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hardware_interface.cpp
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2019 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
/*!\file
*
* \author Felix Exner [email protected]
* \date 2019-04-11
*
*/
//----------------------------------------------------------------------
#include <pluginlib/class_list_macros.hpp>
#include <ur_client_library/control/trajectory_point_interface.h>
#include <ur_robot_driver/hardware_interface.h>
#include <ur_client_library/ur/tool_communication.h>
#include <ur_client_library/exceptions.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <cartesian_control_msgs/FollowCartesianTrajectoryAction.h>
#include <Eigen/Geometry>
#include <stdexcept>
using industrial_robot_status_interface::RobotMode;
using industrial_robot_status_interface::TriState;
// using namespace urcl::rtde_interface;
namespace rtde = urcl::rtde_interface;
namespace ur_driver
{
// bitset mask is applied to robot safety status bits in order to determine 'in_error' state
static const std::bitset<11>
in_error_bitset_(1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_PROTECTIVE_STOPPED) |
1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_ROBOT_EMERGENCY_STOPPED) |
1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED) |
1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_VIOLATION) |
1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_FAULT) |
1 << urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_STOPPED_DUE_TO_SAFETY));
HardwareInterface::HardwareInterface()
: joint_position_command_({ 0, 0, 0, 0, 0, 0 })
, joint_velocity_command_({ 0, 0, 0, 0, 0, 0 })
, joint_positions_{ { 0, 0, 0, 0, 0, 0 } }
, joint_velocities_{ { 0, 0, 0, 0, 0, 0 } }
, joint_efforts_{ { 0, 0, 0, 0, 0, 0 } }
, cartesian_velocity_command_({ 0, 0, 0, 0, 0, 0 })
, cartesian_pose_command_({ 0, 0, 0, 0, 0, 0 })
, standard_analog_input_{ { 0, 0 } }
, standard_analog_output_{ { 0, 0 } }
, joint_names_(6)
, safety_mode_(ur_dashboard_msgs::SafetyMode::NORMAL)
, runtime_state_(static_cast<uint32_t>(rtde::RUNTIME_STATE::STOPPED))
, position_controller_running_(false)
, velocity_controller_running_(false)
, joint_forward_controller_running_(false)
, cartesian_forward_controller_running_(false)
, twist_controller_running_(false)
, pose_controller_running_(false)
, pausing_state_(PausingState::RUNNING)
, pausing_ramp_up_increment_(0.01)
, controllers_initialized_(false)
{
}
bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw_nh)
{
joint_velocities_ = { { 0, 0, 0, 0, 0, 0 } };
joint_efforts_ = { { 0, 0, 0, 0, 0, 0 } };
std::string script_filename;
std::string wrench_frame_id;
std::string speed_scaling_id;
std::string output_recipe_filename;
std::string input_recipe_filename;
// The robot's IP address.
if (!robot_hw_nh.getParam("robot_ip", robot_ip_))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("robot_ip") << " not given.");
return false;
}
// IP that will be used for the robot controller to communicate back to the driver.
std::string reverse_ip = robot_hw_nh.param<std::string>("reverse_ip", "");
// Port that will be opened to communicate between the driver and the robot controller.
int reverse_port = robot_hw_nh.param("reverse_port", 50001);
// The driver will offer an interface to receive the program's URScript on this port.
int script_sender_port = robot_hw_nh.param("script_sender_port", 50002);
// Port that will be opened to send trajectory points from the driver to the robot
int trajectory_port = robot_hw_nh.param("trajectory_port", 50003);
// Port that will be opened to forward script commands from the driver to the robot
int script_command_port = robot_hw_nh.param("script_command_port", 50004);
// When the robot's URDF is being loaded with a prefix, we need to know it here, as well, in order
// to publish correct frame names for frames reported by the robot directly.
robot_hw_nh.param<std::string>("tf_prefix", tf_prefix_, "");
// Optional parameter to change the id of the wrench frame
robot_hw_nh.param<std::string>("wrench_frame_id", wrench_frame_id, "wrench");
// Optional parameter to change the id of the speed scaling topic
robot_hw_nh.param<std::string>("speed_scaling_id", speed_scaling_id, "speed_scaling_factor");
// Path to the urscript code that will be sent to the robot.
if (!robot_hw_nh.getParam("script_file", script_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("script_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE outputs.
if (!robot_hw_nh.getParam("output_recipe_file", output_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("output_recipe_file") << " not given.");
return false;
}
// Path to the file containing the recipe used for requesting RTDE inputs.
if (!robot_hw_nh.getParam("input_recipe_file", input_recipe_filename))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("input_recipe_file") << " not given.");
return false;
}
bool headless_mode;
// Start robot in headless mode. This does not require the 'External Control' URCap to be running
// on the robot, but this will send the URScript to the robot directly. On e-Series robots this
// requires the robot to run in 'remote-control' mode.
if (!robot_hw_nh.getParam("headless_mode", headless_mode))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("headless_mode") << " not given.");
return false;
}
// Enables non_blocking_read mode. Should only be used with combined_robot_hw. Disables error generated when read
// returns without any data, sets the read timeout to zero, and synchronises read/write operations. Enabling this when
// not used with combined_robot_hw can suppress important errors and affect real-time performance.
robot_hw_nh.param("non_blocking_read", non_blocking_read_, false);
// Specify gain for servoing to position in joint space.
