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Added service to set force mode through ROS #603

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Added service to set force mode through ROS #603

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7215793
Added service to set force mode through ROS
urmarp Jan 9, 2023
d1359b0
Changed setForce mode to startForceMode and endForceMode. Also made c…
urmarp Jan 30, 2023
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5 changes: 5 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@
#include <ur_msgs/SetIO.h>
#include <ur_msgs/SetSpeedSliderFraction.h>
#include <ur_msgs/SetPayload.h>
#include <ur_msgs/SetForceMode.h>

#include <cartesian_interface/cartesian_command_interface.h>
#include <cartesian_interface/cartesian_state_handle.h>
Expand Down Expand Up @@ -213,6 +214,8 @@ class HardwareInterface : public hardware_interface::RobotHW
bool zeroFTSensor(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);
void commandCallback(const std_msgs::StringConstPtr& msg);
bool setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::SetPayloadResponse& res);
bool startForceMode(ur_msgs::SetForceModeRequest& req, ur_msgs::SetForceModeResponse& res);
bool endForceMode(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res);

std::unique_ptr<urcl::UrDriver> ur_driver_;
std::unique_ptr<DashboardClientROS> dashboard_client_;
Expand All @@ -236,6 +239,8 @@ class HardwareInterface : public hardware_interface::RobotHW
ros::ServiceServer deactivate_srv_;
ros::ServiceServer tare_sensor_srv_;
ros::ServiceServer set_payload_srv_;
ros::ServiceServer start_force_mode_srv_;
ros::ServiceServer end_force_mode_srv_;

hardware_interface::JointStateInterface js_interface_;
scaled_controllers::ScaledPositionJointInterface spj_interface_;
Expand Down
54 changes: 54 additions & 0 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -448,6 +448,12 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
// Setup the mounted payload through a ROS service
set_payload_srv_ = robot_hw_nh.advertiseService("set_payload", &HardwareInterface::setPayload, this);

// Calling this service will set the robot in force mode
start_force_mode_srv_ = robot_hw_nh.advertiseService("start_force_mode", &HardwareInterface::startForceMode, this);

// Calling this service will stop the robot from being in force mode
end_force_mode_srv_ = robot_hw_nh.advertiseService("end_force_mode", &HardwareInterface::endForceMode, this);

ur_driver_->startRTDECommunication();
ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_robot_driver hardware_interface");

Expand Down Expand Up @@ -1163,6 +1169,54 @@ bool HardwareInterface::setPayload(ur_msgs::SetPayloadRequest& req, ur_msgs::Set
return true;
}

bool HardwareInterface::startForceMode(ur_msgs::SetForceModeRequest& req, ur_msgs::SetForceModeResponse& res)
{
urcl::vector6d_t task_frame;
urcl::vector6uint32_t selection_vector;
urcl::vector6d_t wrench;
urcl::vector6d_t limits;

task_frame[0] = req.task_frame.pose.position.x;
task_frame[1] = req.task_frame.pose.position.x;
task_frame[2] = req.task_frame.pose.position.x;
KDL::Rotation rot = KDL::Rotation::Quaternion(req.task_frame.pose.orientation.x, req.task_frame.pose.orientation.y,
req.task_frame.pose.orientation.z, req.task_frame.pose.orientation.w);
task_frame[3] = rot.GetRot().x();
task_frame[4] = rot.GetRot().y();
task_frame[5] = rot.GetRot().z();

selection_vector[0] = req.selection_vector_x;
selection_vector[1] = req.selection_vector_y;
selection_vector[2] = req.selection_vector_z;
selection_vector[3] = req.selection_vector_rx;
selection_vector[4] = req.selection_vector_ry;
selection_vector[5] = req.selection_vector_rz;

wrench[0] = req.wrench.wrench.force.x;
wrench[1] = req.wrench.wrench.force.y;
wrench[2] = req.wrench.wrench.force.z;
wrench[3] = req.wrench.wrench.torque.x;
wrench[4] = req.wrench.wrench.torque.y;
wrench[5] = req.wrench.wrench.torque.z;

limits[0] = req.limits.twist.linear.x;
limits[1] = req.limits.twist.linear.y;
limits[2] = req.limits.twist.linear.z;
limits[3] = req.limits.twist.angular.x;
limits[4] = req.limits.twist.angular.y;
limits[5] = req.limits.twist.angular.z;

unsigned int type = req.type;
res.success = this->ur_driver_->startForceMode(task_frame, selection_vector, wrench, type, limits);
return res.success;
}

bool HardwareInterface::endForceMode(std_srvs::TriggerRequest& req, std_srvs::TriggerResponse& res)
{
res.success = this->ur_driver_->endForceMode();
return res.success;
}

void HardwareInterface::commandCallback(const std_msgs::StringConstPtr& msg)
{
std::string str = msg->data;
Expand Down