-
Notifications
You must be signed in to change notification settings - Fork 335
/
Copy pathcontroller_manager.cpp
3574 lines (3301 loc) · 139 KB
/
controller_manager.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// 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.
#include "controller_manager/controller_manager.hpp"
#include <memory>
#include <set>
#include <string>
#include <utility>
#include <vector>
#include "controller_interface/controller_interface_base.hpp"
#include "controller_manager_msgs/msg/hardware_component_state.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rcl/arguments.h"
#include "rclcpp/version.h"
#include "rclcpp_lifecycle/state.hpp"
#include "controller_manager_parameters.hpp"
namespace // utility
{
static constexpr const char * kControllerInterfaceNamespace = "controller_interface";
static constexpr const char * kControllerInterfaceClassName =
"controller_interface::ControllerInterface";
static constexpr const char * kChainableControllerInterfaceClassName =
"controller_interface::ChainableControllerInterface";
// Changed services history QoS to keep all so we don't lose any client service calls
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 17
rclcpp::QoS qos_services =
rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
.reliable()
.durability_volatile();
#else
static const rmw_qos_profile_t qos_services = {
RMW_QOS_POLICY_HISTORY_KEEP_ALL,
1, // message queue depth
RMW_QOS_POLICY_RELIABILITY_RELIABLE,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
RMW_QOS_DEADLINE_DEFAULT,
RMW_QOS_LIFESPAN_DEFAULT,
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
false};
#endif
inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_lifecycle_state().id() ==
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE;
}
inline bool is_controller_inactive(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_inactive(*controller);
}
inline bool is_controller_active(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
}
inline bool is_controller_active(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_active(*controller);
}
bool controller_name_compare(const controller_manager::ControllerSpec & a, const std::string & name)
{
return a.info.name == name;
}
/// Checks if an interface belongs to a controller based on its prefix.
/**
* A State/Command interface can be provided by a controller in which case is called
* "state/reference" interface. This means that the @interface_name starts with the name of a
* controller.
*
* \param[in] interface_name to be found in the map.
* \param[in] controllers list of controllers to compare their names to interface's prefix.
* \param[out] following_controller_it iterator to the following controller that reference interface
* @interface_name belongs to.
* \return true if interface has a controller name as prefix, false otherwise.
*/
bool is_interface_a_chained_interface(
const std::string interface_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
controller_manager::ControllersListIterator & following_controller_it)
{
auto split_pos = interface_name.find_first_of('/');
if (split_pos == std::string::npos) // '/' exist in the string (should be always false)
{
RCLCPP_FATAL(
rclcpp::get_logger("ControllerManager::utils"),
"Character '/', was not find in the interface name '%s'. This should never happen. "
"Stop the controller manager immediately and restart it.",
interface_name.c_str());
throw std::runtime_error("Mismatched interface name. See the FATAL message above.");
}
auto interface_prefix = interface_name.substr(0, split_pos);
following_controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, interface_prefix));
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Deduced interface prefix '%s' - searching for the controller with the same name.",
interface_prefix.c_str());
if (following_controller_it == controllers.end())
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Required interface '%s' with prefix '%s' is not a chain interface.", interface_name.c_str(),
interface_prefix.c_str());
return false;
}
return true;
}
template <typename T>
void add_element_to_list(std::vector<T> & list, const T & element)
{
if (std::find(list.begin(), list.end(), element) == list.end())
{
// Only add to the list if it doesn't exist
list.push_back(element);
}
}
template <typename T>
void remove_element_from_list(std::vector<T> & list, const T & element)
{
auto itr = std::find(list.begin(), list.end(), element);
if (itr != list.end())
{
list.erase(itr);
}
}
void controller_chain_spec_cleanup(
std::unordered_map<std::string, controller_manager::ControllerChainSpec> & ctrl_chain_spec,
const std::string & controller)
{
const auto following_controllers = ctrl_chain_spec[controller].following_controllers;
const auto preceding_controllers = ctrl_chain_spec[controller].preceding_controllers;
for (const auto & flwg_ctrl : following_controllers)
{
remove_element_from_list(ctrl_chain_spec[flwg_ctrl].preceding_controllers, controller);