// A higher gain can sharpen the trajectory.
int servoj_gain = robot_hw_nh.param("servoj_gain", 2000);
if ((servoj_gain > 2000) || (servoj_gain < 100))
{
ROS_ERROR_STREAM("servoj_gain is " << servoj_gain << ", must be in range [100, 2000]");
return false;
}
// Specify lookahead time for servoing to position in joint space.
// A longer lookahead time can smooth the trajectory.
double servoj_lookahead_time = robot_hw_nh.param("servoj_lookahead_time", 0.03);
if ((servoj_lookahead_time > 0.2) || (servoj_lookahead_time < 0.03))
{
ROS_ERROR_STREAM("servoj_lookahead_time is " << servoj_lookahead_time << ", must be in range [0.03, 0.2]");
return false;
}
// True if splines should be used as interpolation on the robot controller when forwarding trajectory, if false movej
// or movel commands are used
use_spline_interpolation_ = robot_hw_nh.param<bool>("use_spline_interpolation", "true");
// Whenever the runtime state of the "External Control" program node in the UR-program changes, a
// message gets published here. So this is equivalent to the information whether the robot accepts
// commands from ROS side.
program_state_pub_ = robot_hw_nh.advertise<std_msgs::Bool>("robot_program_running", 10, true);
tcp_transform_.header.frame_id = tf_prefix_ + "base";
tcp_transform_.child_frame_id = tf_prefix_ + "tool0_controller";
// Should the tool's RS485 interface be forwarded to the ROS machine? This is only available on
// e-Series models. Setting this parameter to TRUE requires multiple other parameters to be set,as
// well.
bool use_tool_communication = robot_hw_nh.param<bool>("use_tool_communication", "false");
std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup;
if (use_tool_communication)
{
tool_comm_setup.reset(new urcl::ToolCommSetup());
using ToolVoltageT = std::underlying_type<urcl::ToolVoltage>::type;
ToolVoltageT tool_voltage;
// Tool voltage that will be set as soon as the UR-Program on the robot is started. Note: This
// parameter is only evaluated, when the parameter "use_tool_communication" is set to TRUE.
// Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_voltage", tool_voltage))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_voltage") << " not given.");
return false;
}
tool_comm_setup->setToolVoltage(static_cast<urcl::ToolVoltage>(tool_voltage));
using ParityT = std::underlying_type<urcl::Parity>::type;
ParityT parity;
// Parity used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. Can be 0 (None), 1 (odd) and 2 (even).
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_parity", parity))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_parity") << " not given.");
return false;
}
int baud_rate;
// Baud rate used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. See UR documentation for valid baud rates.
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_baud_rate", baud_rate))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_baud_rate") << " not given.");
return false;
}
tool_comm_setup->setBaudRate(baud_rate);
int stop_bits;
// Number of stop bits used for tool communication. Will be set as soon as the UR-Program on the robot is
// started. Can be 1 or 2.
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_stop_bits", stop_bits))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_stop_bits") << " not given.");
return false;
}
tool_comm_setup->setStopBits(stop_bits);
int rx_idle_chars;
// Number of idle chars for the RX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=1.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_rx_idle_chars", rx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_rx_idle_chars") << " not given.");
return false;
}
tool_comm_setup->setRxIdleChars(rx_idle_chars);
tool_comm_setup->setParity(static_cast<urcl::Parity>(parity));
int tx_idle_chars;
// Number of idle chars for the TX unit used for tool communication. Will be set as soon as the UR-Program on the
// robot is started. Valid values: min=0.0, max=40.0
//
// Note: This parameter is only evaluated, when the parameter "use_tool_communication"
// is set to TRUE. Then, this parameter is required.
if (!robot_hw_nh.getParam("tool_tx_idle_chars", tx_idle_chars))
{
ROS_ERROR_STREAM("Required parameter " << robot_hw_nh.resolveName("tool_tx_idle_chars") << " not given.");
return false;
}
tool_comm_setup->setTxIdleChars(tx_idle_chars);
}
// Hash of the calibration reported by the robot. This is used for validating the robot
// description is using the correct calibration. If the robot's calibration doesn't match this
// hash, an error will be printed. You can use the robot as usual, however Cartesian poses of the
// endeffector might be inaccurate. See the "ur_calibration" package on help how to generate your
// own hash matching your actual robot.
