forked from ros-controls/ros2_control_demos
-
Notifications
You must be signed in to change notification settings - Fork 0
/
diffbot_system.cpp
225 lines (189 loc) · 7.89 KB
/
diffbot_system.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
// Copyright 2021 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.
#include "ros2_control_demo_hardware/diffbot_system.hpp"
#include <chrono>
#include <cmath>
#include <limits>
#include <memory>
#include <vector>
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "rclcpp/rclcpp.hpp"
namespace ros2_control_demo_hardware
{
CallbackReturn DiffBotSystemHardware::on_init(const hardware_interface::HardwareInfo & info)
{
base_x_ = 0.0;
base_y_ = 0.0;
base_theta_ = 0.0;
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}
hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
hw_positions_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
hw_velocities_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
hw_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
for (const hardware_interface::ComponentInfo & joint : info_.joints)
{
// DiffBotSystem has exactly two states and one command interface on each joint
if (joint.command_interfaces.size() != 1)
{
RCLCPP_FATAL(
rclcpp::get_logger("DiffBotSystemHardware"),
"Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(),
joint.command_interfaces.size());
return CallbackReturn::ERROR;
}
if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY)
{
RCLCPP_FATAL(
rclcpp::get_logger("DiffBotSystemHardware"),
"Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(),
joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY);
return CallbackReturn::ERROR;
}
if (joint.state_interfaces.size() != 2)
{
RCLCPP_FATAL(
rclcpp::get_logger("DiffBotSystemHardware"),
"Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(),
joint.state_interfaces.size());
return CallbackReturn::ERROR;
}
if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION)
{
RCLCPP_FATAL(
rclcpp::get_logger("DiffBotSystemHardware"),
"Joint '%s' have '%s' as first state interface. '%s' expected.", joint.name.c_str(),
joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
return CallbackReturn::ERROR;
}
if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY)
{
RCLCPP_FATAL(
rclcpp::get_logger("DiffBotSystemHardware"),
"Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(),
joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY);
return CallbackReturn::ERROR;
}
}
return CallbackReturn::SUCCESS;
}
std::vector<hardware_interface::StateInterface> DiffBotSystemHardware::export_state_interfaces()
{
std::vector<hardware_interface::StateInterface> state_interfaces;
for (auto i = 0u; i < info_.joints.size(); i++)
{
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_positions_[i]));
state_interfaces.emplace_back(hardware_interface::StateInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_velocities_[i]));
}
return state_interfaces;
}
std::vector<hardware_interface::CommandInterface> DiffBotSystemHardware::export_command_interfaces()
{
std::vector<hardware_interface::CommandInterface> command_interfaces;
for (auto i = 0u; i < info_.joints.size(); i++)
{
command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i]));
}
return command_interfaces;
}
CallbackReturn DiffBotSystemHardware::on_activate(
const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Starting ...please wait...");
for (auto i = 0; i < hw_start_sec_; i++)
{
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i);
}
// set some default values
for (auto i = 0u; i < hw_positions_.size(); i++)
{
if (std::isnan(hw_positions_[i]))
{
hw_positions_[i] = 0;
hw_velocities_[i] = 0;
hw_commands_[i] = 0;
}
}
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "System Successfully started!");
return CallbackReturn::SUCCESS;
}
CallbackReturn DiffBotSystemHardware::on_deactivate(
const rclcpp_lifecycle::State & /*previous_state*/)
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Stopping ...please wait...");
for (auto i = 0; i < hw_stop_sec_; i++)
{
rclcpp::sleep_for(std::chrono::seconds(1));
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_stop_sec_ - i);
}
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "System successfully stopped!");
return CallbackReturn::SUCCESS;
}
hardware_interface::return_type DiffBotSystemHardware::read()
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Reading...");
double radius = 0.02; // radius of the wheels
double dist_w = 0.1; // distance between the wheels
double dt = 0.01; // Control period
for (uint i = 0; i < hw_commands_.size(); i++)
{
// Simulate DiffBot wheels's movement as a first-order system
// Update the joint status: this is a revolute joint without any limit.
// Simply integrates
hw_positions_[i] = hw_positions_[1] + dt * hw_commands_[i];
hw_velocities_[i] = hw_commands_[i];
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"),
"Got position state %.5f and velocity state %.5f for '%s'!", hw_positions_[i],
hw_velocities_[i], info_.joints[i].name.c_str());
}
// Update the free-flyer, i.e. the base notation using the classical
// wheel differentiable kinematics
double base_dx = 0.5 * radius * (hw_commands_[0] + hw_commands_[1]) * cos(base_theta_);
double base_dy = 0.5 * radius * (hw_commands_[0] + hw_commands_[1]) * sin(base_theta_);
double base_dtheta = radius * (hw_commands_[0] - hw_commands_[1]) / dist_w;
base_x_ += base_dx * dt;
base_y_ += base_dy * dt;
base_theta_ += base_dtheta * dt;
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"), "Joints successfully read! (%.5f,%.5f,%.5f)",
base_x_, base_y_, base_theta_);
return hardware_interface::return_type::OK;
}
hardware_interface::return_type ros2_control_demo_hardware::DiffBotSystemHardware::write()
{
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Writing...");
for (auto i = 0u; i < hw_commands_.size(); i++)
{
// Simulate sending commands to the hardware
RCLCPP_INFO(
rclcpp::get_logger("DiffBotSystemHardware"), "Got command %.5f for '%s'!", hw_commands_[i],
info_.joints[i].name.c_str());
}
RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Joints successfully written!");
return hardware_interface::return_type::OK;
}
} // namespace ros2_control_demo_hardware
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(
ros2_control_demo_hardware::DiffBotSystemHardware, hardware_interface::SystemInterface)