}
for (const auto & preced_ctrl : preceding_controllers)
{
remove_element_from_list(ctrl_chain_spec[preced_ctrl].following_controllers, controller);
}
ctrl_chain_spec.erase(controller);
}
// Gets the list of active controllers that use the command interface of the given controller
void get_active_controllers_using_command_interfaces_of_controller(
const std::string & controller_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
std::vector<std::string> & controllers_using_command_interfaces)
{
auto it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (it == controllers.end())
{
RCLCPP_ERROR(
rclcpp::get_logger("ControllerManager::utils"),
"Controller '%s' not found in the list of controllers.", controller_name.c_str());
return;
}
const auto cmd_itfs = it->c->command_interface_configuration().names;
for (const auto & cmd_itf : cmd_itfs)
{
for (const auto & controller : controllers)
{
const auto ctrl_cmd_itfs = controller.c->command_interface_configuration().names;
// check if the controller is active and has the command interface and make sure that it
// doesn't exist in the list already
if (
is_controller_active(controller.c) &&
std::find(ctrl_cmd_itfs.begin(), ctrl_cmd_itfs.end(), cmd_itf) != ctrl_cmd_itfs.end())
{
add_element_to_list(controllers_using_command_interfaces, controller.info.name);
}
}
}
}
} // namespace
namespace controller_manager
{
rclcpp::NodeOptions get_cm_node_options()
{
rclcpp::NodeOptions node_options;
// Required for getting types of controllers to be loaded via service call
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
// \note The versions conditioning is added here to support the source-compatibility until Humble
#if RCLCPP_VERSION_MAJOR >= 21
node_options.enable_logger_service(true);
#endif
return node_options;
}
ControllerManager::ControllerManager(
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
resource_manager_(std::make_unique<hardware_interface::ResourceManager>(
this->get_node_clock_interface(), this->get_node_logging_interface())),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options)
{
initialize_parameters();
init_controller_manager();
}
ControllerManager::ControllerManager(
std::shared_ptr<rclcpp::Executor> executor, const std::string & urdf,
bool activate_all_hw_components, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options)
{
initialize_parameters();
resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(
urdf, this->get_node_clock_interface(), this->get_node_logging_interface(),
activate_all_hw_components, params_->update_rate);
init_controller_manager();
}
ControllerManager::ControllerManager(
std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
resource_manager_(std::move(resource_manager)),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options)
{
initialize_parameters();
init_controller_manager();
}
void ControllerManager::init_controller_manager()
{
// Get parameters needed for RT "update" loop to work
if (is_resource_manager_initialized())
{
init_services();
}
else
{
robot_description_notification_timer_ = create_wall_timer(
std::chrono::seconds(1),
[&]()
{
RCLCPP_WARN(
get_logger(), "Waiting for data on 'robot_description' topic to finish initialization");
});
}
// set QoS to transient local to get messages that have already been published
// (if robot state publisher starts before controller manager)
robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
"robot_description", rclcpp::QoS(1).transient_local(),
std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
RCLCPP_INFO(
get_logger(), "Subscribing to '%s' topic for robot description.",
robot_description_subscription_->get_topic_name());
// Setup diagnostics
periodicity_stats_.Reset();
diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
diagnostics_updater_.add(
"Hardware Components Activity", this,
&ControllerManager::hardware_components_diagnostic_callback);
diagnostics_updater_.add(
"Controller Manager Activity", this,
&ControllerManager::controller_manager_diagnostic_callback);
}
void ControllerManager::initialize_parameters()
{
// Initialize parameters
try
{
cm_param_listener_ = std::make_shared<controller_manager::ParamListener>(
this->get_node_parameters_interface(), this->get_logger());
params_ = std::make_shared<controller_manager::Params>(cm_param_listener_->get_params());
update_rate_ = static_cast<unsigned int>(params_->update_rate);
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
this->get_logger(),
"Exception thrown while initializing controller manager parameters: %s \n", e.what());
throw e;
}
}
void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
{
RCLCPP_INFO(get_logger(), "Received robot description from topic.");
RCLCPP_DEBUG(
get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
robot_description_ = robot_description.data;
if (is_resource_manager_initialized())
{
RCLCPP_WARN(
get_logger(),
"ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description.");