std::string calibration_checksum = robot_hw_nh.param<std::string>("kinematics/hash", "");
ROS_INFO_STREAM("Initializing dashboard client");
ros::NodeHandle dashboard_nh(robot_hw_nh, "dashboard");
dashboard_client_.reset(new DashboardClientROS(dashboard_nh, robot_ip_));
ROS_INFO_STREAM("Initializing urdriver");
try
{
ur_driver_.reset(new urcl::UrDriver(
robot_ip_, script_filename, output_recipe_filename, input_recipe_filename,
std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1), headless_mode,
std::move(tool_comm_setup), (uint32_t)reverse_port, (uint32_t)script_sender_port, servoj_gain,
servoj_lookahead_time, non_blocking_read_, reverse_ip, trajectory_port, script_command_port));
}
catch (urcl::ToolCommNotAvailable& e)
{
ROS_FATAL_STREAM(e.what() << " See parameter '" << robot_hw_nh.resolveName("use_tool_communication") << "'.");
return false;
}
catch (urcl::UrException& e)
{
ROS_FATAL_STREAM(e.what() << std::endl
<< "Please note that the minimum software version required is 3.12.0 for CB3 robots and "
"5.5.1 for e-Series robots. The error above could be related to a non-supported "
"polyscope version. Please update your robot's software accordingly.");
return false;
}
URCL_LOG_INFO("Checking if calibration data matches connected robot.");
if (ur_driver_->checkCalibration(calibration_checksum))
{
ROS_INFO_STREAM("Calibration checked successfully.");
}
else
{
ROS_ERROR_STREAM("The calibration parameters of the connected robot don't match the ones from the given kinematics "
"config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use "
"the ur_calibration tool to extract the correct calibration from the robot and pass that into the "
"description. See "
"[https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] "
"for details.");
}
ur_driver_->registerTrajectoryDoneCallback(
std::bind(&HardwareInterface::passthroughTrajectoryDoneCb, this, std::placeholders::_1));
// Send arbitrary script commands to this topic. Note: On e-Series the robot has to be in
// remote-control mode.
//
// Sending scripts to this will stop program execution unless wrapped in a secondary program:
//
// sec myProgram():
// set_digital_out(0, True)
// end
command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
// Names of the joints. Usually, this is given in the controller config file.
if (!robot_hw_nh.getParam("joints", joint_names_))
{
ROS_ERROR_STREAM("Cannot find required parameter " << robot_hw_nh.resolveName("joints")
<< " on the parameter server.");
throw std::runtime_error("Cannot find required parameter "
"'controller_joint_names' on the parameter server.");
}
// Create ros_control interfaces
for (std::size_t i = 0; i < joint_positions_.size(); ++i)
{
ROS_DEBUG_STREAM("Registering handles for joint " << joint_names_[i]);
// Create joint state interface for all joints
js_interface_.registerHandle(hardware_interface::JointStateHandle(joint_names_[i], &joint_positions_[i],
&joint_velocities_[i], &joint_efforts_[i]));
// Create joint position control interface
pj_interface_.registerHandle(
hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i]));
vj_interface_.registerHandle(
hardware_interface::JointHandle(js_interface_.getHandle(joint_names_[i]), &joint_velocity_command_[i]));
spj_interface_.registerHandle(scaled_controllers::ScaledJointHandle(
js_interface_.getHandle(joint_names_[i]), &joint_position_command_[i], &speed_scaling_combined_));
svj_interface_.registerHandle(scaled_controllers::ScaledJointHandle(
js_interface_.getHandle(joint_names_[i]), &joint_velocity_command_[i], &speed_scaling_combined_));
}
speedsc_interface_.registerHandle(scaled_controllers::SpeedScalingHandle(speed_scaling_id, &speed_scaling_combined_));
fts_interface_.registerHandle(hardware_interface::ForceTorqueSensorHandle(
wrench_frame_id, tf_prefix_ + "tool0_controller", fts_measurements_.begin(), fts_measurements_.begin() + 3));
robot_status_interface_.registerHandle(industrial_robot_status_interface::IndustrialRobotStatusHandle(
"industrial_robot_status_handle", robot_status_resource_));
// Register callbacks for trajectory passthrough
jnt_traj_interface_.registerGoalCallback(
std::bind(&HardwareInterface::startJointInterpolation, this, std::placeholders::_1));
jnt_traj_interface_.registerCancelCallback(std::bind(&HardwareInterface::cancelInterpolation, this));
cart_traj_interface_.registerGoalCallback(
std::bind(&HardwareInterface::startCartesianInterpolation, this, std::placeholders::_1));
