From: Walter Fetter Lages Date: Sun, 6 May 2018 03:42:43 +0000 (-0300) Subject: Fix Gazebo plugin. X-Git-Tag: petryTCC~15 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=3f052ff561bc1db32d5d92e745fe4ba5f31de416;p=twil.git Fix Gazebo plugin. --- diff --git a/twil_description/xacro/fixed_wheel.urdf.xacro b/twil_description/xacro/fixed_wheel.urdf.xacro index ae3f7b3..ebe7afc 100644 --- a/twil_description/xacro/fixed_wheel.urdf.xacro +++ b/twil_description/xacro/fixed_wheel.urdf.xacro @@ -43,7 +43,7 @@ EffortJointInterface - EffortJointInterface + 1 diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro index 4d1321c..dc64478 100644 --- a/twil_description/xacro/twil.urdf.xacro +++ b/twil_description/xacro/twil.urdf.xacro @@ -97,14 +97,11 @@ - - + - - + twil_gazebo_ros_control/TwilRobotHWSim - - + 0.001 diff --git a/twil_gazebo_ros_control/CMakeLists.txt b/twil_gazebo_ros_control/CMakeLists.txt index 2829f2f..7d35fd6 100644 --- a/twil_gazebo_ros_control/CMakeLists.txt +++ b/twil_gazebo_ros_control/CMakeLists.txt @@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS gazebo gazebo_ros_control twil_description + control_toolbox ) ## System dependencies are found with CMake's conventions @@ -82,7 +83,7 @@ find_package(catkin REQUIRED COMPONENTS catkin_package( # INCLUDE_DIRS include # LIBRARIES twil_gazebo_ros_control - CATKIN_DEPENDS controller_manager pluginlib gazebo_ros_control twil_description + CATKIN_DEPENDS controller_manager pluginlib gazebo_ros_control twil_description control_toolbox # DEPENDS system_lib ) diff --git a/twil_gazebo_ros_control/include/twil_gazebo_ros_control/twil_robot_hw_sim.h b/twil_gazebo_ros_control/include/twil_gazebo_ros_control/twil_robot_hw_sim.h new file mode 100644 index 0000000..a9f15da --- /dev/null +++ b/twil_gazebo_ros_control/include/twil_gazebo_ros_control/twil_robot_hw_sim.h @@ -0,0 +1,145 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * Copyright (c) 2013, The Johns Hopkins University + * 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 the Open Source Robotics Foundation + * 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. + *********************************************************************/ + +/* Author: Dave Coleman, Jonathan Bohren + Desc: Hardware Interface for any simulated robot in Gazebo +*/ + +#ifndef _TWIL_GAZEBO_ROS_CONTROL___TWIL_ROBOT_HW_SIM_H_ +#define _TWIL_GAZEBO_ROS_CONTROL___TWIL_ROBOT_HW_SIM_H_ + +// ros_control +#include +#include +#include +#include +#include +#include +#include + +// Gazebo +#include +#include +#include + +// ROS +#include +#include +#include + +// gazebo_ros_control +#include + +// URDF +#include + + + +namespace twil_gazebo_ros_control +{ + +class TwilRobotHWSim : public gazebo_ros_control::RobotHWSim +{ +public: + + virtual bool initSim( + const std::string& robot_namespace, + ros::NodeHandle model_nh, + gazebo::physics::ModelPtr parent_model, + const urdf::Model *const urdf_model, + std::vector transmissions); + + virtual void readSim(ros::Time time, ros::Duration period); + + virtual void writeSim(ros::Time time, ros::Duration period); + + virtual void eStopActive(const bool active); + +protected: + // Methods used to control a joint. + enum ControlMethod {EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID}; + + // Register the limits of the joint specified by joint_name and joint_handle. The limits are + // retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also. + // Return the joint's type, lower position limit, upper position limit, and effort limit. + void registerJointLimits(const std::string& joint_name, + const hardware_interface::JointHandle& joint_handle, + const ControlMethod ctrl_method, + const ros::NodeHandle& joint_limit_nh, + const urdf::Model *const