return;
}
init_resource_manager(robot_description_);
if (is_resource_manager_initialized())
{
RCLCPP_INFO(
get_logger(),
"Resource Manager has been successfully initialized. Starting Controller Manager "
"services...");
init_services();
}
}
void ControllerManager::init_resource_manager(const std::string & robot_description)
{
if (!resource_manager_->load_and_initialize_components(robot_description, update_rate_))
{
RCLCPP_WARN(
get_logger(),
"Could not load and initialize hardware. Please check previous output for more details. "
"After you have corrected your URDF, try to publish robot description again.");
return;
}
// Get all components and if they are not defined in parameters activate them automatically
auto components_to_activate = resource_manager_->get_components_status();
using lifecycle_msgs::msg::State;
auto set_components_to_state =
[&](const std::vector<std::string> & components_to_set, rclcpp_lifecycle::State state)
{
for (const auto & component : components_to_set)
{
if (component.empty())
{
continue;
}
if (components_to_activate.find(component) == components_to_activate.end())
{
RCLCPP_WARN(
get_logger(), "Hardware component '%s' is unknown, therefore not set in '%s' state.",
component.c_str(), state.label().c_str());
}
else
{
RCLCPP_INFO(
get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
state.label().c_str());
if (
resource_manager_->set_component_state(component, state) ==
hardware_interface::return_type::ERROR)
{
throw std::runtime_error(
"Failed to set the initial state of the component : " + component + " to " +
state.label());
}
components_to_activate.erase(component);
}
}
};
if (cm_param_listener_->is_old(*params_))
{
*params_ = cm_param_listener_->get_params();
}
// not-loaded
for (const auto & component : params_->hardware_components_initial_state.not_loaded)
{
if (components_to_activate.find(component) == components_to_activate.end())
{
RCLCPP_WARN(
get_logger(),
"Hardware component '%s' is unknown, therefore cannot be exclueded from loading.",
component.c_str());
}
else
{
RCLCPP_INFO(
get_logger(), "Excluding component '%s' from loading.", component.c_str());
components_to_activate.erase(component);
}
}
// unconfigured (loaded only)
set_components_to_state(
params_->hardware_components_initial_state.unconfigured,
rclcpp_lifecycle::State(
State::PRIMARY_STATE_UNCONFIGURED, hardware_interface::lifecycle_state_names::UNCONFIGURED));
// inactive (configured)
set_components_to_state(
params_->hardware_components_initial_state.inactive,
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
if (
resource_manager_->set_component_state(component, active_state) ==
hardware_interface::return_type::ERROR)
{
throw std::runtime_error(
"Failed to set the initial state of the component : " + component + " to " +
active_state.label());
}
}
robot_description_notification_timer_->cancel();
}
void ControllerManager::init_services()
{
// TODO(anyone): Due to issues with the MutliThreadedExecutor, this control loop does not rely on
// the executor (see issue #260).
// deterministic_callback_group_ = create_callback_group(
// rclcpp::CallbackGroupType::MutuallyExclusive);
best_effort_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
using namespace std::placeholders;
list_controllers_service_ = create_service<controller_manager_msgs::srv::ListControllers>(
"~/list_controllers", std::bind(&ControllerManager::list_controllers_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
list_controller_types_service_ =
create_service<controller_manager_msgs::srv::ListControllerTypes>(
"~/list_controller_types",
std::bind(&ControllerManager::list_controller_types_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
load_controller_service_ = create_service<controller_manager_msgs::srv::LoadController>(
"~/load_controller", std::bind(&ControllerManager::load_controller_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
configure_controller_service_ = create_service<controller_manager_msgs::srv::ConfigureController>(
"~/configure_controller",
std::bind(&ControllerManager::configure_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
reload_controller_libraries_service_ =
create_service<controller_manager_msgs::srv::ReloadControllerLibraries>(
"~/reload_controller_libraries",
std::bind(&ControllerManager::reload_controller_libraries_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>(
"~/switch_controller",
std::bind(&ControllerManager::switch_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
unload_controller_service_ = create_service<controller_manager_msgs::srv::UnloadController>(
"~/unload_controller",
std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_components_service_ =
create_service<controller_manager_msgs::srv::ListHardwareComponents>(
"~/list_hardware_components",
std::bind(&ControllerManager::list_hardware_components_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_interfaces_service_ =
