrettHand Spread +template + bool WamNode::handCloseSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Closing the BarrettHand Spread"); + hand->close(Hand::SPREAD, false); + return true; + } + +//Function to control a BarrettHand Finger Position +template + bool WamNode::handFingerPos(wam_srvs::BHandFingerPos::Request &req, wam_srvs::BHandFingerPos::Response &res) + { + ROS_INFO("Moving BarrettHand to Finger Positions: %.3f, %.3f, %.3f radians", req.radians[0], req.radians[1], + req.radians[2]); + hand->trapezoidalMove(Hand::jp_type(req.radians[0], req.radians[1], req.radians[2], 0.0), Hand::GRASP, false); + return true; + } + +//Function to control the BarrettHand Grasp Position +template + bool WamNode::handGraspPos(wam_srvs::BHandGraspPos::Request &req, wam_srvs::BHandGraspPos::Response &res) + { + ROS_INFO("Moving BarrettHand Grasp: %.3f radians", req.radians); + hand->trapezoidalMove(Hand::jp_type(req.radians), Hand::GRASP, false); + return true; + } + +//Function to control the BarrettHand Spread Position +template + bool WamNode::handSpreadPos(wam_srvs::BHandSpreadPos::Request &req, wam_srvs::BHandSpreadPos::Response &res) + { + ROS_INFO("Moving BarrettHand Spread: %.3f radians", req.radians); + hand->trapezoidalMove(Hand::jp_type(req.radians), Hand::SPREAD, false); + return true; + } + +//Function to control a BarrettHand Finger Velocity +template + bool WamNode::handFingerVel(wam_srvs::BHandFingerVel::Request &req, wam_srvs::BHandFingerVel::Response &res) + { + ROS_INFO("Moving BarrettHand Finger Velocities: %.3f, %.3f, %.3f m/s", req.velocity[0], req.velocity[1], + req.velocity[2]); + hand->velocityMove(Hand::jv_type(req.velocity[0], req.velocity[1], req.velocity[2], 0.0), Hand::GRASP); + return true; + } + +//Function to control a BarrettHand Grasp Velocity +template + bool WamNode::handGraspVel(wam_srvs::BHandGraspVel::Request &req, wam_srvs::BHandGraspVel::Response &res) + { + ROS_INFO("Moving BarrettHand Grasp: %.3f m/s", req.velocity); + hand->velocityMove(Hand::jv_type(req.velocity), Hand::GRASP); + return true; + } + +//Function to control a BarrettHand Spread Velocity +template + bool WamNode::handSpreadVel(wam_srvs::BHandSpreadVel::Request &req, wam_srvs::BHandSpreadVel::Response &res) + { + ROS_INFO("Moving BarrettHand Spread: %.3f m/s", req.velocity); + usleep(5000); + hand->velocityMove(Hand::jv_type(req.velocity), Hand::SPREAD); + return true; + } + +//Callback function for RT Cartesian Velocity messages +template + void WamNode::cartVelCB(const wam_msgs::RTCartVel::ConstPtr& msg) + { + if (cart_vel_status) + { + for (size_t i = 0; i < 3; i++) + rt_cv_cmd[i] = msg->direction[i]; + new_rt_cmd = true; + if (msg->magnitude != 0) + cart_vel_mag = msg->magnitude; + } + last_cart_vel_msg_time = ros::Time::now(); + + } + +//Callback function for RT Orientation Velocity Messages +template + void WamNode::ortnVelCB(const wam_msgs::RTOrtnVel::ConstPtr& msg) + { + if (ortn_vel_status) + { + for (size_t i = 0; i < 3; i++) + rt_ortn_cmd[i] = msg->angular[i]; + new_rt_cmd = true; + if (msg->magnitude != 0) + ortn_vel_mag = msg->magnitude; + } + last_ortn_vel_msg_time = ros::Time::now(); + } + +//Callback function for RT Joint Velocity Messages +template + void WamNode::jntVelCB(const wam_msgs::RTJointVel::ConstPtr& msg) + { + if (msg->velocities.size() != DOF) + { + ROS_INFO("Commanded Joint Velocities != DOF of WAM"); + return; + } + if (jnt_vel_status) + { + for (size_t i = 0; i < DOF; i++) + rt_jv_cmd[i] = msg->velocities[i]; + new_rt_cmd = true; + } + last_jnt_vel_msg_time = ros::Time::now(); + } + +//Callback function for RT Joint Position Messages +template + void WamNode::jntPosCB(const wam_msgs::RTJointPos::ConstPtr& msg) + { + if (msg->joints.size() != DOF) + { + ROS_INFO("Commanded Joint Positions != DOF of WAM"); + return; + } + if (jnt_pos_status) + { + for (size_t i = 0; i < DOF; i++) + { + rt_jp_cmd[i] = msg->joints[i]; + rt_jp_rl[i] = msg->rate_limits[i]; + } + new_rt_cmd = true; + } + last_jnt_pos_msg_time = ros::Time::now(); + } + +//Callback function for RT Cartesian Position Messages +template + void WamNode::cartPosCB(const wam_msgs::RTCartPos::ConstPtr& msg) + { + if (cart_pos_status) + { + for (size_t i = 0; i < 3; i++) + { + rt_cp_cmd[i] = msg->position[i]; + rt_cp_rl[i] = msg->rate_limits[i]; + } + new_rt_cmd = true; + } + last_cart_pos_msg_time = ros::Time::now(); + } + +//Function to update the WAM publisher +template + void WamNode::publishWam(ProductManager& pm) + { + //Current values to be published + jp_type jp = wam.getJointPositions(); + jt_type jt = wam.getJointTorques(); + jv_type jv = wam.getJointVelocities(); + cp_type cp_pub = wam.getToolPosition(); + Eigen::Quaterniond to_pub = wam.getToolOrientation(); + + //publishing sensor_msgs/JointState to wam/joint_states + for (size_t i = 0; i < DOF; i++) + { + wam_joint_state.position[i] = jp[i]; + wam_joint_state.velocity[i] = jv[i]; + wam_joint_state.effort[i] = jt[i]; + } + wam_joint_state.header.stamp = ros::Time::now(); + wam_joint_state_pub.publish(wam_joint_state); + + //publishing geometry_msgs/PoseStamed to wam/pose + wam_pose.header.stamp = ros::Time::now(); + wam_pose.pose.position.x = cp_pub[0]; + wam_pose.pose.position.y = cp_pub[1]; + wam_pose.pose.position.z = cp_pub[2]; + wam_pose.pose.orientation.w = to_pub.w(); + wam_pose.pose.orientation.x = to_pub.x(); + wam_pose.pose.orientation.y = to_pub.y(); + wam_pose.pose.orientation.z = to_pub.z(); + wam_pose_pub.publish(wam_pose); + } + +//Function to update the real-time control loops +template + void WamNode::publishHand() //systems::PeriodicDataLogger& logger + { + while (ros::ok()) + { + hand->update(); // Update the hand sensors + Hand::jp_type hi = hand->getInnerLinkPosition(); // get finger positions information + Hand::jp_type ho = hand->getOuterLinkPosition(); + for (size_t i = 0; i < 4; i++) // Save finger positions + bhand_joint_state.position[i] = hi[i]; + for (size_t j = 0; j < 3; j++) + bhand_joint_state.position[j + 4] = ho[j]; + bhand_joint_state.header.stamp = ros::Time::now(); // Set the timestamp + bhand_joint_state_pub.publish(bhand_joint_state); // Publish the BarrettHand joint states + btsleep(1.0 / BHAND_PUBLISH_FREQ); // Sleep according to the specified publishing frequency + } + } + +//Function to update the real-time control loops +template + void WamNode::updateRT(ProductManager& pm) //systems::PeriodicDataLogger& logger + { + //Real-Time Cartesian Velocity Control Portion + if (last_cart_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a cartesian velocity message has been published and if it is within timeout + { + if (!cart_vel_status) + { + cart_dir.setValue(cp_type(0.0, 0.0, 0.0)); // zeroing the cartesian direction + current_cart_pos.setValue(wam.getToolPosition()); // Initializing the cartesian position + current_ortn.setValue(wam.getToolOrientation()); // Initializing the orientation + systems::forceConnect(ramp.output, mult_linear.input1); // connecting the ramp to multiplier + systems::forceConnect(cart_dir.output, mult_linear.input2); // connecting the direction to the multiplier + systems::forceConnect(mult_linear.output, cart_pos_sum.getInput(0)); // adding the output of the multiplier + systems::forceConnect(current_cart_pos.output, cart_pos_sum.getInput(1)); // with the starting cartesian position offset + systems::forceConnect(cart_pos_sum.output, rt_pose_cmd.getInput<0>()); // saving summed position as new commanded pose.position + systems::forceConnect(current_ortn.output, rt_pose_cmd.getInput<1>()); // saving the original orientation to the pose.orientation + ramp.setSlope(cart_vel_mag); // setting the slope to the commanded magnitude + ramp.stop(); // ramp is stopped on startup + ramp.setOutput(0.0); // ramp is re-zeroed on startup + ramp.start(); // start the ramp + wam.trackReferenceSignal(rt_pose_cmd.output); // command WAM to track the RT commanded (500 Hz) updated pose + } + else if (new_rt_cmd) + { + ramp.reset(); // reset the ramp to 0 + ramp.setSlope(cart_vel_mag); + cart_dir.setValue(rt_cv_cmd); // set our cartesian direction to subscribed command + current_cart_pos.setValue(wam.tpoTpController.referenceInput.getValue()); // updating the current position to the actual low level commanded value + } + cart_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Angular Velocity Control Portion + else if (last_ortn_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a orientation velocity message has been published and if it is within timeout + { + if (!ortn_vel_status) + { + rpy_cmd.setValue(math::Vector<3>::type(0.0, 0.0, 0.0)); // zeroing the rpy command + current_cart_pos.setValue(wam.getToolPosition()); // Initializing the cartesian position + current_rpy_ortn.setValue(toRPY(wam.getToolOrientation())); // Initializing the orientation + + systems::forceConnect(ramp.output, mult_angular.input1); // connecting the ramp to multiplier + systems::forceConnect(rpy_cmd.output, mult_angular.input2); // connecting the rpy command to the multiplier + systems::forceConnect(mult_angular.output, ortn_cmd_sum.getInput(0)); // adding the output of the multiplier + systems::forceConnect(current_rpy_ortn.output, ortn_cmd_sum.getInput(1)); // with the starting rpy orientation offset + systems::forceConnect(ortn_cmd_sum.output, to_quat.input); + systems::forceConnect(current_cart_pos.output, rt_pose_cmd.getInput<0>()); // saving the original position to the pose.position + systems::forceConnect(to_quat.output, rt_pose_cmd.getInput<1>()); // saving the summed and converted new quaternion commmand as the pose.orientation + ramp.setSlope(ortn_vel_mag); // setting the slope to the commanded magnitude + ramp.stop(); // ramp is stopped on startup + ramp.setOutput(0.0); // ramp is re-zeroed on startup + ramp.start(); // start the ramp + wam.trackReferenceSignal(rt_pose_cmd.output); // command the WAM to track the RT commanded up to (500 Hz) cartesian velocity + } + else if (new_rt_cmd) + { + ramp.reset(); // reset the ramp to 0 + ramp.setSlope(ortn_vel_mag); // updating the commanded angular velocity magnitude + rpy_cmd.setValue(rt_ortn_cmd); // set our angular rpy command to subscribed command + current_rpy_ortn.setValue(toRPY(wam.tpoToController.referenceInput.getValue())); // updating the current orientation to the actual low level commanded value + } + ortn_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Joint Velocity Control Portion + else if (last_jnt_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a joint velocity message has been published and if it is within timeout + { + if (!jnt_vel_status) + { + jv_type jv_start; + for (size_t i = 0; i < DOF; i++) + jv_start[i] = 0.0; + jv_track.setValue(jv_start); // zeroing the joint velocity command + wam.trackReferenceSignal(jv_track.output); // command the