urdf_model, + int *const joint_type, double *const lower_limit, + double *const upper_limit, double *const effort_limit); + + unsigned int n_dof_; + + hardware_interface::JointStateInterface js_interface_; + hardware_interface::EffortJointInterface ej_interface_; + hardware_interface::PositionJointInterface pj_interface_; + hardware_interface::VelocityJointInterface vj_interface_; + + joint_limits_interface::EffortJointSaturationInterface ej_sat_interface_; + joint_limits_interface::EffortJointSoftLimitsInterface ej_limits_interface_; + joint_limits_interface::PositionJointSaturationInterface pj_sat_interface_; + joint_limits_interface::PositionJointSoftLimitsInterface pj_limits_interface_; + joint_limits_interface::VelocityJointSaturationInterface vj_sat_interface_; + joint_limits_interface::VelocityJointSoftLimitsInterface vj_limits_interface_; + + std::vector joint_names_; + std::vector joint_types_; + std::vector joint_lower_limits_; + std::vector joint_upper_limits_; + std::vector joint_effort_limits_; + std::vector joint_control_methods_; + std::vector pid_controllers_; + std::vector joint_position_; + std::vector joint_velocity_; + std::vector joint_effort_; + std::vector joint_effort_command_; + std::vector joint_position_command_; + std::vector last_joint_position_command_; + std::vector joint_velocity_command_; + + std::vector sim_joints_; + + // e_stop_active_ is true if the emergency stop is active. + bool e_stop_active_, last_e_stop_active_; +}; + +typedef boost::shared_ptr TwilRobotHWSimPtr; + +} + +#endif // #ifndef __GAZEBO_ROS_CONTROL_PLUGIN_DEFAULT_ROBOT_HW_SIM_H_ diff --git a/twil_gazebo_ros_control/package.xml b/twil_gazebo_ros_control/package.xml index 6f2f997..078230c 100644 --- a/twil_gazebo_ros_control/package.xml +++ b/twil_gazebo_ros_control/package.xml @@ -47,13 +47,14 @@ controller_manager pluginlib twil_description + control_toolbox controller_manager pluginlib gazebo_ros_control twil_description - + control_toolbox @@ -62,5 +63,7 @@ + + \ No newline at end of file diff --git a/twil_gazebo_ros_control/src/twil_robot_hw_sim.cpp b/twil_gazebo_ros_control/src/twil_robot_hw_sim.cpp index a21f668..0c373d8 100644 --- a/twil_gazebo_ros_control/src/twil_robot_hw_sim.cpp +++ b/twil_gazebo_ros_control/src/twil_robot_hw_sim.cpp @@ -1,105 +1,485 @@ -#include +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * Copyright (c) 2013, The Johns Hopkins University + * 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 the Open Source Robotics Foundation + * 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. + *********************************************************************/ -#include -#include +/* Author: Dave Coleman, Jonathan Bohren + Desc: Hardware Interface for any simulated robot in Gazebo +*/ -#include -#include +#include -#include -#include -#include + +namespace +{ + +double clamp(const double val, const double min_val, const double max_val) +{ + return std::min(std::max(val, min_val), max_val); +} + +} namespace twil_gazebo_ros_control { - class TwilRobotHWSim:public gazebo_ros_control::RobotHWSim - { - - unsigned int n_dof_; - hardware_interface::JointStateInterface js_interface_; - hardware_interface::EffortJointInterface ej_interface_; +bool TwilRobotHWSim::initSim( + const std::string& robot_namespace, + ros::NodeHandle model_nh, + gazebo::physics::ModelPtr parent_model, + const urdf::Model *const urdf_model, + std::vector transmissions) +{ + // getJointLimits() searches joint_limit_nh for joint limit parameters. The format of each + // parameter's name is "joint_limits/". An example is "joint_limits/axle_joint". + const ros::NodeHandle joint_limit_nh(model_nh); - std::vector joint_name_; - std::vector joint_position_; - std::vector joint_velocity_; - std::vector