|
| 1 | +/********************************************************************* |
| 2 | + * Software License Agreement (BSD License) |
| 3 | + * |
| 4 | + * Copyright (c) 2015, PickNik LLC |
| 5 | + * All rights reserved. |
| 6 | + * |
| 7 | + * Redistribution and use in source and binary forms, with or without |
| 8 | + * modification, are permitted provided that the following conditions |
| 9 | + * are met: |
| 10 | + * |
| 11 | + * * Redistributions of source code must retain the above copyright |
| 12 | + * notice, this list of conditions and the following disclaimer. |
| 13 | + * * Redistributions in binary form must reproduce the above |
| 14 | + * copyright notice, this list of conditions and the following |
| 15 | + * disclaimer in the documentation and/or other materials provided |
| 16 | + * with the distribution. |
| 17 | + * * Neither the name of PickNik LLC nor the names of its |
| 18 | + * contributors may be used to endorse or promote products derived |
| 19 | + * from this software without specific prior written permission. |
| 20 | + * |
| 21 | + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 22 | + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 23 | + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 24 | + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 25 | + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 26 | + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 27 | + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 28 | + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 29 | + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 30 | + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 31 | + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 32 | + * POSSIBILITY OF SUCH DAMAGE. |
| 33 | + *********************************************************************/ |
| 34 | + |
| 35 | +/* Author: Dave Coleman |
| 36 | + Desc: Helper ros_control hardware interface that loads configurations |
| 37 | +*/ |
| 38 | + |
| 39 | +#include "ur_robot_driver/ros/hardware_interface.h" |
| 40 | + |
| 41 | +namespace ur_driver |
| 42 | +{ |
| 43 | +void HardwareInterface::registerJointLimits(ros::NodeHandle& robot_hw_nh, |
| 44 | + const hardware_interface::JointHandle& joint_handle_position, |
| 45 | + const hardware_interface::JointHandle& joint_handle_velocity, |
| 46 | + std::size_t joint_id) |
| 47 | +{ |
| 48 | + // Default values |
| 49 | + joint_position_lower_limits_[joint_id] = -std::numeric_limits<double>::max(); |
| 50 | + joint_position_upper_limits_[joint_id] = std::numeric_limits<double>::max(); |
| 51 | + joint_velocity_limits_[joint_id] = std::numeric_limits<double>::max(); |
| 52 | + |
| 53 | + // Limits datastructures |
| 54 | + joint_limits_interface::JointLimits joint_limits; // Position |
| 55 | + joint_limits_interface::SoftJointLimits soft_limits; // Soft Position |
| 56 | + bool has_joint_limits = false; |
| 57 | + bool has_soft_limits = false; |
| 58 | + |
| 59 | + // Get limits from URDF |
| 60 | + if (urdf_model_ == nullptr) |
| 61 | + { |
| 62 | + ROS_WARN_STREAM("No URDF model loaded, unable to get joint limits"); |
| 63 | + return; |
| 64 | + } |
| 65 | + |
| 66 | + // Get limits from URDF |
| 67 | + urdf::JointConstSharedPtr urdf_joint = urdf_model_->getJoint(joint_names_[joint_id]); |
| 68 | + |
| 69 | + // Get main joint limits |
| 70 | + if (urdf_joint == nullptr) |
| 71 | + { |
| 72 | + ROS_ERROR_STREAM("URDF joint not found " << joint_names_[joint_id]); |
| 73 | + return; |
| 74 | + } |
| 75 | + |
| 76 | + // Get limits from URDF |
| 77 | + if (joint_limits_interface::getJointLimits(urdf_joint, joint_limits)) |
| 78 | + { |
| 79 | + has_joint_limits = true; |
| 80 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] << " has URDF position limits [" << joint_limits.min_position |
| 81 | + << ", " << joint_limits.max_position << "]"); |
| 82 | + if (joint_limits.has_velocity_limits) |
| 83 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] << " has URDF velocity limit [" << joint_limits.max_velocity |
| 84 | + << "]"); |
| 85 | + } |
| 86 | + else |
| 87 | + { |
| 88 | + if (urdf_joint->type != urdf::Joint::CONTINUOUS) |
| 89 | + ROS_WARN_STREAM("No URDF limits are configured for joint " << joint_names_[joint_id]); |
| 90 | + } |
