mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-02-11 09:20:40 +00:00
refactor: remove arm_hardware_controller lmao
Using premade topic based controller instead
This commit is contained in:
David Sharpe
@@ -1,120 +0,0 @@
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cmake_minimum_required(VERSION 3.16)
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project(arm_hardware_controller LANGUAGES CXX)
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find_package(ros2_control_cmake REQUIRED)
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set_compiler_options()
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export_windows_symbols()
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# find dependencies
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set(HW_IF_INCLUDE_DEPENDS
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pluginlib
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hardware_interface
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ros2_interfaces_pkg
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)
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set(REF_GEN_INCLUDE_DEPENDS
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kdl_parser
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rclcpp
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trajectory_msgs
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)
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set(CONTROLLER_INCLUDE_DEPENDS
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pluginlib
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controller_interface
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realtime_tools
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trajectory_msgs
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)
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# Specify the required version of ros2_control
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find_package(controller_manager 4.0.0)
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# Handle the case where the required version is not found
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if(NOT controller_manager_FOUND)
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message(FATAL_ERROR "ros2_control version 4.0.0 or higher is required. "
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"Are you using the correct branch of the ros2_control_demos repository?")
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endif()
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# find dependencies
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find_package(backward_ros REQUIRED)
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${HW_IF_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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foreach(Dependency IN ITEMS ${REF_GEN_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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foreach(Dependency IN ITEMS ${CONTROLLER_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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## COMPILE
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# add_executable(send_trajectory reference_generator/send_trajectory.cpp)
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# target_link_libraries(send_trajectory PUBLIC
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# ${trajectory_msgs_TARGETS}
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# kdl_parser::kdl_parser
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# rclcpp::rclcpp
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# )
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add_library(
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arm_hardware_controller
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SHARED
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hardware/arm_controller.cpp
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# controller/r6bot_controller.cpp
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)
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target_compile_features(arm_hardware_controller PUBLIC cxx_std_17)
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target_include_directories(arm_hardware_controller PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
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# $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/controller/include>
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$<INSTALL_INTERFACE:include/arm_hardware_controller>
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${ros2_interfaces_pkg_INCLUDE_DIRS} # fixes "no such file or directory" compilation error for "ros2_interfaces_pkg/msg/arm_ik.hpp"
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)
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target_link_libraries(arm_hardware_controller PUBLIC
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${trajectory_msgs_TARGETS}
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# controller_interface::controller_interface
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hardware_interface::hardware_interface
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pluginlib::pluginlib
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realtime_tools::realtime_tools
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)
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# Export hardware plugins
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pluginlib_export_plugin_description_file(hardware_interface arm_hardware_controller.xml)
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# Export controller plugins
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# pluginlib_export_plugin_description_file(controller_interface arm_hardware_controller.xml)
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# INSTALL
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install(
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DIRECTORY hardware/include/
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DESTINATION include #/arm_hardware_controller
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)
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# install(
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# DIRECTORY description/launch description/ros2_control description/urdf
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# DESTINATION share/arm_hardware_controller
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# )
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# install(
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# DIRECTORY bringup/launch bringup/config
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# DESTINATION share/arm_hardware_controller
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# )
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# install(
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# TARGETS send_trajectory
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# RUNTIME DESTINATION lib/arm_hardware_controller
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# )
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install(TARGETS arm_hardware_controller
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EXPORT export_arm_hardware_controller
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# if(BUILD_TESTING)
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# find_package(ament_cmake_pytest REQUIRED)
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# ament_add_pytest_test(example_7_urdf_xacro test/test_urdf_xacro.py)
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# ament_add_pytest_test(view_example_7_launch test/test_view_robot_launch.py)
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# ament_add_pytest_test(run_example_7_launch test/test_r6bot_controller_launch.py)
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# endif()
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## EXPORTS
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ament_export_targets(export_arm_hardware_controller HAS_LIBRARY_TARGET)
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ament_export_dependencies(${HW_IF_INCLUDE_DEPENDS} ${REF_GEN_INCLUDE_DEPENDS} ${CONTROLLER_INCLUDE_DEPENDS})
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ament_package()
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@@ -1,16 +0,0 @@
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<library path="arm_hardware_controller">
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<class name="arm_hardware_controller/ArmSystem"
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type="arm_hardware_controller::ArmSystem"
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base_class_type="hardware_interface::SystemInterface">
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<description>
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Robot hardware plugin for 6 dof robot tutorial.
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</description>
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</class>
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<!-- <class name="arm_hardware_controller/ArmController"
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type="arm_hardware_controller::ArmController"
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base_class_type="controller_interface::ControllerInterface">
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<description>
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Robot controller plugin for 6 dof robot tutorial.