WAM to track the RT commanded up to (500 Hz) joint velocities + } + else if (new_rt_cmd) + { + jv_track.setValue(rt_jv_cmd); // set our joint velocity to subscribed command + } + jnt_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Joint Position Control Portion + else if (last_jnt_pos_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a joint position message has been published and if it is within timeout + { + if (!jnt_pos_status) + { + jp_type jp_start = wam.getJointPositions(); + jp_track.setValue(jp_start); // setting initial the joint position command + jp_rl.setLimit(rt_jp_rl); + systems::forceConnect(jp_track.output, jp_rl.input); + wam.trackReferenceSignal(jp_rl.output); // command the WAM to track the RT commanded up to (500 Hz) joint positions + } + else if (new_rt_cmd) + { + jp_track.setValue(rt_jp_cmd); // set our joint position to subscribed command + jp_rl.setLimit(rt_jp_rl); // set our rate limit to subscribed rate to control the rate of the moves + } + jnt_pos_status = true; + new_rt_cmd = false; + } + + //Real-Time Cartesian Position Control Portion + else if (last_cart_pos_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a cartesian position message has been published and if it is within timeout + { + if (!cart_pos_status) + { + cp_track.setValue(wam.getToolPosition()); + current_ortn.setValue(wam.getToolOrientation()); // Initializing the orientation + cp_rl.setLimit(rt_cp_rl); + systems::forceConnect(cp_track.output, cp_rl.input); + systems::forceConnect(cp_rl.output, rt_pose_cmd.getInput<0>()); // saving the rate limited cartesian position command to the pose.position + systems::forceConnect(current_ortn.output, rt_pose_cmd.getInput<1>()); // saving the original orientation to the pose.orientation + wam.trackReferenceSignal(rt_pose_cmd.output); //Commanding the WAM to track the real-time pose command. + } + else if (new_rt_cmd) + { + cp_track.setValue(rt_cp_cmd); // Set our cartesian positions to subscribed command + cp_rl.setLimit(rt_cp_rl); // Updating the rate limit to subscribed rate to control the rate of the moves + } + cart_pos_status = true; + new_rt_cmd = false; + } + + //If we fall out of 'Real-Time', hold joint positions + else if (cart_vel_status | ortn_vel_status | jnt_vel_status | jnt_pos_status | cart_pos_status) + { + wam.moveTo(wam.getJointPositions()); // Holds current joint positions upon a RT message timeout + cart_vel_status = ortn_vel_status = jnt_vel_status = jnt_pos_status = cart_pos_status = ortn_pos_status = false; + } + } + +//wam_main Function +template + int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam& wam) + { + BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF); + ros::init(argc, argv, "wam_node"); + WamNode wam_node(wam); + wam_node.init(pm); + ros::Rate pub_rate(PUBLISH_FREQ); + + if (pm.getHand()) + boost::thread handPubThread(&WamNode::publishHand, &wam_node); + + while (ros::ok() && pm.getSafetyModule()->getMode() == SafetyModule::ACTIVE) + { + ros::spinOnce(); + wam_node.publishWam(pm); + wam_node.updateRT(pm); + pub_rate.sleep(); + } + + return 0; + } diff --git a/wam_node_sim/src/wam_node_sim.cpp b/wam_node_sim/src/wam_node_sim.cpp new file mode 100644 index 0000000..ee6cfb6 --- /dev/null +++ b/wam_node_sim/src/wam_node_sim.cpp @@ -0,0 +1,797 @@ +/* + Copyright 2012 Barrett Technology + + This file is part of barrett-ros-pkg. + + This version of barrett-ros-pkg is free software: you can redistribute it + and/or modify it under the terms of the GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + + This version of barrett-ros-pkg is distributed in the hope that it will be + useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this version of barrett-ros-pkg. If not, see + . + + Barrett Technology holds all copyrights on barrett-ros-pkg. As the sole + copyright holder, Barrett reserves the right to release future versions + of barrett-ros-pkg under a different license. + + File: wam_node.cpp + Date: 5 June, 2012 + Author: Kyle Maroney + */ + +#include +#include + +#include + +#include "ros/ros.h" +#include "tf/transform_datatypes.h" + +#include "wam_msgs/RTJointPos.h" +#include "wam_msgs/RTJointVel.h" +#include "wam_msgs/RTCartPos.h" +#include "wam_msgs/RTCartVel.h" +#include "wam_msgs/RTOrtnPos.h" +#include "wam_msgs/RTOrtnVel.h" +#include "wam_srvs/GravityComp.h" +#include "wam_srvs/Hold.h" +#include "wam_srvs/JointMove.h" +#include "wam_srvs/PoseMove.h" +#include "wam_srvs/CartPosMove.h" +#include "wam_srvs/OrtnMove.h" +#include "wam_srvs/BHandFingerPos.h" +#include "wam_srvs/BHandGraspPos.h" +#include "wam_srvs/BHandSpreadPos.h" +#include "wam_srvs/BHandFingerVel.h" +#include "wam_srvs/BHandGraspVel.h" +#include "wam_srvs/BHandSpreadVel.h" +#include "std_srvs/Empty.h" +#include "sensor_msgs/JointState.h" +#include "geometry_msgs/PoseStamped.h" + +#include +#include + + +static const int PUBLISH_FREQ = 250; // Default Control Loop / Publishing Frequency +static const int BHAND_PUBLISH_FREQ = 5; // Publishing Frequency for the BarretHand +static const double SPEED = 0.03; // Default Cartesian Velocity + +//WamNode Class +template + class WamNode + { + typedef Eigen::Matrix jt_type; + typedef Eigen::Matrix jp_type; + typedef Eigen::Matrix jv_type; + typedef Eigen::Matrix cp_type; +// protected: + bool cart_vel_status, ortn_vel_status, jnt_vel_status; + bool jnt_pos_status, cart_pos_status, ortn_pos_status, new_rt_cmd; + double