| 91 | + |
| 92 | + // Get limits from ROS param |
| 93 | + if (joint_limits_interface::getJointLimits(joint_names_[joint_id], robot_hw_nh, joint_limits)) |
| 94 | + { |
| 95 | + has_joint_limits = true; |
| 96 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] << " has rosparam position limits [" |
| 97 | + << joint_limits.min_position << ", " << joint_limits.max_position << "]"); |
| 98 | + if (joint_limits.has_velocity_limits) |
| 99 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] << " has rosparam velocity limit [" |
| 100 | + << joint_limits.max_velocity << "]"); |
| 101 | + } // the else debug message provided internally by joint_limits_interface |
| 102 | + |
| 103 | + // Get soft limits from URDF |
| 104 | + if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits)) |
| 105 | + { |
| 106 | + has_soft_limits = true; |
| 107 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] << " has soft joint limits."); |
| 108 | + } |
| 109 | + else |
| 110 | + { |
| 111 | + ROS_DEBUG_STREAM("Joint " << joint_names_[joint_id] |
| 112 | + << " does not have soft joint " |
| 113 | + "limits"); |
| 114 | + } |
| 115 | + |
| 116 | + // Quit we we haven't found any limits in URDF or rosparam server |
| 117 | + if (!has_joint_limits) |
| 118 | + { |
| 119 | + return; |
| 120 | + } |
| 121 | + |
| 122 | + // Copy position limits if available |
| 123 | + if (joint_limits.has_position_limits) |
| 124 | + { |
| 125 | + // Slighly reduce the joint limits to prevent floating point errors |
| 126 | + joint_limits.min_position += std::numeric_limits<double>::epsilon(); |
| 127 | + joint_limits.max_position -= std::numeric_limits<double>::epsilon(); |
| 128 | + |
| 129 | + joint_position_lower_limits_[joint_id] = joint_limits.min_position; |
| 130 | + joint_position_upper_limits_[joint_id] = joint_limits.max_position; |
| 131 | + } |
| 132 | + |
| 133 | + // Copy velocity limits if available |
| 134 | + if (joint_limits.has_velocity_limits) |
| 135 | + { |
| 136 | + joint_velocity_limits_[joint_id] = joint_limits.max_velocity; |
| 137 | + } |
| 138 | + |
| 139 | + if (has_soft_limits) // Use soft limits |
| 140 | + { |
| 141 | + ROS_DEBUG_STREAM("Using soft saturation limits"); |
| 142 | + const joint_limits_interface::PositionJointSoftLimitsHandle soft_handle_position(joint_handle_position, |
| 143 | + joint_limits, soft_limits); |
| 144 | + pos_jnt_soft_interface_.registerHandle(soft_handle_position); |
| 145 | + const joint_limits_interface::VelocityJointSoftLimitsHandle soft_handle_velocity(joint_handle_velocity, |
| 146 | + joint_limits, soft_limits); |
| 147 | + vel_jnt_soft_interface_.registerHandle(soft_handle_velocity); |
| 148 | + } |
| 149 | + else // Use saturation limits |
| 150 | + { |
| 151 | + ROS_DEBUG_STREAM("Using saturation limits (not soft limits)"); |
| 152 | + |
| 153 | + const joint_limits_interface::PositionJointSaturationHandle sat_handle_position(joint_handle_position, |
| 154 | + joint_limits); |
| 155 | + pos_jnt_sat_interface_.registerHandle(sat_handle_position); |
| 156 | + |
| 157 | + const joint_limits_interface::VelocityJointSaturationHandle sat_handle_velocity(joint_handle_velocity, |
| 158 | + joint_limits); |
| 159 | + vel_jnt_sat_interface_.registerHandle(sat_handle_velocity); |
| 160 | + } |
| 161 | +} |
| 162 | + |
| 163 | +void HardwareInterface::loadURDF(ros::NodeHandle& nh, std::string param_name) |
| 164 | +{ |
| 165 | + std::string urdf_string; |
| 166 | + urdf_model_ = new urdf::Model(); |
| 167 | + |
| 168 | + // search and wait for robot_description on param server |
| 169 | + while (urdf_string.empty() && ros::ok()) |
| 170 | + { |
| 171 | + std::string search_param_name; |
| 172 | + if (nh.searchParam(param_name, search_param_name)) |
| 173 | + { |
| 174 | + ROS_INFO_STREAM("Waiting for model URDF on the ROS param server at location: " << nh.getNamespace() |
| 175 | + << search_param_name); |
| 176 | + nh.getParam(search_param_name, urdf_string); |
| 177 | + } |
| 178 | + |
| 179 | + usleep(100000); |
| 180 | + } |
| 181 | + |
| 182 | + if (!urdf_model_->initString(urdf_string)) |
| 183 | + ROS_ERROR_STREAM("Unable to load URDF model"); |
| 184 | + else |
| 185 | + ROS_DEBUG_STREAM("Received URDF from param server"); |
| 186 | +} |
| 187 | +} |
0 commit comments