joint_effort_; - std::vector joint_effort_command_; + // Resize vectors to our DOF + n_dof_ = transmissions.size(); + joint_names_.resize(n_dof_); + joint_types_.resize(n_dof_); + joint_lower_limits_.resize(n_dof_); + joint_upper_limits_.resize(n_dof_); + joint_effort_limits_.resize(n_dof_); + joint_control_methods_.resize(n_dof_); + pid_controllers_.resize(n_dof_); + joint_position_.resize(n_dof_); + joint_velocity_.resize(n_dof_); + joint_effort_.resize(n_dof_); + joint_effort_command_.resize(n_dof_); + joint_position_command_.resize(n_dof_); + joint_velocity_command_.resize(n_dof_); - std::vector sim_joints_; - - public: - - TwilRobotHWSim(void):n_dof_(2),joint_name_(n_dof_),joint_position_(n_dof_), - joint_velocity_(n_dof_),joint_effort_(n_dof_),joint_effort_command_(n_dof_) + // Initialize values + for(unsigned int j=0; j < n_dof_; j++) + { + // Check that this transmission has one joint + if(transmissions[j].joints_.size() == 0) { + ROS_WARN_STREAM_NAMED("twil_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has no associated joints."); + continue; + } + else if(transmissions[j].joints_.size() > 1) + { + ROS_WARN_STREAM_NAMED("twil_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has more than one joint. Currently the twil robot hardware simulation " + << " interface only supports one."); + continue; + } - joint_name_[0]="left_wheel_joint"; - joint_name_[1]="right_wheel_joint"; + std::vector joint_interfaces = transmissions[j].joints_[0].hardware_interfaces_; + if (joint_interfaces.empty() && + !(transmissions[j].actuators_.empty()) && + !(transmissions[j].actuators_[0].hardware_interfaces_.empty())) + { + // TODO: Deprecate HW interface specification in actuators in ROS J + joint_interfaces = transmissions[j].actuators_[0].hardware_interfaces_; + ROS_WARN_STREAM_NAMED("twil_robot_hw_sim", "The element of tranmission " << + transmissions[j].name_ << " should be nested inside the element, not . " << + "The transmission will be properly loaded, but please update " << + "your robot model to remain compatible with future versions of the plugin."); + } + if (joint_interfaces.empty()) + { + ROS_WARN_STREAM_NAMED("twil_robot_hw_sim", "Joint " << transmissions[j].joints_[0].name_ << + " of transmission " << transmissions[j].name_ << " does not specify any hardware interface. " << + "Not adding it to the robot hardware simulation."); + continue; + } + else if (joint_interfaces.size() > 1) + { + ROS_WARN_STREAM_NAMED("twil_robot_hw_sim", "Joint " << transmissions[j].joints_[0].name_ << + " of transmission " << transmissions[j].name_ << " specifies multiple hardware interfaces. " << + "Currently the twil robot hardware simulation interface only supports one. Using the first entry!"); + //continue; + } - for(unsigned int j=0;j < n_dof_;j++) - { - joint_position_[j]=0.0; - joint_velocity_[j]=0.0; - joint_effort_[j]=0.0; - - joint_effort_command_[j] = 0.0; + // Add data from transmission + joint_names_[j] = transmissions[j].joints_[0].name_; + joint_position_[j] = 1.0; + joint_velocity_[j] = 0.0; + joint_effort_[j] = 1.0; // N/m for continuous joints + joint_effort_command_[j] = 0.0; + joint_position_command_[j] = 0.0; + joint_velocity_command_[j] = 0.0; - js_interface_.registerHandle(hardware_interface::JointStateHandle(joint_name_[j],&joint_position_[j], - &joint_velocity_[j],&joint_effort_[j])); + const std::string& hardware_interface = joint_interfaces.front(); - joint_effort_command_[j] = 0.0; - ej_interface_.registerHandle(hardware_interface::JointHandle(js_interface_.getHandle(joint_name_[j]), - &joint_effort_command_[j])); + // Debug + ROS_DEBUG_STREAM_NAMED("twil_robot_hw_sim","Loading joint '" << joint_names_[j] + << "' of type '" << hardware_interface << "'"); - } + // Create joint state interface for all joints + js_interface_.registerHandle(hardware_interface::JointStateHandle( + joint_names_[j], &joint_position_[j], &joint_velocity_[j], &joint_effort_[j])); - registerInterface(&js_interface_); - registerInterface(&ej_interface_); + // Decide what kind of command interface this actuator/joint has + hardware_interface::JointHandle joint_handle; + if(hardware_interface == "EffortJointInterface") + { + // Create effort joint interface + joint_control_methods_[j] = EFFORT; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_effort_command_[j]); + ej_interface_.registerHandle(joint_handle); + } + else if(hardware_interface == "PositionJointInterface") + { + // Create position joint interface + joint_control_methods_[j] = POSITION; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_position_command_[j]); + pj_interface_.registerHandle(joint_handle); + } + else if(hardware_interface == "VelocityJointInterface") + { + // Create velocity joint interface + joint_control_methods_[j] = VELOCITY; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_velocity_command_[j]); + vj_interface_.registerHandle(joint_handle); + } + else + { + ROS_FATAL_STREAM_NAMED("twil_robot_hw_sim","No matching hardware interface found for '" + << hardware_interface ); + return false; } + // Get the gazebo joint that corresponds to the robot joint. + //ROS_DEBUG_STREAM_NAMED("twil_robot_hw_sim", "Getting pointer to gazebo joint: " + // << joint_names_[j]); + gazebo::physics::JointPtr joint = parent_model->GetJoint(joint_names_[j]); + if (!joint) + { + ROS_ERROR_STREAM("This robot has a joint named \"" << joint_names_[j] + << "\" which is not in the gazebo model."); + return false; + } + sim_joints_.push_back(joint); - bool initSim(const std::string& robot_namespace, - ros::NodeHandle nh,gazebo::physics::ModelPtr model, - const urdf::Model *const urdf_model, - std::vector transmissions) + registerJointLimits(joint_names_[j], joint_handle, joint_control_methods_[j], + joint_limit_nh, urdf_model, + &joint_types_[j], &joint_lower_limits_[j], &joint_upper_limits_[j], + &joint_effort_limits_[j]); + if (joint_control_methods_[j] != EFFORT) { - for(unsigned int j=0;j < n_dof_;j++) + // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or + // joint->SetParam("vel") to control the joint. + const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" + + joint_names_[j]); + if (pid_controllers_[j].init(nh, true)) { - ROS_INFO_STREAM("Getting pointer to gazebo joint: " << joint_name_[j]); - gazebo::physics::JointPtr joint=model->GetJoint(joint_name_[j]); - if(joint) sim_joints_.push_back(joint); - else + switch (joint_control_methods_[j]) { - ROS_ERROR_STREAM("This robot has a joint named \"" << joint_name_[j] - <<"\" which is not in the gazebo model."); - return false; + case POSITION: + joint_control_methods_[j] = POSITION_PID; + break; + case VELOCITY: + joint_control_methods_[j] = VELOCITY_PID; + break; } } - return true; + else + { + // joint->SetParam("fmax") must be called if joint->SetAngle() or joint->SetParam("vel") are + // going to be called. joint->SetParam("fmax") must *not* be called if joint->SetForce() is + // going to be called. +#if GAZEBO_MAJOR_VERSION > 2 + joint->SetParam("fmax", 0, joint_effort_limits_[j]); +#else + joint->SetMaxForce(0, joint_effort_limits_[j]); +#endif + } } + } - void readSim(ros::Time time,ros::Duration period) + // Register interfaces + registerInterface(&js_interface_); + registerInterface(&ej_interface_); + registerInterface(&pj_interface_); + registerInterface(&vj_interface_); + + // Initialize the emergency stop code. + e_stop_active_ = false; + last_e_stop_active_ = false; + + return true; +} + +void TwilRobotHWSim::readSim(ros::Time