From: Walter Fetter Lages Date: Fri, 18 May 2018 14:19:18 +0000 (-0300) Subject: Initial commit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=98cdc0d8680ed2bc5529202d9d137d849b2606ac;p=gazebo_ros_electrical.git Initial commit. --- 98cdc0d8680ed2bc5529202d9d137d849b2606ac diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c1edc29 --- /dev/null +++ b/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +#*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..2e3ee40 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gazebo_ros_electrical) + +## 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 + angles + control_toolbox + gazebo + gazebo_ros_control + hardware_interface + joint_limits_interface + pluginlib + roscpp + transmission_interface + urdf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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 +# std_msgs # Or other packages containing 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 gazebo_ros_electrical +# CATKIN_DEPENDS angles control_toolbox gazebo hardware_interface joint_limits_interface pluginlib roscpp transmission_interface urdf +# 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} + ${GAZEBO_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(${PROJECT_NAME} + src/dcmotor_robot_hw_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}_node src/gazebo_ros_electrical_node.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} +# 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_gazebo_ros_electrical.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/gazebo_ros_electrical_plugins.xml b/gazebo_ros_electrical_plugins.xml new file mode 100644 index 0000000..4c8f81c --- /dev/null +++ b/gazebo_ros_electrical_plugins.xml @@ -0,0 +1,13 @@ + + + + + A ROS/Gazebo interface for robots with electrical actuators, exporting + a joint_state_interface, a joint_voltage_interface and a + joint_current_interface and simulating a D.C. motor dynamics. + + + diff --git a/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h new file mode 100644 index 0000000..30db6de --- /dev/null +++ b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h @@ -0,0 +1,177 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * Copyright (c) 2013, The Johns Hopkins University + * Copyright (c) 2018, Walter Fetter Lages + * 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. + *********************************************************************/ + +/* + default_robot_hw_sim.cpp + Author: Dave Coleman, Jonathan Bohren + Desc: Hardware Interface for any simulated robot in Gazebo + + dcmotor_robot_hw_sim.cpp + Author: Walter Fetter Lages + Desc: Hardware Interface simulating the dynamics of a D.C. motor, + developed based on default_robot_hw_sim.h +*/ + +#ifndef _GAZEBO_ROS_ELECTRICAL_DCMOTOR_ROBOT_HW_SIM_H_ +#define _GAZEBO_ROS_ELECTRICAL_DCMOTOR_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 + +#ifndef HARDWARE_INTERFACE_JOINT_COMMAND_EXTENDED_INTERFACE_H +#define HARDWARE_INTERFACE_JOINT_COMMAND_EXTENDED_INTERFACE_H + +#include "hardware_interface/joint_command_interface.h" + +namespace twil_hardware_interfaces { + +/// \ref JointCommandInterface for commanding voltage-based joints. +class VoltageJointInterface : public hardware_interface::JointCommandInterface {}; + +} + +#endif + +namespace hardware_interface +{ +class VoltageJointInterface : public twil_hardware_interfaces::VoltageJointInterface {}; +} + +namespace gazebo_ros_electrical +{ + +class DCmotorRobotHWSim : 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, VOLTAGE}; + + // 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_; + hardware_interface::VoltageJointInterface uj_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 joint_voltage_command_; + std::vector joint_current_; + std::vector joint_resistance_; + std::vector joint_inductance_; + std::vector joint_torque_constant_; + + + 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 DCmotorRobotHWSimPtr; + +} + +#endif // #ifndef _GAZEBO_ROS_ELECTRICAL_DCMOTOR_ROBOT_HW_SIM_H_ diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..d4f576d --- /dev/null +++ b/package.xml @@ -0,0 +1,71 @@ + + + gazebo_ros_electrical + 0.0.0 + The gazebo_ros_electrical package + + + + + Walter Fetter Lages + + + + + + BSD + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + angles + control_toolbox + gazebo + gazebo_ros_control + hardware_interface + joint_limits_interface + pluginlib + roscpp + transmission_interface + urdf + angles + control_toolbox + gazebo + gazebo_ros_control + hardware_interface + joint_limits_interface + pluginlib + roscpp + transmission_interface + urdf + + + + + + + + diff --git a/src/dcmotor_robot_hw_sim.cpp b/src/dcmotor_robot_hw_sim.cpp new file mode 100644 index 0000000..cb32e9a --- /dev/null +++ b/src/dcmotor_robot_hw_sim.cpp @@ -0,0 +1,542 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * Copyright (c) 2013, The Johns Hopkins University + * Copyright (c) 2018, Walter Fetter