cart_vel_mag, ortn_vel_mag; + barrett::Wam &wam; + jp_type jp, jp_cmd, jp_home; + jp_type rt_jp_cmd, rt_jp_rl; + jv_type rt_jv_cmd; + cp_type cp_cmd, rt_cv_cmd; + cp_type rt_cp_cmd, rt_cp_rl; + + Eigen::Quaterniond ortn_cmd, rt_op_cmd, rt_op_rl; + +// pose_type pose_cmd; + Eigen::Vector3d rt_ortn_cmd; + wam_node_sim::RateLimiter jp_rl; + wam_node_sim::RateLimiter cp_rl; + Eigen::Quaterniond ortn_print; + ros::Time last_cart_vel_msg_time, last_ortn_vel_msg_time, last_jnt_vel_msg_time; + ros::Time last_jnt_pos_msg_time, last_cart_pos_msg_time, last_ortn_pos_msg_time; + ros::Duration rt_msg_timeout; + + wam_msgs::RTCartVel cart_vel_cmd; + wam_msgs::RTOrtnVel ortn_vel_cmd; + + ros::Subscriber cart_vel_sub; + ros::Subscriber ortn_vel_sub; + ros::Subscriber jnt_vel_sub; + ros::Subscriber jnt_pos_sub; + ros::Subscriber cart_pos_sub; + ros::Subscriber ortn_pos_sub; + + sensor_msgs::JointState wam_joint_state; + sensor_msgs::JointState bhand_joint_state; + geometry_msgs::PoseStamped wam_pose; + + ros::Publisher wam_joint_state_pub; + ros::Publisher bhand_joint_state_pub; + ros::Publisher wam_pose_pub; + + ros::ServiceServer gravity_srv; + ros::ServiceServer go_home_srv; + ros::ServiceServer hold_jpos_srv; + ros::ServiceServer hold_cpos_srv; + ros::ServiceServer hold_ortn_srv; + ros::ServiceServer joint_move_srv; + ros::ServiceServer pose_move_srv; + ros::ServiceServer cart_move_srv; + ros::ServiceServer ortn_move_srv; + ros::ServiceServer hand_close_srv; + ros::ServiceServer hand_open_grsp_srv; + ros::ServiceServer hand_close_grsp_srv; + ros::ServiceServer hand_open_sprd_srv; + ros::ServiceServer hand_close_sprd_srv; + ros::ServiceServer hand_fngr_pos_srv; + ros::ServiceServer hand_fngr_vel_srv; + ros::ServiceServer hand_grsp_pos_srv; + ros::ServiceServer hand_grsp_vel_srv; + ros::ServiceServer hand_sprd_pos_srv; + ros::ServiceServer hand_sprd_vel_srv; + + public: + WamNode(barrett::Wam &wam_,bool foundHand); + + ~WamNode(void) { } + + bool gravity(wam_srvs::GravityComp::Request &req,wam_srvs::GravityComp::Response &res); + bool goHome(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res); + bool holdJPos(wam_srvs::Hold::Request &req,wam_srvs::Hold::Response &res); + bool holdCPos(wam_srvs::Hold::Request &req,wam_srvs::Hold::Response &res); + bool holdOrtn(wam_srvs::Hold::Request &req,wam_srvs::Hold::Response &res); + bool jointMove(wam_srvs::JointMove::Request &req,wam_srvs::JointMove::Response &res); + bool poseMove(wam_srvs::PoseMove::Request &req,wam_srvs::PoseMove::Response &res); + bool cartMove(wam_srvs::CartPosMove::Request &req,wam_srvs::CartPosMove::Response &res); + bool ortnMove(wam_srvs::OrtnMove::Request &req,wam_srvs::OrtnMove::Response &res); + bool handOpenGrasp(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res); + bool handCloseGrasp(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res); + bool handOpenSpread(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res); + bool handCloseSpread(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res); + bool handFingerPos(wam_srvs::BHandFingerPos::Request &req,wam_srvs::BHandFingerPos::Response &res); + bool handGraspPos(wam_srvs::BHandGraspPos::Request &req,wam_srvs::BHandGraspPos::Response &res); + bool handSpreadPos(wam_srvs::BHandSpreadPos::Request &req,wam_srvs::BHandSpreadPos::Response &res); + bool handFingerVel(wam_srvs::BHandFingerVel::Request &req,wam_srvs::BHandFingerVel::Response &res); + bool handGraspVel(wam_srvs::BHandGraspVel::Request &req,wam_srvs::BHandGraspVel::Response &res); + bool handSpreadVel(wam_srvs::BHandSpreadVel::Request &req,wam_srvs::BHandSpreadVel::Response &res); + + void cartVelCB(const wam_msgs::RTCartVel::ConstPtr& msg); + void ortnVelCB(const wam_msgs::RTOrtnVel::ConstPtr& msg); + void jntVelCB(const wam_msgs::RTJointVel::ConstPtr& msg); + void jntPosCB(const wam_msgs::RTJointPos::ConstPtr& msg); + void cartPosCB(const wam_msgs::RTCartPos::ConstPtr& msg); + void publishWam(void); + void publishHand(void); + void updateRT(void); + }; + +template + WamNode::WamNode(barrett::Wam &wam_,bool foundHand): wam(wam_) + { + ros::NodeHandle n_("wam"); // WAM specific nodehandle + ros::NodeHandle nh_("bhand"); // BarrettHand specific nodehandle + + //Setting up real-time command timeouts and initial values + cart_vel_status = false; //Bool for determining cartesian velocity real-time state + ortn_vel_status = false; //Bool for determining orientation velocity real-time state + new_rt_cmd = false; //Bool for determining if a new real-time message was received + rt_msg_timeout.fromSec(0.3); //rt_status will be determined false if rt message is not received in specified time + cart_vel_mag = SPEED; //Setting default cartesian velocity magnitude to SPEED + ortn_vel_mag = SPEED; + + ROS_INFO(" \n %zu-DOF WAM", DOF); + jp_home = wam.getJointPositions(); + + if (foundHand) //Does the following only if a BarrettHand is present + { + std::cout << "Barrett Hand" << std::endl; + + //Publishing the following topics only if there is a BarrettHand present + bhand_joint_state_pub = nh_.advertise < sensor_msgs::JointState > ("joint_states", 1); // bhand/joint_states + + //Advertise the following services only if there is a BarrettHand present + hand_open_grsp_srv = nh_.advertiseService("open_grasp", &WamNode::handOpenGrasp, this); // bhand/open_grasp + hand_close_grsp_srv = nh_.advertiseService("close_grasp", &WamNode::handCloseGrasp, this); // bhand/close_grasp + hand_open_sprd_srv = nh_.advertiseService("open_spread", &WamNode::handOpenSpread, this); // bhand/open_spread + hand_close_sprd_srv = nh_.advertiseService("close_spread", &WamNode::handCloseSpread, this); // bhand/close_spread + hand_fngr_pos_srv = nh_.advertiseService("finger_pos", &WamNode::handFingerPos, this); // bhand/finger_pos + hand_grsp_pos_srv = nh_.advertiseService("grasp_pos", &WamNode::handGraspPos, this); // bhand/grasp_pos + hand_sprd_pos_srv = nh_.advertiseService("spread_pos", &WamNode::handSpreadPos, this); // bhand/spread_pos + hand_fngr_vel_srv = nh_.advertiseService("finger_vel", &WamNode::handFingerVel, this); // bhand/finger_vel + hand_grsp_vel_srv = nh_.advertiseService("grasp_vel", &WamNode::handGraspVel, this); // bhand/grasp_vel + hand_sprd_vel_srv = nh_.advertiseService("spread_vel", &WamNode::handSpreadVel, this); // bhand/spread_vel + + //Set up the BarrettHand joint state publisher + const char* bhand_jnts[] = {"inner_f1", "inner_f2", "inner_f3", "spread", "outer_f1", "outer_f2", "outer_f3"}; + std::vector < std::string > bhand_joints(bhand_jnts, bhand_jnts + 7); + bhand_joint_state.name.resize(7); + bhand_joint_state.name = bhand_joints; + bhand_joint_state.position.resize(7); + } + + wam.gravityCompensate(true); // Turning on Gravity Compenstation by Default when starting the WAM Node + + //Setting up WAM joint state publisher + const char* wam_jnts[] = {"wam_j1", "wam_j2", "wam_j3", "wam_j4", "wam_j5", "wam_j6", "wam_j7"}; + std::vector < std::string > wam_joints(wam_jnts, wam_jnts + 7); + wam_joint_state.name = wam_joints; + wam_joint_state.name.resize(DOF); + wam_joint_state.position.resize(DOF); + wam_joint_state.velocity.resize(DOF); + wam_joint_state.effort.resize(DOF); + + //Publishing the following rostopics + wam_joint_state_pub = n_.advertise < sensor_msgs::JointState > ("joint_states", 1); // wam/joint_states + wam_pose_pub = n_.advertise < geometry_msgs::PoseStamped > ("pose", 1); // wam/pose + + //Subscribing to the following rostopics +// cart_vel_sub = n_.subscribe("cart_vel_cmd", 1, &WamNode::cartVelCB, this); // wam/cart_vel_cmd +// ortn_vel_sub = n_.subscribe("ortn_vel_cmd", 1, &WamNode::ortnVelCB, this); // wam/ortn_vel_cmd +// jnt_vel_sub = n_.subscribe("jnt_vel_cmd", 1, &WamNode::jntVelCB, this); // wam/jnt_vel_cmd + jnt_pos_sub = n_.subscribe("jnt_pos_cmd", 1, &WamNode::jntPosCB, this); // wam/jnt_pos_cmd +// cart_pos_sub = n_.subscribe("cart_pos_cmd", 1, &WamNode::cartPosCB, this); // wam/cart_pos_cmd + + + //Advertising the following rosservices + gravity_srv = n_.advertiseService("gravity_comp", &WamNode::gravity, this); // wam/gravity_comp + go_home_srv = n_.advertiseService("go_home", &WamNode::goHome, this); // wam/go_home + hold_jpos_srv = n_.advertiseService("hold_joint_pos", &WamNode::holdJPos, this); // wam/hold_joint_pos + hold_cpos_srv = n_.advertiseService("hold_cart_pos", &WamNode::holdCPos, this); // wam/hold_cart_pos + hold_ortn_srv = n_.advertiseService("hold_ortn", &WamNode::holdOrtn, this); // wam/hold_ortn + joint_move_srv = n_.advertiseService("joint_move", &WamNode::jointMove, this); // wam/joint_move + pose_move_srv = n_.advertiseService("pose_move", &WamNode::poseMove, this); // wam/pose_move + cart_move_srv = n_.advertiseService("cart_move", &WamNode::cartMove, this); // wam/cart_pos_move + ortn_move_srv = n_.advertiseService("ortn_move", &WamNode::ortnMove, this); // wam/ortn_move + + } + + +// gravity_comp service callback +template + bool WamNode::gravity(wam_srvs::GravityComp::Request &req, wam_srvs::GravityComp::Response &res) + { + wam.gravityCompensate(req.gravity); + ROS_INFO("Gravity Compensation Request: %s", (req.gravity) ? "true" : "false"); + return true; + } + +// goHome Function for sending the WAM safely back to its home starting position. +template + bool WamNode::goHome(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Returning to Home Position"); +/* + if (hand != NULL) + { + hand->open(Hand::GRASP, true); + hand->close(Hand::SPREAD, true); + } +*/ + for (size_t i = 0; i < DOF; i++) + jp_cmd[i] = 0.0; + wam.moveTo(jp_cmd, true); + jp_home[3] -= 0.3; + wam.moveTo(jp_home, true); + jp_home[3] += 0.3; + wam.moveTo(jp_home, true); + + return true; + } + +//Function to hold WAM Joint Positions +template + bool WamNode::holdJPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Joint Position Hold request: %s", (req.hold) ? "true" : "false"); + + if (req.hold) + wam.moveTo(wam.getJointPositions()); + else + wam.idle(); + + return true; + } + +//Function to hold WAM end effector Cartesian Position +template + bool WamNode::holdCPos(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Cartesian Position Hold request: %s", (req.hold) ? "true" : "false"); + + if (req.hold) + wam.moveTo(wam.getToolPosition()); + else + wam.idle(); + + return true; + } + +//Function to hold WAM end effector Orientation +template + bool WamNode::holdOrtn(wam_srvs::Hold::Request &req, wam_srvs::Hold::Response &res) + { + ROS_INFO("Orientation Hold request: %s", (req.hold) ? "true" : "false"); +/* + if (req.hold) + { + orientationSetPoint.setValue(wam.getToolOrientation()); + wam.trackReferenceSignal(orientationSetPoint.output); + } + else + wam.idle(); +*/ + return true; + } + +//Function to command a joint space move to the WAM +template + bool WamNode::jointMove(wam_srvs::JointMove::Request &req, wam_srvs::JointMove::Response &res) + { + if (req.joints.size() != DOF) + { + ROS_INFO("Request Failed: %zu-DOF request received, must be %zu-DOF", req.joints.size(), DOF); + return false; + } + ROS_INFO("Moving Robot to Commanded Joint Pose"); + for (size_t i = 0; i < DOF; i++) + jp_cmd[i] = req.joints[i]; + wam.moveTo(jp_cmd, false); + + return true; + } + +//Function to command a pose move to the WAM +template + bool WamNode::poseMove(wam_srvs::PoseMove::Request &req, wam_srvs::PoseMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded Pose"); +/* + cp_cmd[0] = req.pose.position.x; + cp_cmd[1] = req.pose.position.y; + cp_cmd[2] = req.pose.position.z; + ortn_cmd.x() = req.pose.orientation.x; + ortn_cmd.y() = req.pose.orientation.y; + ortn_cmd.z() = req.pose.orientation.z; + ortn_cmd.w() = req.pose.orientation.w; + + pose_cmd = boost::make_tuple(cp_cmd, ortn_cmd); +*/ + //wam.moveTo(pose_cmd, false); //(TODO:KM Update Libbarrett API for Pose Moves) + ROS_INFO("Pose Commands for WAM not yet supported by API"); + return false; + } + +//Function to command a cartesian move to the WAM +template + bool WamNode::cartMove(wam_srvs::CartPosMove::Request &req, wam_srvs::CartPosMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded Cartesian Position"); + + for (int i = 0; i < 3; i++) + cp_cmd[i] = req.position[i]; + wam.moveTo(cp_cmd, false); + + return true; + } + +//Function to command an orientation move to the WAM +template + bool WamNode::ortnMove(wam_srvs::OrtnMove::Request &req, wam_srvs::OrtnMove::Response &res) + { + ROS_INFO("Moving Robot to Commanded End Effector Orientation"); + + ortn_cmd.x() = req.orientation[0]; + ortn_cmd.y() = req.orientation[1]; + ortn_cmd.z() = req.orientation[2]; + ortn_cmd.w() = req.orientation[3]; + + wam.moveTo(ortn_cmd, false); + return true; + } + +//Function to open the BarrettHand Grasp +template + bool WamNode::handOpenGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Opening the BarrettHand Grasp"); +// hand->open(Hand::GRASP, false); + return true; + } + +//Function to close the BarrettHand Grasp +template + bool WamNode::handCloseGrasp(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Closing the BarrettHand Grasp"); +// hand->close(Hand::GRASP, false); + return true; + } + +//Function to open the BarrettHand Spread +template + bool WamNode::handOpenSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Opening the BarrettHand Spread"); +// hand->open(Hand::SPREAD, false); + return true; + } + +//Function to close the BarrettHand Spread +template + bool WamNode::handCloseSpread(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) + { + ROS_INFO("Closing the BarrettHand Spread"); +// hand->close(Hand::SPREAD, false); + return true; + } + +//Function to control a BarrettHand Finger Position +template + bool WamNode::handFingerPos(wam_srvs::BHandFingerPos::Request &req, wam_srvs::BHandFingerPos::Response &res) + { + ROS_INFO("Moving BarrettHand to Finger Positions: %.3f, %.3f, %.3f radians", req.radians[0], req.radians[1], + req.radians[2]); +// hand->trapezoidalMove(Hand::jp_type(req.radians[0], req.radians[1], req.radians[2], 0.0), Hand::GRASP, false); + return true; + } + +//Function to control the BarrettHand Grasp Position +template + bool WamNode::handGraspPos(wam_srvs::BHandGraspPos::Request &req, wam_srvs::BHandGraspPos::Response &res) + { + ROS_INFO("Moving BarrettHand Grasp: %.3f radians", req.radians); +// hand->trapezoidalMove(Hand::jp_type(req.radians), Hand::GRASP, false); + return true; + } + +//Function to control the BarrettHand Spread Position +template + bool WamNode::handSpreadPos(wam_srvs::BHandSpreadPos::Request &req, wam_srvs::BHandSpreadPos::Response &res) + { + ROS_INFO("Moving BarrettHand Spread: %.3f radians", req.radians); +// hand->trapezoidalMove(Hand::jp_type(req.radians), Hand::SPREAD, false); + return true; + } + +//Function to control a BarrettHand Finger Velocity +template + bool WamNode::handFingerVel(wam_srvs::BHandFingerVel::Request &req, wam_srvs::BHandFingerVel::Response &res) + { + ROS_INFO("Moving BarrettHand Finger Velocities: %.3f, %.3f, %.3f m/s", req.velocity[0], req.velocity[1], + req.velocity[2]); +// hand->velocityMove(Hand::jv_type(req.velocity[0], req.velocity[1], req.velocity[2], 0.0), Hand::GRASP); + return true; + } + +//Function to control a BarrettHand Grasp Velocity +template + bool WamNode::handGraspVel(wam_srvs::BHandGraspVel::Request &req, wam_srvs::BHandGraspVel::Response &res) + { + ROS_INFO("Moving BarrettHand Grasp: %.3f m/s", req.velocity); +// hand->velocityMove(Hand::jv_type(req.velocity), Hand::GRASP); + return true; + } + +//Function to control a BarrettHand Spread Velocity +template + bool WamNode::handSpreadVel(wam_srvs::BHandSpreadVel::Request &req, wam_srvs::BHandSpreadVel::Response &res) + { + ROS_INFO("Moving BarrettHand Spread: %.3f m/s", req.velocity); + usleep(5000); +// hand->velocityMove(Hand::jv_type(req.velocity), Hand::SPREAD); + return true; + } + +//Callback function for RT Cartesian Velocity messages +template + void WamNode::cartVelCB(const wam_msgs::RTCartVel::ConstPtr& msg) + { + if (cart_vel_status) + { + for (size_t i = 0; i < 3; i++) + rt_cv_cmd[i] = msg->direction[i]; + new_rt_cmd = true; + if (msg->magnitude != 0) + cart_vel_mag = msg->magnitude; + } + last_cart_vel_msg_time = ros::Time::now(); + + } + +//Callback function for RT