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</description>
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</class> -->
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</library>
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@@ -1,122 +0,0 @@
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# Copyright 2023 ros2_control Development Team
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch.actions import RegisterEventHandler, DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"gui",
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default_value="true",
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description="Start RViz2 automatically with this launch file.",
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)
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)
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# Get URDF via xacro
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[
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FindPackageShare("ros2_control_demo_example_7"),
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"urdf",
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"r6bot.urdf.xacro",
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]
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),
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]
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)
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robot_description = {"robot_description": robot_description_content}
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robot_controllers = PathJoinSubstitution(
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[
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FindPackageShare("ros2_control_demo_example_7"),
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"config",
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"r6bot_controller.yaml",
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]
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)
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rviz_config_file = PathJoinSubstitution(
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[FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"]
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)
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_controllers],
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output="both",
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)
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description],
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)
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gui = LaunchConfiguration("gui")
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rviz_node = Node(
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package="rviz2",
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executable="rviz2",
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name="rviz2",
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output="log",
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arguments=["-d", rviz_config_file],
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condition=IfCondition(gui),
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)
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster"],
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)
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robot_controller_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["r6bot_controller", "--param-file", robot_controllers],
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)
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# Delay rviz start after `joint_state_broadcaster`
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delay_rviz_after_joint_state_broadcaster_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[rviz_node],
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)
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)
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# Delay start of joint_state_broadcaster after `robot_controller`
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# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
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delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=robot_controller_spawner,
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on_exit=[joint_state_broadcaster_spawner],
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)
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)
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nodes = [
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control_node,
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robot_state_pub_node,
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robot_controller_spawner,
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delay_rviz_after_joint_state_broadcaster_spawner,
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delay_joint_state_broadcaster_after_robot_controller_spawner,
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]
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return LaunchDescription(declared_arguments + nodes)
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@@ -1,91 +0,0 @@
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// Copyright 2023 ros2_control Development Team
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
|
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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// See the License for the specific language governing permissions and
|
|
||||||
// limitations under the License.
|
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|
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#include "arm_hardware_controller/arm_controller.hpp"
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#include <string>
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#include <vector>
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#include <iostream>
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namespace astra_arm
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{
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CallbackReturn ArmSystem::on_init(const hardware_interface::HardwareInfo & info)
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{
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if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
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{
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return CallbackReturn::ERROR;
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}
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return hardware_interface::CallbackReturn::SUCCESS;
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}
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CallbackReturn ArmSystem::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
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{
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// reset values always when configuring hardware
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for (const auto & [name, descr] : joint_state_interfaces_)
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{
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set_state(name, 0.0);
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}
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for (const auto & [name, descr] : joint_command_interfaces_)
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{
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set_command(name, 0.0);
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}
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for (const auto & [name, descr] : sensor_state_interfaces_)
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{
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set_state(name, 0.0);
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}
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return CallbackReturn::SUCCESS;
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}
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return_type ArmSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period)
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{
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// TODO(pac48) set sensor_states_ values from subscriber
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for (std::size_t i = 0; i < info_.joints.size(); i++)
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{
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const auto name_vel = info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY;
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const auto name_pos = info_.joints[i].name + "/" + hardware_interface::HW_IF_POSITION;
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set_state(name_vel, get_command(name_vel));
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set_state(name_pos, get_state(name_pos) + get_state(name_vel) * period.seconds());
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}
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return return_type::OK;
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}
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|
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return_type ArmSystem::write(const rclcpp::Time &, const rclcpp::Duration &)
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{
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return return_type::OK;
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}
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|
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void ArmSystem::state_sub_callback(
|
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const sensor_msgs::msg::JointState::SharedPtr msg)
|
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{
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for (std::size_t i = 0; i < msg->name.size(); i++)
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{
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if (joint_state_interfaces_.find(msg->name[i]) != joint_state_interfaces_.end())
|
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{
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set_state(msg->name[i] + "/" + hardware_interface::HW_IF_POSITION, msg->position[i]);
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if (!msg->position.empty())
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set_state(msg->name[i] + "/" + hardware_interface::HW_IF_VELOCITY, msg->velocity[i]);
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}
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}
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last_state_time_ = std::chrono::steady_clock::now();
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||||||
}
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|
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} // namespace astra_arm
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#include "pluginlib/class_list_macros.hpp"
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|
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PLUGINLIB_EXPORT_CLASS(
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astra_arm::ArmSystem, hardware_interface::SystemInterface)
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@@ -1,60 +0,0 @@
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// Copyright 2023 ros2_control Development Team
|
|
||||||
//
|
|
||||||
// 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.