cart_traj_interface_.registerCancelCallback(std::bind(&HardwareInterface::cancelInterpolation, this));
ros_controllers_cartesian::CartesianStateHandle handle(tf_prefix_ + "base", tf_prefix_ + "tool0_controller",
&cart_pose_, &cart_twist_, &cart_accel_, &cart_jerk_);
cart_interface_.registerHandle(handle);
twist_interface_.registerHandle(ros_controllers_cartesian::TwistCommandHandle(
cart_interface_.getHandle(tf_prefix_ + "tool0_controller"), &twist_command_));
twist_interface_.getHandle(tf_prefix_ + "tool0_controller");
pose_interface_.registerHandle(ros_controllers_cartesian::PoseCommandHandle(
cart_interface_.getHandle(tf_prefix_ + "tool0_controller"), &pose_command_));
pose_interface_.getHandle(tf_prefix_ + "tool0_controller");
// Register interfaces
registerInterface(&js_interface_);
registerInterface(&spj_interface_);
registerInterface(&pj_interface_);
registerInterface(&vj_interface_);
registerInterface(&svj_interface_);
registerInterface(&speedsc_interface_);
registerInterface(&fts_interface_);
registerInterface(&robot_status_interface_);
registerInterface(&jnt_traj_interface_);
registerInterface(&cart_traj_interface_);
registerInterface(&twist_interface_);
registerInterface(&pose_interface_);
tcp_pose_pub_.reset(new realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>(root_nh, "/tf", 100));
io_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::IOStates>(robot_hw_nh, "io_states", 1));
io_pub_->msg_.digital_in_states.resize(actual_dig_in_bits_.size());
io_pub_->msg_.digital_out_states.resize(actual_dig_out_bits_.size());
io_pub_->msg_.analog_in_states.resize(standard_analog_input_.size());
io_pub_->msg_.analog_out_states.resize(standard_analog_output_.size());
for (size_t i = 0; i < actual_dig_in_bits_.size(); ++i)
{
io_pub_->msg_.digital_in_states[i].pin = i;
}
for (size_t i = 0; i < actual_dig_out_bits_.size(); ++i)
{
io_pub_->msg_.digital_out_states[i].pin = i;
}
for (size_t i = 0; i < standard_analog_input_.size(); ++i)
{
io_pub_->msg_.analog_in_states[i].pin = i;
}
for (size_t i = 0; i < standard_analog_output_.size(); ++i)
{
io_pub_->msg_.analog_out_states[i].pin = i;
}
tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));
robot_mode_pub_.reset(
new realtime_tools::RealtimePublisher<ur_dashboard_msgs::RobotMode>(robot_hw_nh, "robot_mode", 1, true));
safety_mode_pub_.reset(
new realtime_tools::RealtimePublisher<ur_dashboard_msgs::SafetyMode>(robot_hw_nh, "safety_mode", 1, true));
// Set the speed slider fraction used by the robot's execution. Values should be between 0 and 1.
// Only set this smaller than 1 if you are using the scaled controllers (as by default) or you know what you're
// doing. Using this with other controllers might lead to unexpected behaviors.
set_speed_slider_srv_ = robot_hw_nh.advertiseService("set_speed_slider", &HardwareInterface::setSpeedSlider, this);
// Service to set any of the robot's IOs
set_io_srv_ = robot_hw_nh.advertiseService("set_io", &HardwareInterface::setIO, this);
if (headless_mode)
{
// When in headless mode, this sends the URScript program to the robot for execution. Use this
// after the program has been interrupted, e.g. by a protective- or EM-stop.
resend_robot_program_srv_ =
robot_hw_nh.advertiseService("resend_robot_program", &HardwareInterface::resendRobotProgram, this);
}
// Calling this service will make the "External Control" program node on the UR-Program return.
deactivate_srv_ = robot_hw_nh.advertiseService("hand_back_control", &HardwareInterface::stopControl, this);
// Calling this service will zero the robot's ftsensor (only available for e-Series).
tare_sensor_srv_ = robot_hw_nh.advertiseService("zero_ftsensor", &HardwareInterface::zeroFTSensor, this);
// Setup the mounted payload through a ROS service
set_payload_srv_ = robot_hw_nh.advertiseService("set_payload", &HardwareInterface::setPayload, this);
// Call this to activate or deactivate using spline interpolation locally on the UR controller, when forwarding
// trajectories to the UR robot.
activate_spline_interpolation_srv_ = robot_hw_nh.advertiseService(
"activate_spline_interpolation", &HardwareInterface::activateSplineInterpolation, this);
// Calling this service will enable the tool contact functionality on the robot.
start_tool_contact_srv_ =
robot_hw_nh.advertiseService("start_tool_contact", &HardwareInterface::startToolContact, this);
// Calling this service will disable the tool contact functionality on the robot.
