feat: All feedback for socket, early ik implement

src/arm_pkg/arm_pkg/arm_node.py

@@ -19,15 +19,50 @@ import numpy as np
 import time, math, os
 from math import sin, cos, pi
 from ament_index_python.packages import get_package_share_directory
-from ikpy.chain import Chain
+# from ikpy.chain import Chain
-from ikpy.link import OriginLink, URDFLink
+# from ikpy.link import OriginLink, URDFLink
-#import pygame as pyg
+# #import pygame as pyg
-from scipy.spatial.transform import Rotation as R
+# from scipy.spatial.transform import Rotation as R
 
+import astra_arm
 
 serial_pub = None
 thread = None
 
+
+# struct for socket feedback
+class SocketFeedback:
+    def __init__(self):
+        self.bat_voltage = 0.0
+        self.voltage_12 = 0.0
+        self.voltage_5 = 0.0
+        self.voltage_3 = 0.0   
+        self.joint_angles = [0.0, 0.0, 0.0, 0.0]
+        self.joint_temps = [0.0, 0.0, 0.0, 0.0]
+        self.joint_voltages = [0.0, 0.0, 0.0, 0.0]
+        self.joint_currents = [0.0, 0.0, 0.0, 0.0]
+
+    def updateBusVoltages(self, voltages):
+        self.bat_voltage = voltages[0]
+        self.voltage_12 = voltages[1]
+        self.voltage_5 = voltages[2]
+        self.voltage_3 = voltages[3]
+
+    def updateJointVoltages(self, axis, voltage):
+        self.joint_voltages[axis] = voltage
+
+    def updateJointCurrents(self, axis, current):
+        self.joint_currents[axis] = current
+
+    def updateJointTemperatures(self, axis, temperature):
+        self.joint_temps[axis] = temperature
+
+    def updateJointAngles(self, angles):
+        self.joint_angles = angles
+
+
+arm_feedback = SocketFeedback()
+
 class SerialRelay(Node):
     def __init__(self):
         # Initialize node
@@ -55,33 +90,7 @@ class SerialRelay(Node):
 
         self.arm_feedback = SocketFeedback()
         self.digit_feedback = DigitFeedback()
-        ########
+        self.arm = astra_arm.Arm('arm11.urdf')
-        # Feedback and IK vars
-        ########
-        # Misc
-        degree = pi / 180.0
-
-        urdf_file_name = 'arm11.urdf'
-        ik_tolerance = 1e-3 #Tolerance (in meters) to determine if solution is valid
-
-        # URDF file path
-        urdf = os.path.join(get_package_share_directory('ik_pkg'), urdf_file_name)
-        # IKpy Chain        
-        arm_chain = Chain.from_urdf_file(urdf)
-        
-        # Arrays for joint states
-        # Some links in the URDF are static (non-joints), these will remain zero for IK
-        # Indexes: Ignore, Ignore, Ax_0, Ax_1, Ax2, Ax_3, Wrist, Ignore
-        zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-        current_angles = zero_angles
-        last_angles = zero_angles
-        ik_angles = zero_angles
-
-        target_position = [0.0, 0.0, 0.0] 
-        target_orientation = [] # Effector orientation desired at target position. 
-                                # Generally orientation for the effector is modified manually by the operator. 
-
-        
 
         ########
         # Interface with MCU 
@@ -144,7 +153,49 @@ class SerialRelay(Node):
         try:
             output = str(self.ser.readline(), "utf8")
             if output:
-                #self.get_logger().info(f"[MCU] {output}")
+                if output.startswith("can_relay_tovic,arm,55"):
+                    # Angle feedbacks
+                    parts = output.split(",")
+                    if len(parts) >= 7:
+                        # Extract the angles from the string
+                        angles_in = parts[3:7]
+                        # Convert the angles to floats divide by 10.0
+                        angles = [float(angle) / 10.0 for angle in angles_in]
+                        angles[0] = 0.0
+                        # Update the arm's current angles
+                        self.arm.update_angles(angles)
+                    else:
+                        self.get_logger().info("Invalid angle feedback input format")
+                elif output.startswith("can_relay_tovic,arm,54"):
+                    # Bus Voltage feedbacks
+                    parts = output.split(",")
+                    if len(parts) >= 7:
+                        # Extract the voltage from the string
+                        voltages_in = parts[3:7]
+                        # Convert the voltages to floats
+                        v_bat = float(voltages_in[0]) / 100.0
+                        v_12 = float(voltages_in[1]) / 100.0
+                        v_5 = float(voltages_in[2]) / 100.0
+                        v_3 = float(voltages_in[3]) / 100.0
+                        # Update the arm's current voltages
+                        arm_feedback.updateBusVoltages([v_bat, v_12, v_5, v_3])
+                    else:
+                        self.get_logger().info("Invalid voltage feedback input format")
+                elif output.startswith("can_relay_tovic,arm,53"):
+                    # Motor voltage/current/temperature feedback
+                    parts = output.split(",")
+                    if len(parts) >= 7:
+                        # Extract the voltage/current/temperature from the string
+                        values_in = parts[3:7]
+                        # Convert the voltages to floats
+                        for i in range(4):
+                            arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
+                            arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
+                            arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
+                    else:
+                        self.get_logger().info("Invalid motor feedback input format")
+                
+                self.get_logger().info(f"[MCU] {output}")
                 msg = String()
                 msg.data = output
                 self.debug_pub.publish(msg)
@@ -318,6 +369,19 @@ class SerialRelay(Node):
         else:
             self.get_logger().info("Invalid voltage feedback input format")
 
+    def socket_pub_callback(self):
+        # Create a SocketFeedback message and publish it
+        msg = SocketFeedback()
+        msg.bat_voltage = arm_feedback.bat_voltage
+        msg.voltage_12 = arm_feedback.voltage_12
+        msg.voltage_5 = arm_feedback.voltage_5
+        msg.voltage_3 = arm_feedback.voltage_3
+        msg.joint_angles = arm_feedback.joint_angles
+        msg.joint_temps = arm_feedback.joint_temps
+        msg.joint_voltages = arm_feedback.joint_voltages
+        msg.joint_currents = arm_feedback.joint_currents
+
+        self.socket_pub.publish(msg)
 
     def send_ik(self, msg):
         pass

src/arm_pkg/arm_pkg/astra_arm.py

@@ -17,7 +17,7 @@ def convert_angles(angles):
     return [0.0, 0.0, angles[0], angles[1], angles[2], angles[3], angles[4], 0.0]
 
 
-class arm:
+class Arm:
     def __init__(self, urdf_name):
         self.ik_tolerance = 1e-3 #Tolerance (in meters) to determine if solution is valid
         # URDF file path
@@ -43,6 +43,22 @@ class arm:
         #self.step = 0.03 # Max movement increment
 
 
+    def perform_ik(self, target_position):
+        self.target_position = target_position
+        # Update the target orientation to the current orientation
+        self.update_orientation()
+        try:
+            self.ik_angles = self.chain.inverse_kinematics(
+                target_position=self.target_position,
+                target_orientation=self.target_orientation,
+                initial_position=self.current_angles,
+                max_iterations=1000,
+                tolerance=self.ik_tolerance
+            )
+        except Exception as e:
+            print(f"IK failed: {e}")
+            return False
+    
     # Get current orientation of the end effector and update target_orientation
     def update_orientation(self):