create_service<controller_manager_msgs::srv::ListHardwareInterfaces>(
"~/list_hardware_interfaces",
std::bind(&ControllerManager::list_hardware_interfaces_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
set_hardware_component_state_service_ =
create_service<controller_manager_msgs::srv::SetHardwareComponentState>(
"~/set_hardware_component_state",
std::bind(&ControllerManager::set_hardware_component_state_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name, const std::string & controller_type)
{
RCLCPP_INFO(get_logger(), "Loading controller '%s'", controller_name.c_str());
if (
!loader_->isClassAvailable(controller_type) &&
!chainable_loader_->isClassAvailable(controller_type))
{
RCLCPP_ERROR(
get_logger(), "Loader for controller '%s' (type '%s') not found.", controller_name.c_str(),
controller_type.c_str());
RCLCPP_INFO(get_logger(), "Available classes:");
for (const auto & available_class : loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
for (const auto & available_class : chainable_loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
return nullptr;
}
RCLCPP_DEBUG(get_logger(), "Loader for controller '%s' found.", controller_name.c_str());
controller_interface::ControllerInterfaceBaseSharedPtr controller;
try
{
if (loader_->isClassAvailable(controller_type))
{
controller = loader_->createSharedInstance(controller_type);
}
if (chainable_loader_->isClassAvailable(controller_type))
{
controller = chainable_loader_->createSharedInstance(controller_type);
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(),
"Caught exception of type : %s while loading the controller '%s' of plugin type '%s':\n%s",
typeid(e).name(), controller_name.c_str(), controller_type.c_str(), e.what());
return nullptr;
}
catch (...)
{
RCLCPP_ERROR(
get_logger(),
"Caught unknown exception while loading the controller '%s' of plugin type '%s'",
controller_name.c_str(), controller_type.c_str());
throw;
}
ControllerSpec controller_spec;
controller_spec.c = controller;
controller_spec.info.name = controller_name;
controller_spec.info.type = controller_type;
controller_spec.last_update_cycle_time = std::make_shared<rclcpp::Time>(
0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type());
controller_spec.execution_time_statistics = std::make_shared<MovingAverageStatistics>();
controller_spec.periodicity_statistics = std::make_shared<MovingAverageStatistics>();
// We have to fetch the parameters_file at the time of loading the controller, because this way we
// can load them at the creation of the LifeCycleNode and this helps in using the features such as
// read_only params, dynamic maps lists etc
// Now check if the parameters_file parameter exist
const std::string param_name = controller_name + ".params_file";
controller_spec.info.parameters_files.clear();
// get_parameter checks if parameter has been declared/set
rclcpp::Parameter params_files_parameter;
if (get_parameter(param_name, params_files_parameter))
{
if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING_ARRAY)
{
controller_spec.info.parameters_files = params_files_parameter.as_string_array();
}
else if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING)
{
controller_spec.info.parameters_files.push_back(params_files_parameter.as_string());
}
else
{
RCLCPP_ERROR(
get_logger(),
"The 'params_file' param needs to be a string or a string array for '%s', but it is of "
"type %s",
controller_name.c_str(), params_files_parameter.get_type_name().c_str());
}
}
const std::string fallback_ctrl_param = controller_name + ".fallback_controllers";
std::vector<std::string> fallback_controllers;
if (!has_parameter(fallback_ctrl_param))
{
declare_parameter(fallback_ctrl_param, rclcpp::ParameterType::PARAMETER_STRING_ARRAY);
}
if (get_parameter(fallback_ctrl_param, fallback_controllers) && !fallback_controllers.empty())
{
if (
std::find(fallback_controllers.begin(), fallback_controllers.end(), controller_name) !=
fallback_controllers.end())
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' cannot be a fallback controller for itself.",
controller_name.c_str());
return nullptr;
}
controller_spec.info.fallback_controllers_names = fallback_controllers;
}
const std::string node_options_args_param = controller_name + ".node_options_args";
std::vector<std::string> node_options_args;
if (!has_parameter(node_options_args_param))
{
declare_parameter(node_options_args_param, rclcpp::ParameterType::PARAMETER_STRING_ARRAY);
}
if (get_parameter(node_options_args_param, node_options_args) && !node_options_args.empty())
{
controller_spec.info.node_options_args = node_options_args;
}
return add_controller_impl(controller_spec);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name)
{
const std::string param_name = controller_name + ".type";
std::string controller_type;
// We cannot declare the parameters for the controllers that will be loaded in the future,
// because they are plugins and we cannot be aware of all of them.