end_tool_contact_srv_ = robot_hw_nh.advertiseService("end_tool_contact", &HardwareInterface::endToolContact, this);
ur_driver_->startRTDECommunication();
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");
return true;
}
template <typename T>
void HardwareInterface::readData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name,
T& data)
{
if (!data_pkg->getData(var_name, data))
{
// This throwing should never happen unless misconfigured
std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
throw std::runtime_error(error_msg);
}
}
template <typename T, size_t N>
void HardwareInterface::readBitsetData(const std::unique_ptr<rtde::DataPackage>& data_pkg, const std::string& var_name,
std::bitset<N>& data)
{
if (!data_pkg->getData<T, N>(var_name, data))
{
// This throwing should never happen unless misconfigured
std::string error_msg = "Did not find '" + var_name + "' in data sent from robot. This should not happen!";
throw std::runtime_error(error_msg);
}
}
void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
{
// set defaults
robot_status_resource_.mode = RobotMode::UNKNOWN;
robot_status_resource_.e_stopped = TriState::UNKNOWN;
robot_status_resource_.drives_powered = TriState::UNKNOWN;
robot_status_resource_.motion_possible = TriState::UNKNOWN;
robot_status_resource_.in_motion = TriState::UNKNOWN;
robot_status_resource_.in_error = TriState::UNKNOWN;
robot_status_resource_.error_code = 0;
std::unique_ptr<rtde::DataPackage> data_pkg = ur_driver_->getDataPackage();
if (data_pkg)
{
packet_read_ = true;
readData(data_pkg, "actual_q", joint_positions_);
readData(data_pkg, "actual_qd", joint_velocities_);
readData(data_pkg, "target_q", target_joint_positions_);
readData(data_pkg, "target_qd", target_joint_velocities_);
readData(data_pkg, "target_speed_fraction", target_speed_fraction_);
readData(data_pkg, "speed_scaling", speed_scaling_);
readData(data_pkg, "runtime_state", runtime_state_);
readData(data_pkg, "actual_TCP_force", fts_measurements_);
readData(data_pkg, "actual_TCP_pose", tcp_pose_);
readData(data_pkg, "actual_TCP_speed", tcp_speed_);
readData(data_pkg, "target_TCP_pose", target_tcp_pose_);
readData(data_pkg, "target_TCP_speed", target_tcp_speed_);
readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
readData(data_pkg, "standard_analog_output1", standard_analog_output_[1]);
readData(data_pkg, "tool_mode", tool_mode_);
readData(data_pkg, "tool_analog_input0", tool_analog_input_[0]);
readData(data_pkg, "tool_analog_input1", tool_analog_input_[1]);
readData(data_pkg, "tool_output_voltage", tool_output_voltage_);
readData(data_pkg, "tool_output_current", tool_output_current_);
readData(data_pkg, "tool_temperature", tool_temperature_);
readData(data_pkg, "robot_mode", robot_mode_);
readData(data_pkg, "safety_mode", safety_mode_);
readBitsetData<uint32_t>(data_pkg, "robot_status_bits", robot_status_bits_);
readBitsetData<uint32_t>(data_pkg, "safety_status_bits", safety_status_bits_);
readData(data_pkg, "actual_current", joint_efforts_);
readBitsetData<uint64_t>(data_pkg, "actual_digital_input_bits", actual_dig_in_bits_);
readBitsetData<uint64_t>(data_pkg, "actual_digital_output_bits", actual_dig_out_bits_);
readBitsetData<uint32_t>(data_pkg, "analog_io_types", analog_io_types_);
readBitsetData<uint32_t>(data_pkg, "tool_analog_input_types", tool_analog_input_types_);
readData(data_pkg, "tcp_offset", tcp_offset_);
cart_pose_.position.x = tcp_pose_[0];
cart_pose_.position.y = tcp_pose_[1];
cart_pose_.position.z = tcp_pose_[2];
// UR robots operate in axis angle representation
tcp_vec_ = KDL::Vector(tcp_pose_[3], tcp_pose_[4], tcp_pose_[5]);
tcp_angle_ = tcp_vec_.Normalize();
tcp_pose_rot_ = KDL::Rotation::Rot(tcp_vec_, tcp_angle_);
tcp_pose_rot_.GetQuaternion(cart_pose_.orientation.x, cart_pose_.orientation.y, cart_pose_.orientation.z,
cart_pose_.orientation.w);
cart_twist_.linear.x = tcp_speed_[0];
cart_twist_.linear.y = tcp_speed_[1];
cart_twist_.linear.z = tcp_speed_[2];
cart_twist_.angular.x = tcp_speed_[3];
cart_twist_.angular.y = tcp_speed_[4];
cart_twist_.angular.z = tcp_speed_[5];
extractRobotStatus();
publishIOData();
publishToolData();
// Transform fts measurements to tool frame
extractToolPose(time);
transformForceTorque();
publishPose();
publishRobotAndSafetyMode();
// Action feedback for joint trajectory forwarding
if (joint_forward_controller_running_)
{
