BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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Merge pull request #68 from ROBOTIS-GIT/feature_offset

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Feature offset
This commit is contained in:
zerom
2018-07-19 14:42:20 +09:00
committed by GitHub
parent f9d88f07ce 7f01d112df
commit 8b68d38a5c
5 changed files with 277 additions and 23 deletions
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5
robotis_controller/include/robotis_controller/robotis_controller.h
View File

@@ -28,6 +28,7 @@
#include <ros/ros.h>
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.h>
#include <std_msgs/Bool.h>
#include <std_msgs/String.h>
#include <std_msgs/Float64.h>
#include <sensor_msgs/JointState.h>
@@ -38,6 +39,7 @@
#include "robotis_controller_msgs/GetJointModule.h"
#include "robotis_controller_msgs/SetJointModule.h"
#include "robotis_controller_msgs/SetModule.h"
#include "robotis_controller_msgs/LoadOffset.h"
#include "robotis_device/robot.h"
#include "robotis_framework_common/motion_module.h"
@@ -64,6 +66,7 @@ private:
bool init_pose_loaded_;
bool is_timer_running_;
bool is_offset_enabled_;
bool stop_timer_;
pthread_t timer_thread_;
ControllerMode controller_mode_;
@@ -139,9 +142,11 @@ public:
void setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
void setJointCtrlModuleCallback(const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg);
void setCtrlModuleCallback(const std_msgs::String::ConstPtr &msg);
void enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg);
bool getJointCtrlModuleService(robotis_controller_msgs::GetJointModule::Request &req, robotis_controller_msgs::GetJointModule::Response &res);
bool setJointCtrlModuleService(robotis_controller_msgs::SetJointModule::Request &req, robotis_controller_msgs::SetJointModule::Response &res);
bool setCtrlModuleService(robotis_controller_msgs::SetModule::Request &req, robotis_controller_msgs::SetModule::Response &res);
bool loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req, robotis_controller_msgs::LoadOffset::Response &res);
void gazeboJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);