Lages + * 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. + *********************************************************************/ + +/* + default_robot_hw_sim.cpp + Author: Dave Coleman, Jonathan Bohren + Desc: Hardware Interface for any simulated robot in Gazebo + + dcmotor_robot_hw_sim.cpp + Author: Walter Fetter Lages + Desc: Hardware Interface simulating the dynamics of a D.C. motor, + developed based on default_robot_hw_sim.cpp +*/ + + +#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 gazebo_ros_electrical +{ + + +bool DCmotorRobotHWSim::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); + + // 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_); + joint_voltage_command_.resize(n_dof_); + joint_current_.resize(n_dof_); + joint_resistance_.resize(n_dof_); + joint_inductance_.resize(n_dof_); + joint_torque_constant_.resize(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("dcmotor_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has no associated joints."); + continue; + } + else if(transmissions[j].joints_.size() > 1) + { + ROS_WARN_STREAM_NAMED("dcmotor_robot_hw_sim","Transmission " << transmissions[j].name_ + << " has more than one joint. Currently the D.C motor robot hardware simulation " + << " interface only supports one."); + continue; + } + + 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("dcmotor_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("dcmotor_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("dcmotor_robot_hw_sim", "Joint " << transmissions[j].joints_[0].name_ << + " of transmission " << transmissions[j].name_ << " specifies multiple hardware interfaces. " << + "Currently the D.C. motor robot hardware simulation interface only supports one. Using the first entry!"); + //continue; + } + + // 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; + joint_voltage_command_[j]=0.0; + joint_current_[j]=0.0; + joint_resistance_[j]=0.0; + joint_inductance_[j]=0.0; + joint_torque_constant_[j]=0.0; + + const std::string& hardware_interface = joint_interfaces.front(); + + // Debug + ROS_DEBUG_STREAM_NAMED("dcmotor_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])); + + // 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); + } + if(hardware_interface == "VoltageJointInterface") + { + // Create voltage joint interface + joint_control_methods_[j] = VOLTAGE; + joint_handle = hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[j]), + &joint_voltage_command_[j]); + uj_interface_.registerHandle(joint_handle); + } + else + { + ROS_FATAL_STREAM_NAMED("dcmotor_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("dcmotor_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); + + 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 && joint_control_methods_[j] != VOLTAGE) + { + // 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)) + { + switch (joint_control_methods_[j]) + { + case POSITION: + joint_control_methods_[j] = POSITION_PID; + break; + case VELOCITY: + joint_control_methods_[j] = VELOCITY_PID; + break; + } + } + 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 + } + } + if (joint_control_methods_[j] == VOLTAGE) + { + const ros::NodeHandle nh(model_nh,"/gazebo_ros_electrical/dcmotor/"+joint_names_[j]); + if (!nh.getParam("Ra",joint_resistance_[j])) + { + ROS_ERROR("No Ra specified for D.C motor. Namespace: %s", nh.getNamespace().c_str()); + } + if (!nh.getParam("La",joint_inductance_[j])) joint_inductance_[j]=0.0; + if (!nh.getParam("Kt",joint_torque_constant_[j])) + { + ROS_ERROR("No Kt specified for D.C motor. Namespace: %s", nh.getNamespace().c_str()); + } + } + } + + // Register interfaces + registerInterface(&js_interface_); + registerInterface(&ej_interface_); + registerInterface(&pj_interface_); + registerInterface(&vj_interface_); + registerInterface(&uj_interface_); + + // Initialize the emergency stop code. + e_stop_active_ = false; + last_e_stop_active_ = false; + + return true; +} + +void DCmotorRobotHWSim::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) + { + 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 DCmotorRobotHWSim::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_) + { + 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; + } + + case VOLTAGE: + { + const double voltage = e_stop_active_ ? 0 : joint_voltage_command_[j]; + + if(joint_inductance_[j] > 0.0) + { + joint_current_[j]+=(voltage-joint_current_[j]*joint_resistance_[j]-joint_torque_constant_[j]*joint_velocity_[j])/joint_inductance_[j]/period.toSec(); + } + else joint_current_[j]=(voltage-joint_torque_constant_[j]*joint_velocity_[j])/joint_resistance_[j]; + const double effort=joint_torque_constant_[j]*joint_current_[j]; + sim_joints_[j]->SetForce(0, effort); + break; + } + + } + } +} + +void DCmotorRobotHWSim::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 DCmotorRobotHWSim::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(gazebo_ros_electrical::DCmotorRobotHWSim, gazebo_ros_control::RobotHWSim)