control_msgs::FollowJointTrajectoryFeedback feedback = control_msgs::FollowJointTrajectoryFeedback();
for (size_t i = 0; i < 6; i++)
{
feedback.desired.positions.push_back(target_joint_positions_[i]);
feedback.desired.velocities.push_back(target_joint_velocities_[i]);
feedback.actual.positions.push_back(joint_positions_[i]);
feedback.actual.velocities.push_back(joint_velocities_[i]);
feedback.error.positions.push_back(std::abs(joint_positions_[i] - target_joint_positions_[i]));
feedback.error.velocities.push_back(std::abs(joint_velocities_[i] - target_joint_velocities_[i]));
}
jnt_traj_interface_.setFeedback(feedback);
}
// Action feedback for cartesian trajectory forwarding
if (cartesian_forward_controller_running_)
{
cartesian_control_msgs::FollowCartesianTrajectoryFeedback feedback =
cartesian_control_msgs::FollowCartesianTrajectoryFeedback();
target_cart_pose_.position.x = target_tcp_pose_[0];
target_cart_pose_.position.y = target_tcp_pose_[1];
target_cart_pose_.position.z = target_tcp_pose_[2];
tcp_vec_ = KDL::Vector(target_tcp_pose_[3], target_tcp_pose_[4], target_tcp_pose_[5]);
tcp_angle_ = tcp_vec_.Normalize();
target_tcp_pose_rot_ = KDL::Rotation::Rot(tcp_vec_, tcp_angle_);
target_tcp_pose_rot_.GetQuaternion(target_cart_pose_.orientation.x, target_cart_pose_.orientation.y,
target_cart_pose_.orientation.z, target_cart_pose_.orientation.w);
target_cart_twist_.linear.x = target_tcp_speed_[0];
target_cart_twist_.linear.y = target_tcp_speed_[1];
target_cart_twist_.linear.z = target_tcp_speed_[2];
target_cart_twist_.angular.x = target_tcp_speed_[3];
target_cart_twist_.angular.y = target_tcp_speed_[4];
target_cart_twist_.angular.z = target_tcp_speed_[5];
error_cart_pose_.position.x = std::abs(cart_pose_.position.x - target_cart_pose_.position.x);
error_cart_pose_.position.y = std::abs(cart_pose_.position.y - target_cart_pose_.position.y);
error_cart_pose_.position.z = std::abs(cart_pose_.position.z - target_cart_pose_.position.z);
error_cart_twist_.linear.x = std::abs(cart_twist_.linear.x - target_cart_twist_.linear.x);
error_cart_twist_.linear.y = std::abs(cart_twist_.linear.y - target_cart_twist_.linear.y);
error_cart_twist_.linear.z = std::abs(cart_twist_.linear.z - target_cart_twist_.linear.z);
error_cart_twist_.angular.x = std::abs(cart_twist_.angular.x - target_cart_twist_.angular.x);
error_cart_twist_.angular.y = std::abs(cart_twist_.angular.y - target_cart_twist_.angular.y);
error_cart_twist_.angular.z = std::abs(cart_twist_.angular.z - target_cart_twist_.angular.z);
feedback.desired.pose = target_cart_pose_;
feedback.desired.twist = target_cart_twist_;
feedback.actual.pose = cart_pose_;
feedback.actual.twist = cart_twist_;
cart_traj_interface_.setFeedback(feedback);
}
// pausing state follows runtime state when pausing
if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSED))
{
pausing_state_ = PausingState::PAUSED;
}
// When the robot resumed program execution and pausing state was PAUSED, we enter RAMPUP
else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) &&
pausing_state_ == PausingState::PAUSED)
{
speed_scaling_combined_ = 0.0;
pausing_state_ = PausingState::RAMPUP;
}
if (pausing_state_ == PausingState::RAMPUP)
{
double speed_scaling_ramp = speed_scaling_combined_ + pausing_ramp_up_increment_;
speed_scaling_combined_ = std::min(speed_scaling_ramp, speed_scaling_ * target_speed_fraction_);
if (speed_scaling_ramp > speed_scaling_ * target_speed_fraction_)
{
pausing_state_ = PausingState::RUNNING;
}
}
else if (runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::RESUMING))
{
// We have to keep speed scaling on ROS side at 0 during RESUMING to prevent controllers from
// continuing to interpolate
speed_scaling_combined_ = 0.0;
}
else
{
// Normal case
speed_scaling_combined_ = speed_scaling_ * target_speed_fraction_;
}
}
else
{
// If reading from RTDE fails, this means that we lost RTDE connection (or that our connection
// is not reliable). If we ignore this, the joint_state_controller will continue to publish old
// data (e.g. if we unplug the cable from the robot). However, this also means that any
// trajectory execution will be aborted from time to time if the connection to the robot isn't
// reliable.
// TODO: This doesn't seem too bad currently, but we have to keep this in mind, when we
// implement trajectory execution strategies that require a less reliable network connection.