// So when we're told to load a controller by name, we need to declare the parameter if
// we haven't done so, and then read it.
// Check if parameter has been declared
if (!has_parameter(param_name))
{
declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING);
}
if (!get_parameter(param_name, controller_type))
{
RCLCPP_ERROR(
get_logger(), "The 'type' param was not defined for '%s'.", controller_name.c_str());
return nullptr;
}
RCLCPP_INFO(
get_logger(), "Loading controller : '%s' of type '%s'", controller_name.c_str(),
controller_type.c_str());
return load_controller(controller_name, controller_type);
}
controller_interface::return_type ControllerManager::unload_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Unloading controller: '%s'", controller_name.c_str());
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
// Transfers the active controllers over, skipping the one to be removed and the active ones.
to = from;
auto found_it = std::find_if(
to.begin(), to.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == to.end())
{
// Fails if we could not remove the controllers
to.clear();
RCLCPP_ERROR(
get_logger(),
"Could not unload controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto & controller = *found_it;
if (is_controller_active(*controller.c))
{
to.clear();
RCLCPP_ERROR(
get_logger(), "Could not unload controller with name '%s' because it is still active",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
RCLCPP_DEBUG(get_logger(), "Cleanup controller");
controller_chain_spec_cleanup(controller_chain_spec_, controller_name);
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
if (is_controller_inactive(*controller.c))
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is cleaned-up before unloading!", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
try
{
const auto new_state = controller.c->get_node()->cleanup();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
RCLCPP_WARN(
get_logger(), "Failed to clean-up the controller '%s' before unloading!",
controller_name.c_str());
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(),
"Caught exception of type : %s while cleaning up the controller '%s' before unloading: %s",
typeid(e).name(), controller_name.c_str(), e.what());
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Failed to clean-up the controller '%s' before unloading",
controller_name.c_str());
}
}
executor_->remove_node(controller.c->get_node()->get_node_base_interface());
to.erase(found_it);
// Destroys the old controllers list when the realtime thread is finished with it.
RCLCPP_DEBUG(get_logger(), "Realtime switches over to new controller list");
rt_controllers_wrapper_.switch_updated_list(guard);
std::vector<ControllerSpec> & new_unused_list = rt_controllers_wrapper_.get_unused_list(guard);
RCLCPP_DEBUG(get_logger(), "Destruct controller");
new_unused_list.clear();
RCLCPP_DEBUG(get_logger(), "Destruct controller finished");
RCLCPP_DEBUG(get_logger(), "Successfully unloaded controller '%s'", controller_name.c_str());
return controller_interface::return_type::OK;
}
std::vector<ControllerSpec> ControllerManager::get_loaded_controllers() const
{
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
return rt_controllers_wrapper_.get_updated_list(guard);
}
controller_interface::return_type ControllerManager::configure_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Configuring controller: '%s'", controller_name.c_str());
const auto & controllers = get_loaded_controllers();
auto found_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == controllers.end())
{
RCLCPP_ERROR(
get_logger(),
"Could not configure controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto controller = found_it->c;
auto state = controller->get_lifecycle_state();
if (
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE ||
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be configured from '%s' state.",
controller_name.c_str(), state.label().c_str());
return controller_interface::return_type::ERROR;
}
auto new_state = controller->get_lifecycle_state();
if (state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is cleaned-up before configuring", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
try
{
new_state = controller->get_node()->cleanup();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be cleaned-up before configuring",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while cleaning-up controller '%s' before configuring",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
try
{
new_state = controller->configure();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_ERROR(
get_logger(), "After configuring, controller '%s' is in state '%s' , expected inactive.",
controller_name.c_str(), new_state.label().c_str());
return controller_interface::return_type::ERROR;
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception of type : %s while configuring controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
return controller_interface::return_type::ERROR;
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Caught unknown exception while configuring controller '%s'",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
const auto controller_update_rate = controller->get_update_rate();
const auto cm_update_rate = get_update_rate();
if (controller_update_rate > cm_update_rate)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update rate : %d Hz should be less than or equal to controller "
"manager's update rate : %d Hz!. The controller will be updated at controller_manager's "
"update rate.",
controller_name.c_str(), controller_update_rate, cm_update_rate);
}
else if (cm_update_rate % controller_update_rate != 0)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update cycles won't be triggered at a constant period : %f sec, as the "
"controller's update rate : %d Hz is not a perfect divisor of the controller manager's "
"update rate : %d Hz!.",
controller_name.c_str(), 1.0 / controller_update_rate, controller_update_rate,
cm_update_rate);
}
// CHAINABLE CONTROLLERS: get reference interfaces from chainable controllers
if (controller->is_chainable())
{
RCLCPP_DEBUG(
get_logger(),
"Controller '%s' is chainable. Interfaces are being exported to resource manager.",
controller_name.c_str());
std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces;
std::vector<hardware_interface::CommandInterface::SharedPtr> ref_interfaces;
try
{
state_interfaces = controller->export_state_interfaces();
ref_interfaces = controller->export_reference_interfaces();
if (ref_interfaces.empty() && state_interfaces.empty())
{
// TODO(destogl): Add test for this!