Orientation Velocity Messages +template + void WamNode::ortnVelCB(const wam_msgs::RTOrtnVel::ConstPtr& msg) + { + if (ortn_vel_status) + { + for (size_t i = 0; i < 3; i++) + rt_ortn_cmd[i] = msg->angular[i]; + new_rt_cmd = true; + if (msg->magnitude != 0) + ortn_vel_mag = msg->magnitude; + } + last_ortn_vel_msg_time = ros::Time::now(); + } + +//Callback function for RT Joint Velocity Messages +template + void WamNode::jntVelCB(const wam_msgs::RTJointVel::ConstPtr& msg) + { + if (msg->velocities.size() != DOF) + { + ROS_INFO("Commanded Joint Velocities != DOF of WAM"); + return; + } + if (jnt_vel_status) + { + for (size_t i = 0; i < DOF; i++) + rt_jv_cmd[i] = msg->velocities[i]; + new_rt_cmd = true; + } + last_jnt_vel_msg_time = ros::Time::now(); + } + +//Callback function for RT Joint Position Messages +template + void WamNode::jntPosCB(const wam_msgs::RTJointPos::ConstPtr& msg) + { + if (msg->joints.size() != DOF) + { + ROS_INFO("Commanded Joint Positions != DOF of WAM"); + return; + } + if (jnt_pos_status) + { + for (size_t i = 0; i < DOF; i++) + { + rt_jp_cmd[i] = msg->joints[i]; + rt_jp_rl[i] = msg->rate_limits[i]; + } + new_rt_cmd = true; + } + last_jnt_pos_msg_time = ros::Time::now(); + } + +//Callback function for RT Cartesian Position Messages +template + void WamNode::cartPosCB(const wam_msgs::RTCartPos::ConstPtr& msg) + { + if (cart_pos_status) + { + for (size_t i = 0; i < 3; i++) + { + rt_cp_cmd[i] = msg->position[i]; + rt_cp_rl[i] = msg->rate_limits[i]; + } + new_rt_cmd = true; + } + last_cart_pos_msg_time = ros::Time::now(); + } + +//Function to update the WAM publisher +template + void WamNode::publishWam(void) + { + + //Current values to be published + jp_type jp = wam.getJointPositions(); + jt_type jt = wam.getJointTorques(); + jv_type jv = wam.getJointVelocities(); + cp_type cp_pub = wam.getToolPosition(); +// Eigen::Quaterniond to_pub = wam.getToolOrientation(); + + //publishing sensor_msgs/JointState to wam/joint_states + for (size_t i = 0; i < DOF; i++) + { + wam_joint_state.position[i] = jp[i]; + wam_joint_state.velocity[i] = jv[i]; + wam_joint_state.effort[i] = jt[i]; + } + + wam_joint_state.header.stamp = ros::Time::now(); + wam_joint_state_pub.publish(wam_joint_state); + + //publishing geometry_msgs/PoseStamed to wam/pose + wam_pose.header.stamp = ros::Time::now(); +/* + wam_pose.pose.position.x = cp_pub[0]; + wam_pose.pose.position.y = cp_pub[1]; + wam_pose.pose.position.z = cp_pub[2]; + wam_pose.pose.orientation.w = to_pub.w(); + wam_pose.pose.orientation.x = to_pub.x(); + wam_pose.pose.orientation.y = to_pub.y(); + wam_pose.pose.orientation.z = to_pub.z(); +*/ + wam_pose_pub.publish(wam_pose); + } + +//Function to update the real-time control loops +template + void WamNode::publishHand() //systems::PeriodicDataLogger& logger + { + while (ros::ok()) + { +/* hand->update(); // Update the hand sensors + Hand::jp_type hi = hand->getInnerLinkPosition(); // get finger positions information + Hand::jp_type ho = hand->getOuterLinkPosition(); + for (size_t i = 0; i < 4; i++) // Save finger positions + bhand_joint_state.position[i] = hi[i]; + for (size_t j = 0; j < 3; j++) + bhand_joint_state.position[j + 4] = ho[j]; +*/ + bhand_joint_state.header.stamp = ros::Time::now(); // Set the timestamp + bhand_joint_state_pub.publish(bhand_joint_state); // Publish the BarrettHand joint states +// btsleep(1.0 / BHAND_PUBLISH_FREQ); // Sleep according to the specified publishing frequency + } + } + +//Function to update the real-time control loops +template + void WamNode::updateRT(void) //systems::PeriodicDataLogger& logger + { + //Real-Time Cartesian Velocity Control Portion + if (last_cart_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a cartesian velocity message has been published and if it is within timeout + { + if (!cart_vel_status) + { +/* + cart_dir.setValue(cp_type(0.0, 0.0, 0.0)); // zeroing the cartesian direction + current_cart_pos.setValue(wam.getToolPosition()); // Initializing the cartesian position + current_ortn.setValue(wam.getToolOrientation()); // Initializing the orientation + systems::forceConnect(ramp.output, mult_linear.input1); // connecting the ramp to multiplier + systems::forceConnect(cart_dir.output, mult_linear.input2); // connecting the direction to the multiplier + systems::forceConnect(mult_linear.output, cart_pos_sum.getInput(0)); // adding the output of the multiplier + systems::forceConnect(current_cart_pos.output, cart_pos_sum.getInput(1)); // with the starting cartesian position offset + systems::forceConnect(cart_pos_sum.output, rt_pose_cmd.getInput<0>()); // saving summed position as new commanded pose.position + systems::forceConnect(current_ortn.output, rt_pose_cmd.getInput<1>()); // saving the original orientation to the pose.orientation + ramp.setSlope(cart_vel_mag); // setting the slope to the commanded magnitude + ramp.stop(); // ramp is stopped on startup + ramp.setOutput(0.0); // ramp is re-zeroed on startup + ramp.start(); // start the ramp + wam.trackReferenceSignal(rt_pose_cmd.output); // command WAM to track the RT commanded (500 Hz) updated pose +*/ + } + else if (new_rt_cmd) + { +/* + ramp.reset(); // reset the ramp to 0 + ramp.setSlope(cart_vel_mag); + cart_dir.setValue(rt_cv_cmd); // set our cartesian direction to subscribed command + current_cart_pos.setValue(wam.tpoTpController.referenceInput.getValue()); // updating the current position