105
robotis_controller/src/robotis_controller/robotis_controller.cpp
View File

@@ -30,6 +30,7 @@ using namespace robotis_framework;
RobotisController::RobotisController()
: is_timer_running_(false),
is_offset_enabled_(true),
stop_timer_(false),
init_pose_loaded_(false),
timer_thread_(0),
@@ -142,7 +143,10 @@ void RobotisController::initializeSyncWrite()
if ((dxl->present_position_item_ != 0) &&
(dxl->bulk_read_items_[i]->item_name_ == dxl->present_position_item_->item_name_))
{
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(read_data) - dxl->dxl_state_->position_offset_; // remove offset
if(is_offset_enabled_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(read_data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(read_data);
dxl->dxl_state_->goal_position_ = dxl->dxl_state_->present_position_;
port_to_sync_write_position_[dxl->port_name_]->addParam(dxl->id_, sync_write_data);
@@ -632,6 +636,8 @@ void RobotisController::msgQueueThread()
&RobotisController::setControllerModeCallback, this);
ros::Subscriber joint_states_sub = ros_node.subscribe("/robotis/set_joint_states", 10,
&RobotisController::setJointStatesCallback, this);
ros::Subscriber enable_offset_sub = ros_node.subscribe("/robotis/enable_offset", 10,
&RobotisController::enableOffsetCallback, this);
ros::Subscriber gazebo_joint_states_sub;
if (gazebo_mode_ == true)
@@ -664,6 +670,8 @@ void RobotisController::msgQueueThread()
&RobotisController::setJointCtrlModuleService, this);
ros::ServiceServer set_module_server = ros_node.advertiseService("/robotis/set_present_ctrl_modules",
&RobotisController::setCtrlModuleService, this);
ros::ServiceServer load_offset_server = ros_node.advertiseService("/robotis/load_offset",
&RobotisController::loadOffsetService, this);
ros::WallDuration duration(robot_->getControlCycle() / 1000.0);
while(ros_node.ok())
@@ -926,13 +934,23 @@ void RobotisController::process()
// change dxl_state
if (dxl->present_position_item_ != 0 && item->item_name_ == dxl->present_position_item_->item_name_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
{
if(is_offset_enabled_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->present_velocity_item_ != 0 && item->item_name_ == dxl->present_velocity_item_->item_name_)
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->present_current_item_ != 0 && item->item_name_ == dxl->present_current_item_->item_name_)
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(data);
else if (dxl->goal_position_item_ != 0 && item->item_name_ == dxl->goal_position_item_->item_name_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
{
if(is_offset_enabled_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->goal_velocity_item_ != 0 && item->item_name_ == dxl->goal_velocity_item_->item_name_)
dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
@@ -1146,13 +1164,23 @@ void RobotisController::process()
// change dxl_state
if (dxl->present_position_item_ != 0 && item->item_name_ == dxl->present_position_item_->item_name_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
{
if(is_offset_enabled_)
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->present_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->present_velocity_item_ != 0 && item->item_name_ == dxl->present_velocity_item_->item_name_)
dxl->dxl_state_->present_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->present_current_item_ != 0 && item->item_name_ == dxl->present_current_item_->item_name_)
dxl->dxl_state_->present_torque_ = dxl->convertValue2Torque(data);
else if (dxl->goal_position_item_ != 0 && item->item_name_ == dxl->goal_position_item_->item_name_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
{
if(is_offset_enabled_)
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data) - dxl->dxl_state_->position_offset_; // remove offset
else
dxl->dxl_state_->goal_position_ = dxl->convertValue2Radian(data);
}
else if (dxl->goal_velocity_item_ != 0 && item->item_name_ == dxl->goal_velocity_item_->item_name_)
dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data);
else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_)
@@ -1255,7 +1283,12 @@ void RobotisController::process()
if (gazebo_mode_ == false)
{
// add offset
uint32_t pos_data = dxl->convertRadian2Value(dxl_state->goal_position_ + dxl_state->position_offset_);
uint32_t pos_data;
if(is_offset_enabled_)
pos_data= dxl->convertRadian2Value(dxl_state->goal_position_ + dxl_state->position_offset_);
else
pos_data= dxl->convertRadian2Value(dxl_state->goal_position_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));
@@ -1266,7 +1299,7 @@ void RobotisController::process()
port_to_sync_write_position_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if position p gain value is changed -> sync write
if (dxl_state->position_p_gain_ != result_state->position_p_gain_)
if (result_state->position_p_gain_ != 65535 && dxl_state->position_p_gain_ != result_state->position_p_gain_)
{
dxl_state->position_p_gain_ = result_state->position_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1280,7 +1313,7 @@ void RobotisController::process()
}
// if position i gain value is changed -> sync write
if (dxl_state->position_i_gain_ != result_state->position_i_gain_)
if (result_state->position_i_gain_ != 65535 && dxl_state->position_i_gain_ != result_state->position_i_gain_)
{
dxl_state->position_i_gain_ = result_state->position_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1294,7 +1327,7 @@ void RobotisController::process()
}
// if position d gain value is changed -> sync write
if (dxl_state->position_d_gain_ != result_state->position_d_gain_)
if (result_state->position_d_gain_ != 65535 && dxl_state->position_d_gain_ != result_state->position_d_gain_)
{
dxl_state->position_d_gain_ = result_state->position_d_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1325,7 +1358,7 @@ void RobotisController::process()
port_to_sync_write_velocity_[dxl->port_name_]->changeParam(dxl->id_, sync_write_data);
// if velocity p gain gain value is changed -> sync write
if (dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
if (result_state->velocity_p_gain_ != 65535 && dxl_state->velocity_p_gain_ != result_state->velocity_p_gain_)
{
dxl_state->velocity_p_gain_ = result_state->velocity_p_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1339,7 +1372,7 @@ void RobotisController::process()
}
// if velocity i gain value is changed -> sync write
if (dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
if (result_state->velocity_i_gain_ != 65535 && dxl_state->velocity_i_gain_ != result_state->velocity_i_gain_)
{
dxl_state->velocity_i_gain_ = result_state->velocity_i_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1353,7 +1386,7 @@ void RobotisController::process()
}
// if velocity d gain value is changed -> sync write
if (dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
if (result_state->velocity_d_gain_ != 65535 && dxl_state->velocity_d_gain_ != result_state->velocity_d_gain_)
{
dxl_state->velocity_d_gain_ = result_state->velocity_d_gain_;
uint8_t sync_write_data[4] = { 0 };
@@ -1653,7 +1686,12 @@ void RobotisController::setJointStatesCallback(const sensor_msgs::JointState::Co
if (gazebo_mode_ == false)
{
// add offset
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
uint32_t pos_data;
if(is_offset_enabled_)
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
else
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));
@@ -1697,6 +1735,11 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
set_module_thread_ = boost::thread(boost::bind(&RobotisController::setJointCtrlModuleThread, this, msg));
}
void RobotisController::enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg)
{
is_offset_enabled_ = (bool)msg->data;
}
bool RobotisController::getJointCtrlModuleService(robotis_controller_msgs::GetJointModule::Request &req,
robotis_controller_msgs::GetJointModule::Response &res)
{
@@ -1748,6 +1791,14 @@ bool RobotisController::setCtrlModuleService(robotis_controller_msgs::SetModule:
set_module_thread_.join();
res.result = true;
return true;
}
bool RobotisController::loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req, robotis_controller_msgs::LoadOffset::Response &res)
{
loadOffset((std::string)req.file_path);
res.result = true;
return true;
}
@@ -1820,7 +1871,12 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
if(gazebo_mode_ == true)
continue;
uint32_t _pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_ + _dxl->dxl_state_->position_offset_);
uint32_t _pos_data;
if(is_offset_enabled_)
_pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_ + _dxl->dxl_state_->position_offset_);
else
_pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_);
uint8_t _sync_write_data[4];
_sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(_pos_data));
_sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(_pos_data));
@@ -1858,7 +1914,12 @@ void RobotisController::setJointCtrlModuleThread(const robotis_controller_msgs::
if(_mode == PositionControl)
{
uint32_t _pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_ + _dxl->dxl_state_->position_offset_);
uint32_t _pos_data;
if(is_offset_enabled_)
_pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_ + _dxl->dxl_state_->position_offset_);
else
_pos_data = _dxl->convertRadian2Value(_dxl->dxl_state_->goal_position_);
uint8_t _sync_write_data[4];
_sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(_pos_data));
_sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(_pos_data));
@@ -2024,7 +2085,12 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (gazebo_mode_ == true)
continue;
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
uint32_t pos_data;
if(is_offset_enabled_)
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
else
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));
@@ -2062,7 +2128,12 @@ void RobotisController::setCtrlModuleThread(std::string ctrl_module)
if (mode == PositionControl)
{
uint32_t pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
uint32_t pos_data;
if(is_offset_enabled_)
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_ + dxl->dxl_state_->position_offset_);
else
pos_data = dxl->convertRadian2Value(dxl->dxl_state_->goal_position_);
uint8_t sync_write_data[4] = { 0 };
sync_write_data[0] = DXL_LOBYTE(DXL_LOWORD(pos_data));
sync_write_data[1] = DXL_HIBYTE(DXL_LOWORD(pos_data));