controller_reset_necessary_ = true;
if (!non_blocking_read_)
{
ROS_ERROR("Could not get fresh data package from robot");
}
}
}
void HardwareInterface::write(const ros::Time& time, const ros::Duration& period)
{
if ((runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PLAYING) ||
runtime_state_ == static_cast<uint32_t>(rtde::RUNTIME_STATE::PAUSING)) &&
robot_program_running_ && (!non_blocking_read_ || packet_read_))
{
if (position_controller_running_)
{
ur_driver_->writeJointCommand(joint_position_command_, urcl::comm::ControlMode::MODE_SERVOJ);
}
else if (velocity_controller_running_)
{
ur_driver_->writeJointCommand(joint_velocity_command_, urcl::comm::ControlMode::MODE_SPEEDJ);
}
else if (joint_forward_controller_running_)
{
ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);
}
else if (cartesian_forward_controller_running_)
{
ur_driver_->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP);
}
else if (twist_controller_running_)
{
cartesian_velocity_command_[0] = twist_command_.linear.x;
cartesian_velocity_command_[1] = twist_command_.linear.y;
cartesian_velocity_command_[2] = twist_command_.linear.z;
cartesian_velocity_command_[3] = twist_command_.angular.x;
cartesian_velocity_command_[4] = twist_command_.angular.y;
cartesian_velocity_command_[5] = twist_command_.angular.z;
ur_driver_->writeJointCommand(cartesian_velocity_command_, urcl::comm::ControlMode::MODE_SPEEDL);
}
else if (pose_controller_running_)
{
cartesian_pose_command_[0] = pose_command_.position.x;
cartesian_pose_command_[1] = pose_command_.position.y;
cartesian_pose_command_[2] = pose_command_.position.z;
KDL::Rotation rot = KDL::Rotation::Quaternion(pose_command_.orientation.x, pose_command_.orientation.y,
pose_command_.orientation.z, pose_command_.orientation.w);
cartesian_pose_command_[3] = rot.GetRot().x();
cartesian_pose_command_[4] = rot.GetRot().y();
cartesian_pose_command_[5] = rot.GetRot().z();
ur_driver_->writeJointCommand(cartesian_pose_command_, urcl::comm::ControlMode::MODE_POSE);
}
else
{
ur_driver_->writeKeepalive();
}
packet_read_ = false;
}
}
bool HardwareInterface::prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list)
{
bool ret_val = true;
if (controllers_initialized_ && !isRobotProgramRunning() && !start_list.empty())
{
for (auto& controller : start_list)
{
if (!controller.claimed_resources.empty())
{
ROS_ERROR_STREAM("Robot control is currently inactive. Starting controllers that claim resources is currently "
"not possible. Not starting controller '"
<< controller.name << "'");
ret_val = false;
}
}
}
controllers_initialized_ = true;
return ret_val;
}
void HardwareInterface::doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
const std::list<hardware_interface::ControllerInfo>& stop_list)
{
for (auto& controller_it : stop_list)
{
for (auto& resource_it : controller_it.claimed_resources)
{
if (checkControllerClaims(resource_it.resources))
{
if (resource_it.hardware_interface == "scaled_controllers::ScaledPositionJointInterface")
{
position_controller_running_ = false;
}
if (resource_it.hardware_interface == "hardware_interface::PositionJointInterface")
{
position_controller_running_ = false;
}
if (resource_it.hardware_interface == "scaled_controllers::ScaledVelocityJointInterface")
{
velocity_controller_running_ = false;
}
if (resource_it.hardware_interface == "hardware_interface::VelocityJointInterface")
{
velocity_controller_running_ = false;
}
if (resource_it.hardware_interface == "hardware_interface::TrajectoryInterface<control_msgs::"
"FollowJointTrajectoryGoal_<std::allocator<void> >, "
"control_msgs::FollowJointTrajectoryFeedback_<std::allocator<void> > >")
{
joint_forward_controller_running_ = false;
}
if (resource_it.hardware_interface == "hardware_interface::TrajectoryInterface<cartesian_control_msgs::"
"FollowCartesianTrajectoryGoal_<std::allocator<void> >, "
"cartesian_control_msgs::FollowCartesianTrajectoryFeedback_<std::"
"allocator<void> > >")
{
cartesian_forward_controller_running_ = false;
}
if (resource_it.hardware_interface == "ros_controllers_cartesian::TwistCommandInterface")
{
twist_controller_running_ = false;
}
if (resource_it.hardware_interface == "ros_controllers_cartesian::PoseCommandInterface")
{
pose_controller_running_ = false;
}
}
}
}
for (auto& controller_it : start_list)
{
for (auto& resource_it : controller_it.claimed_resources)
{
if (checkControllerClaims(resource_it.resources))
{
if (resource_it.hardware_interface == "scaled_controllers::ScaledPositionJointInterface")
{
position_controller_running_ = true;
}
if (resource_it.hardware_interface == "hardware_interface::PositionJointInterface")
{
position_controller_running_ = true;
}
if (resource_it.hardware_interface == "scaled_controllers::ScaledVelocityJointInterface")
{
velocity_controller_running_ = true;
}
if (resource_it.hardware_interface == "hardware_interface::VelocityJointInterface")
{
velocity_controller_running_ = true;
}
if (resource_it.hardware_interface == "hardware_interface::TrajectoryInterface<control_msgs::"