time, ros::Duration period) +{ + for(unsigned int j=0; j < n_dof_; j++) + { + // Gazebo has an interesting API... + if (joint_types_[j] == urdf::Joint::PRISMATIC) { - for(unsigned int j=0; j < n_dof_;j++) - { -// joint_position_[j]+=angles::shortest_angular_distance -// (joint_position_[j],sim_joints_[j]->GetAngle(0).GetAsRadian()); - joint_position_[j]=sim_joints_[j]->GetAngle(0).Radian(); - joint_velocity_[j]=sim_joints_[j]->GetVelocity(0); -// joint_effort_[j]=sim_joints_[j]->GetForce(0); - joint_effort_[j]=joint_effort_command_[j]; - } + joint_position_[j] = sim_joints_[j]->GetAngle(0).Radian(); + } + else + { + joint_position_[j] += angles::shortest_angular_distance(joint_position_[j], + sim_joints_[j]->GetAngle(0).Radian()); } + joint_velocity_[j] = sim_joints_[j]->GetVelocity(0); + joint_effort_[j] = sim_joints_[j]->GetForce((unsigned int)(0)); + } +} - void writeSim(ros::Time time,ros::Duration period) +void TwilRobotHWSim::writeSim(ros::Time time, ros::Duration period) +{ + // If the E-stop is active, joints controlled by position commands will maintain their positions. + if (e_stop_active_) + { + if (!last_e_stop_active_) { - for(unsigned int j=0;j < n_dof_;j++) sim_joints_[j]->SetForce(0,joint_effort_command_[j]); + last_joint_position_command_ = joint_position_; + last_e_stop_active_ = true; } + joint_position_command_ = last_joint_position_command_; + } + else + { + last_e_stop_active_ = false; + } + + ej_sat_interface_.enforceLimits(period); + ej_limits_interface_.enforceLimits(period); + pj_sat_interface_.enforceLimits(period); + pj_limits_interface_.enforceLimits(period); + vj_sat_interface_.enforceLimits(period); + vj_limits_interface_.enforceLimits(period); + + for(unsigned int j=0; j < n_dof_; j++) + { + switch (joint_control_methods_[j]) + { + case EFFORT: + { + const double effort = e_stop_active_ ? 0 : joint_effort_command_[j]; + sim_joints_[j]->SetForce(0, effort); + } + break; + + case POSITION: +#if GAZEBO_MAJOR_VERSION >= 4 + sim_joints_[j]->SetPosition(0, joint_position_command_[j]); +#else + sim_joints_[j]->SetAngle(0, joint_position_command_[j]); +#endif + break; + + case POSITION_PID: + { + double error; + switch (joint_types_[j]) + { + case urdf::Joint::REVOLUTE: + angles::shortest_angular_distance_with_limits(joint_position_[j], + joint_position_command_[j], + joint_lower_limits_[j], + joint_upper_limits_[j], + error); + break; + case urdf::Joint::CONTINUOUS: + error = angles::shortest_angular_distance(joint_position_[j], + joint_position_command_[j]); + break; + default: + error = joint_position_command_[j] - joint_position_[j]; + } + + const double effort_limit = joint_effort_limits_[j]; + const double effort = clamp(pid_controllers_[j].computeCommand(error, period), + -effort_limit, effort_limit); + sim_joints_[j]->SetForce(0, effort); + } + break; + + case VELOCITY: +#if GAZEBO_MAJOR_VERSION > 2 + sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]); +#else + sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]); +#endif + break; + + case VELOCITY_PID: + double error; + if (e_stop_active_) + error = -joint_velocity_[j]; + else + error = joint_velocity_command_[j] - joint_velocity_[j]; + const double effort_limit = joint_effort_limits_[j]; + const double effort = clamp(pid_controllers_[j].computeCommand(error, period), + -effort_limit, effort_limit); + sim_joints_[j]->SetForce(0, effort); + break; + } + } +} + +void TwilRobotHWSim::eStopActive(const bool active) +{ + e_stop_active_ = active; +} + +// Register the limits of the joint specified by joint_name and joint_handle. The limits are +// retrieved from joint_limit_nh. If urdf_model is not NULL, limits are retrieved from it also. +// Return the joint's type, lower position limit, upper position