|
|
||||||
|
|
||||||
#ifndef ASTRA_ARM__HARDWARE_HPP_
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||||||
#define ASTRA_ARM__HARDWARE_HPP_
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||||||
|
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#include "string"
|
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#include "unordered_map"
|
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#include "vector"
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||||||
|
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#include "hardware_interface/handle.hpp"
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#include "hardware_interface/hardware_info.hpp"
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||||||
#include "hardware_interface/system_interface.hpp"
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||||||
#include "hardware_interface/types/hardware_interface_return_values.hpp"
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||||||
#include "hardware_interface/types/hardware_interface_type_values.hpp"
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|
||||||
|
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||||||
#include "ros2_interfaces_pkg/msg/arm_ik.hpp"
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|
||||||
#include "sensor_msgs/msg/joint_state.hpp"
|
|
||||||
|
|
||||||
using hardware_interface::return_type;
|
|
||||||
|
|
||||||
namespace astra_arm
|
|
||||||
{
|
|
||||||
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
|
|
||||||
|
|
||||||
class ArmSystem : public hardware_interface::SystemInterface
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
// Boilerplate
|
|
||||||
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
|
|
||||||
CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
|
|
||||||
return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
|
|
||||||
return_type write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
|
|
||||||
private:
|
|
||||||
// Comms with arm_pkg
|
|
||||||
rclcpp::Publisher<ros2_interfaces_pkg::msg::ArmIK>::SharedPtr command_pub_;
|
|
||||||
void state_sub_callback(const sensor_msgs::msg::JointState::SharedPtr msg);
|
|
||||||
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr state_sub_;
|
|
||||||
|
|
||||||
std::vector<double> cmd_;
|
|
||||||
std::vector<double> pos_, vel_;
|
|
||||||
std::chrono::steady_clock::time_point last_state_time_;
|
|
||||||
|
|
||||||
protected:
|
|
||||||
};
|
|
||||||
|
|
||||||
} // namespace astra_arm
|
|
||||||
|
|
||||||
#endif // ASTRA_ARM__HARDWARE_HPP_
|
|
||||||
@@ -1,54 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
||||||
<package format="3">
|
|
||||||
<name>arm_hardware_controller</name>
|
|
||||||
<version>0.0.0</version>
|
|
||||||
<description>Demo for 6 DOF robot.</description>
|
|
||||||
|
|
||||||
<maintainer email="denis.stogl@stoglrobotics.de">Dr.-Ing. Denis Štogl</maintainer>
|
|
||||||
<maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
|
|
||||||
<maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
|
|
||||||
<maintainer email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</maintainer>
|
|
||||||
|
|
||||||
<license>Apache-2.0</license>
|
|
||||||
|
|
||||||
<author email="paul.gesel@picknik.ai">Paul Gesel</author>
|
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
<build_depend>ros2_control_cmake</build_depend>
|
|
||||||
<build_depend>ros2_interfaces_pkg</build_depend>
|
|
||||||
|
|
||||||
<depend>backward_ros</depend>
|
|
||||||
<depend>control_msgs</depend>
|
|
||||||
<depend>controller_interface</depend>
|
|
||||||
<depend>hardware_interface</depend>
|
|
||||||
<depend>kdl_parser</depend>
|
|
||||||
<depend>pluginlib</depend>
|
|
||||||
<depend>rclcpp_lifecycle</depend>
|
|
||||||
<depend>rclcpp</depend>
|
|
||||||
<depend>realtime_tools</depend>
|
|
||||||
<depend>trajectory_msgs</depend>
|
|
||||||
|
|
||||||
<exec_depend>controller_manager</exec_depend>
|
|
||||||
<exec_depend>joint_state_broadcaster</exec_depend>
|
|
||||||
<exec_depend>joint_state_publisher_gui</exec_depend>
|
|
||||||
<exec_depend>launch_ros</exec_depend>
|
|
||||||
<exec_depend>launch</exec_depend>
|
|
||||||
<exec_depend>robot_state_publisher</exec_depend>
|
|
||||||
<exec_depend>ros2_control_demo_description</exec_depend>
|
|
||||||
<exec_depend>ros2controlcli</exec_depend>
|
|
||||||
<exec_depend>ros2launch</exec_depend>
|
|
||||||
<exec_depend>rviz2</exec_depend>
|
|
||||||
<exec_depend>urdf</exec_depend>
|
|
||||||
<exec_depend>xacro</exec_depend>
|
|
||||||
|
|
||||||
<test_depend>ament_cmake_pytest</test_depend>
|
|
||||||
<test_depend>launch_testing</test_depend>
|
|
||||||
<test_depend>launch</test_depend>
|
|
||||||
<test_depend>liburdfdom-tools</test_depend>
|
|
||||||
<test_depend>rclpy</test_depend>
|
|
||||||
|
|
||||||
<export>
|
|
||||||
<build_type>ament_cmake</build_type>
|
|
||||||
</export>
|
|
||||||
</package>
|
|
||||||
Reference in New Issue
Block a user