"FollowJointTrajectoryGoal_<std::allocator<void> >, "
"control_msgs::FollowJointTrajectoryFeedback_<std::allocator<void> > >")
{
joint_forward_controller_running_ = true;
}
if (resource_it.hardware_interface == "hardware_interface::TrajectoryInterface<cartesian_control_msgs::"
"FollowCartesianTrajectoryGoal_<std::allocator<void> >, "
"cartesian_control_msgs::FollowCartesianTrajectoryFeedback_<std::"
"allocator<void> > >")
{
cartesian_forward_controller_running_ = true;
}
if (resource_it.hardware_interface == "ros_controllers_cartesian::TwistCommandInterface")
{
twist_controller_running_ = true;
}
if (resource_it.hardware_interface == "ros_controllers_cartesian::PoseCommandInterface")
{
pose_controller_running_ = true;
}
}
}
}
}
uint32_t HardwareInterface::getControlFrequency() const
{
if (ur_driver_ != nullptr)
{
return ur_driver_->getControlFrequency();
}
throw std::runtime_error("ur_driver is not yet initialized");
}
void HardwareInterface::transformForceTorque()
{
KDL::Wrench ft(KDL::Vector(fts_measurements_[0], fts_measurements_[1], fts_measurements_[2]),
KDL::Vector(fts_measurements_[3], fts_measurements_[4], fts_measurements_[5]));
if (ur_driver_->getVersion().major >= 5) // e-Series
{
// Setup necessary frames
KDL::Vector vec = KDL::Vector(tcp_offset_[3], tcp_offset_[4], tcp_offset_[5]);
double angle = vec.Normalize();
KDL::Rotation rotation = KDL::Rotation::Rot(vec, angle);
KDL::Frame flange_to_tcp = KDL::Frame(rotation, KDL::Vector(tcp_offset_[0], tcp_offset_[1], tcp_offset_[2]));
vec = KDL::Vector(target_tcp_pose_[3], target_tcp_pose_[4], target_tcp_pose_[5]);
angle = vec.Normalize();
rotation = KDL::Rotation::Rot(vec, angle);
KDL::Frame base_to_tcp =
KDL::Frame(rotation, KDL::Vector(target_tcp_pose_[0], target_tcp_pose_[1], target_tcp_pose_[2]));
// Calculate transformation from base to flange, see calculation details below
// `base_to_tcp = base_to_flange*flange_to_tcp -> base_to_flange = base_to_tcp * inv(flange_to_tcp)`
KDL::Frame base_to_flange = base_to_tcp * flange_to_tcp.Inverse();
// rotate f/t sensor output back to the flange frame
ft = base_to_flange.M.Inverse() * ft;
// Transform the wrench to the tcp frame
ft = flange_to_tcp * ft;
}
else // CB3
{
KDL::Vector vec = KDL::Vector(target_tcp_pose_[3], target_tcp_pose_[4], target_tcp_pose_[5]);
double angle = vec.Normalize();
KDL::Rotation base_to_tcp_rot = KDL::Rotation::Rot(vec, angle);
// rotate f/t sensor output back to the tcp frame
ft = base_to_tcp_rot.Inverse() * ft;
}
fts_measurements_ = { ft[0], ft[1], ft[2], ft[3], ft[4], ft[5] };
}
bool HardwareInterface::isRobotProgramRunning() const
{
return robot_program_running_;
}
void HardwareInterface::handleRobotProgramState(bool program_running)
{
if (robot_program_running_ == false && program_running)
{
controller_reset_necessary_ = true;
}
robot_program_running_ = program_running;
std_msgs::Bool msg;
msg.data = robot_program_running_;
program_state_pub_.publish(msg);
}
bool HardwareInterface::shouldResetControllers()
{
if (controller_reset_necessary_)
{
controller_reset_necessary_ = false;
return true;
}
else
{
return false;
}
}
void HardwareInterface::extractToolPose(const ros::Time& timestamp)
{
double tcp_angle = std::sqrt(std::pow(tcp_pose_[3], 2) + std::pow(tcp_pose_[4], 2) + std::pow(tcp_pose_[5], 2));
tf2::Vector3 rotation_vec(tcp_pose_[3], tcp_pose_[4], tcp_pose_[5]);
tf2::Quaternion rotation;
if (tcp_angle > 1e-16)
{
rotation.setRotation(rotation_vec.normalized(), tcp_angle);
}
else
{
rotation.setValue(0.0, 0.0, 0.0, 1.0); // default Quaternion is 0,0,0,0 which is invalid
}
tcp_transform_.header.stamp = timestamp;
tcp_transform_.transform.translation.x = tcp_pose_[0];
tcp_transform_.transform.translation.y = tcp_pose_[1];
tcp_transform_.transform.translation.z = tcp_pose_[2];
tcp_transform_.transform.rotation = tf2::toMsg(rotation);
}
void HardwareInterface::publishPose()
{
if (tcp_pose_pub_)
{
if (tcp_pose_pub_->trylock())
{
tcp_pose_pub_->msg_.transforms.clear();
tcp_pose_pub_->msg_.transforms.push_back(tcp_transform_);
tcp_pose_pub_->unlockAndPublish();
}
}
}
void HardwareInterface::extractRobotStatus()
{
robot_status_resource_.mode =
robot_status_bits_[urcl::toUnderlying(rtde::UrRtdeRobotStatusBits::IS_TEACH_BUTTON_PRESSED)] ? RobotMode::MANUAL :
RobotMode::AUTO;
robot_status_resource_.e_stopped =
safety_status_bits_[urcl::toUnderlying(rtde::UrRtdeSafetyStatusBits::IS_EMERGENCY_STOPPED)] ? TriState::TRUE :
TriState::FALSE;
// Note that this is true as soon as the drives are powered,
// even if the brakes are still closed
// which is in slight contrast to the comments in the
// message definition
robot_status_resource_.drives_powered =
robot_status_bits_[urcl::toUnderlying(rtde::UrRtdeRobotStatusBits::IS_POWER_ON)] ? TriState::TRUE :
TriState::FALSE;
// I found no way to reliably get information if the robot is moving
robot_status_resource_.in_motion = TriState::UNKNOWN;
if ((safety_status_bits_ & in_error_bitset_).any())
{
robot_status_resource_.in_error = TriState::TRUE;