to the actual low level commanded value +*/ + } + cart_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Angular Velocity Control Portion + else if (last_ortn_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a orientation velocity message has been published and if it is within timeout + { + if (!ortn_vel_status) + { +/* rpy_cmd.setValue(math::Vector<3>::type(0.0, 0.0, 0.0)); // zeroing the rpy command + current_cart_pos.setValue(wam.getToolPosition()); // Initializing the cartesian position + current_rpy_ortn.setValue(toRPY(wam.getToolOrientation())); // Initializing the orientation + + systems::forceConnect(ramp.output, mult_angular.input1); // connecting the ramp to multiplier + systems::forceConnect(rpy_cmd.output, mult_angular.input2); // connecting the rpy command to the multiplier + systems::forceConnect(mult_angular.output, ortn_cmd_sum.getInput(0)); // adding the output of the multiplier + systems::forceConnect(current_rpy_ortn.output, ortn_cmd_sum.getInput(1)); // with the starting rpy orientation offset + systems::forceConnect(ortn_cmd_sum.output, to_quat.input); + systems::forceConnect(current_cart_pos.output, rt_pose_cmd.getInput<0>()); // saving the original position to the pose.position + systems::forceConnect(to_quat.output, rt_pose_cmd.getInput<1>()); // saving the summed and converted new quaternion commmand as the pose.orientation + ramp.setSlope(ortn_vel_mag); // setting the slope to the commanded magnitude + ramp.stop(); // ramp is stopped on startup + ramp.setOutput(0.0); // ramp is re-zeroed on startup + ramp.start(); // start the ramp + wam.trackReferenceSignal(rt_pose_cmd.output); // command the WAM to track the RT commanded up to (500 Hz) cartesian velocity +*/ + } + else if (new_rt_cmd) + { +/* + ramp.reset(); // reset the ramp to 0 + ramp.setSlope(ortn_vel_mag); // updating the commanded angular velocity magnitude + rpy_cmd.setValue(rt_ortn_cmd); // set our angular rpy command to subscribed command + current_rpy_ortn.setValue(toRPY(wam.tpoToController.referenceInput.getValue())); // updating the current orientation to the actual low level commanded value +*/ + } + ortn_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Joint Velocity Control Portion + else if (last_jnt_vel_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a joint velocity message has been published and if it is within timeout + { + if (!jnt_vel_status) + { +/* + jv_type jv_start; + for (size_t i = 0; i < DOF; i++) + jv_start[i] = 0.0; + jv_track.setValue(jv_start); // zeroing the joint velocity command + wam.trackReferenceSignal(jv_track.output); // command the WAM to track the RT commanded up to (500 Hz) joint velocities +*/ + } + else if (new_rt_cmd) + { +// jv_track.setValue(rt_jv_cmd); // set our joint velocity to subscribed command + } + jnt_vel_status = true; + new_rt_cmd = false; + } + + //Real-Time Joint Position Control Portion + else if (last_jnt_pos_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a joint position message has been published and if it is within timeout + { + if (!jnt_pos_status) + { + jp_type jp_start = wam.getJointPositions(); + jp_rl.setCurVal(jp_start); // setting initial the joint position command + jp_rl.setLimit(rt_jp_rl); + wam.trackReferenceSignal(jp_rl.getLimit(jp_start)); // command the WAM to track the RT commanded up to (500 Hz) joint positions + } + else + { + if(new_rt_cmd) jp_rl.setLimit(rt_jp_rl); // set our rate limit to subscribed rate to control the rate of the moves + wam.trackReferenceSignal(jp_rl.getLimit(rt_jp_cmd)); + } + jnt_pos_status = true; + new_rt_cmd = false; + } + + //Real-Time Cartesian Position Control Portion + else if (last_cart_pos_msg_time + rt_msg_timeout > ros::Time::now()) // checking if a cartesian position message has been published and if it is within timeout + { + if (!cart_pos_status) + { +/* + cp_track.setValue(wam.getToolPosition()); + current_ortn.setValue(wam.getToolOrientation()); // Initializing the orientation + cp_rl.setLimit(rt_cp_rl); + systems::forceConnect(cp_track.output, cp_rl.input); + systems::forceConnect(cp_rl.output, rt_pose_cmd.getInput<0>()); // saving the rate limited cartesian position command to the pose.position + systems::forceConnect(current_ortn.output, rt_pose_cmd.getInput<1>()); // saving the original orientation to the pose.orientation + wam.trackReferenceSignal(rt_pose_cmd.output); //Commanding the WAM to track the real-time pose command. +*/ + } + else if (new_rt_cmd) + { +// cp_track.setValue(rt_cp_cmd); // Set our cartesian positions to subscribed command +// cp_rl.setLimit(rt_cp_rl); // Updating the rate limit to subscribed rate to control the rate of the moves + } + cart_pos_status = true; + new_rt_cmd = false; + } + + //If we fall out of 'Real-Time', hold joint positions + else if (cart_vel_status | ortn_vel_status | jnt_vel_status | jnt_pos_status | cart_pos_status) + { + wam.moveTo(wam.getJointPositions()); // Holds current joint positions upon a RT message timeout + cart_vel_status = ortn_vel_status = jnt_vel_status = jnt_pos_status = cart_pos_status = ortn_pos_status = false; + } + } + + +int main(int argc,char *argv[]) +{ + ros::init(argc,argv,"wam_node_sim"); + + barrett::Wam<7> wam; + WamNode<7> wam_node(wam,true); + + ros::Rate loop(PUBLISH_FREQ); + + while (ros::ok()) + { + ros::spinOnce(); + wam_node.publishWam(); + wam_node.updateRT(); + loop.sleep(); + } + + return 0; +}