limit, and effort limit. +void TwilRobotHWSim::registerJointLimits(const std::string& joint_name, + const hardware_interface::JointHandle& joint_handle, + const ControlMethod ctrl_method, + const ros::NodeHandle& joint_limit_nh, + const urdf::Model *const urdf_model, + int *const joint_type, double *const lower_limit, + double *const upper_limit, double *const effort_limit) +{ + *joint_type = urdf::Joint::UNKNOWN; + *lower_limit = -std::numeric_limits::max(); + *upper_limit = std::numeric_limits::max(); + *effort_limit = std::numeric_limits::max(); + + joint_limits_interface::JointLimits limits; + bool has_limits = false; + joint_limits_interface::SoftJointLimits soft_limits; + bool has_soft_limits = false; + + if (urdf_model != NULL) + { + const boost::shared_ptr urdf_joint = urdf_model->getJoint(joint_name); + if (urdf_joint != NULL) + { + *joint_type = urdf_joint->type; + // Get limits from the URDF file. + if (joint_limits_interface::getJointLimits(urdf_joint, limits)) + has_limits = true; + if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) + has_soft_limits = true; + } + } + // Get limits from the parameter server. + if (joint_limits_interface::getJointLimits(joint_name, joint_limit_nh, limits)) + has_limits = true; + + if (!has_limits) + return; + + if (*joint_type == urdf::Joint::UNKNOWN) + { + // Infer the joint type. + + if (limits.has_position_limits) + { + *joint_type = urdf::Joint::REVOLUTE; + } + else + { + if (limits.angle_wraparound) + *joint_type = urdf::Joint::CONTINUOUS; + else + *joint_type = urdf::Joint::PRISMATIC; + } + } + + if (limits.has_position_limits) + { + *lower_limit = limits.min_position; + *upper_limit = limits.max_position; + } + if (limits.has_effort_limits) + *effort_limit = limits.max_effort; + + if (has_soft_limits) + { + switch (ctrl_method) + { + case EFFORT: + { + const joint_limits_interface::EffortJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + ej_limits_interface_.registerHandle(limits_handle); + } + break; + case POSITION: + { + const joint_limits_interface::PositionJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + pj_limits_interface_.registerHandle(limits_handle); + } + break; + case VELOCITY: + { + const joint_limits_interface::VelocityJointSoftLimitsHandle + limits_handle(joint_handle, limits, soft_limits); + vj_limits_interface_.registerHandle(limits_handle); + } + break; + } + } + else + { + switch (ctrl_method) + { + case EFFORT: + { + const joint_limits_interface::EffortJointSaturationHandle + sat_handle(joint_handle, limits); + ej_sat_interface_.registerHandle(sat_handle); + } + break; + case POSITION: + { + const joint_limits_interface::PositionJointSaturationHandle + sat_handle(joint_handle, limits); + pj_sat_interface_.registerHandle(sat_handle); + } + break; + case VELOCITY: + { + const joint_limits_interface::VelocityJointSaturationHandle + sat_handle(joint_handle, limits); + vj_sat_interface_.registerHandle(sat_handle); + } + break; + } + } +} - }; } -PLUGINLIB_EXPORT_CLASS(twil_gazebo_ros_control::TwilRobotHWSim,gazebo_ros_control::RobotHWSim) +PLUGINLIB_EXPORT_CLASS(twil_gazebo_ros_control::TwilRobotHWSim, gazebo_ros_control::RobotHWSim) diff --git a/twil_gazebo_ros_control/twil_gazebo_ros_control_plugins.xml b/twil_gazebo_ros_control/twil_gazebo_ros_control_plugins.xml index 7d03185..5862ba2 100644 --- a/twil_gazebo_ros_control/twil_gazebo_ros_control_plugins.xml +++ b/twil_gazebo_ros_control/twil_gazebo_ros_control_plugins.xml @@ -5,7 +5,7 @@ type="twil_gazebo_ros_control::TwilRobotHWSim" base_class_type="gazebo_ros_control::RobotHWSim"> - A ROS/Gazebo interface Twil, exporting a joint_state_interface and a + A ROS/Gazebo interface for Twil, exporting a joint_state_interface and a joint_effort_interface.