RCLCPP_ERROR(
get_logger(),
"Controller '%s' is chainable, but does not export any state or reference interfaces. "
"Did you override the on_export_method() correctly?",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
catch (const std::exception & e)
{
RCLCPP_FATAL(
get_logger(), "Export of the state or reference interfaces failed with following error: %s",
e.what());
return controller_interface::return_type::ERROR;
}
resource_manager_->import_controller_reference_interfaces(controller_name, ref_interfaces);
resource_manager_->import_controller_exported_state_interfaces(
controller_name, state_interfaces);
}
// let's update the list of following and preceding controllers
const auto cmd_itfs = controller->command_interface_configuration().names;
const auto state_itfs = controller->state_interface_configuration().names;
for (const auto & cmd_itf : cmd_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
if (is_interface_a_chained_interface(cmd_itf, controllers, ctrl_it))
{
add_element_to_list(
controller_chain_spec_[controller_name].following_controllers, ctrl_it->info.name);
add_element_to_list(
controller_chain_spec_[ctrl_it->info.name].preceding_controllers, controller_name);
add_element_to_list(
controller_chained_reference_interfaces_cache_[ctrl_it->info.name], controller_name);
}
}
// This is needed when we start exporting the state interfaces from the controllers
for (const auto & state_itf : state_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
if (is_interface_a_chained_interface(state_itf, controllers, ctrl_it))
{
add_element_to_list(
controller_chain_spec_[controller_name].preceding_controllers, ctrl_it->info.name);
add_element_to_list(
controller_chain_spec_[ctrl_it->info.name].following_controllers, controller_name);
add_element_to_list(
controller_chained_state_interfaces_cache_[ctrl_it->info.name], controller_name);
}
}
// Now let's reorder the controllers
// lock controllers
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
// Copy all controllers from the 'from' list to the 'to' list
to = from;
std::vector<ControllerSpec> sorted_list;
// clear the list before reordering it again
ordered_controllers_names_.clear();
for (const auto & [ctrl_name, chain_spec] : controller_chain_spec_)
{
auto it =
std::find(ordered_controllers_names_.begin(), ordered_controllers_names_.end(), ctrl_name);
if (it == ordered_controllers_names_.end())
{
update_list_with_controller_chain(ctrl_name, ordered_controllers_names_.end(), false);
}
}
std::vector<ControllerSpec> new_list;
for (const auto & ctrl : ordered_controllers_names_)
{
auto controller_it = std::find_if(
to.begin(), to.end(), std::bind(controller_name_compare, std::placeholders::_1, ctrl));
if (controller_it != to.end())
{
new_list.push_back(*controller_it);
}
}
to = new_list;
RCLCPP_DEBUG(get_logger(), "Reordered controllers list is:");
for (const auto & ctrl : to)
{
RCLCPP_DEBUG(this->get_logger(), "\t%s", ctrl.info.name.c_str());
}
// switch lists
rt_controllers_wrapper_.switch_updated_list(guard);
// clear unused list
rt_controllers_wrapper_.get_unused_list(guard).clear();
return controller_interface::return_type::OK;
}
void ControllerManager::clear_requests()
{
switch_params_.do_switch = false;
deactivate_request_.clear();
activate_request_.clear();
// Set these interfaces as unavailable when clearing requests to avoid leaving them in available
// state without the controller being in active state
for (const auto & controller_name : to_chained_mode_request_)
{