Add passthrough interfaces for joints (#1121)

As this has been added in the joint description, we need to also parse them from the hardware interface.
UniversalRobots · Oct 7, 2024 · 3068607 · 3068607
1 parent 496d924
commit 3068607
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Showing 2 changed files with 16 additions and 2 deletions.
diff --git a/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp b/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
@@ -192,6 +192,11 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double system_interface_initialized_;
   bool async_thread_shutdown_;
 
+  // Passthrough trajectory controller interface values
+  urcl::vector6d_t passthrough_trajectory_positions_;
+  urcl::vector6d_t passthrough_trajectory_velocities_;
+  urcl::vector6d_t passthrough_trajectory_accelerations_;
+
   // payload stuff
   urcl::vector3d_t payload_center_of_gravity_;
   double payload_mass_;

diff --git a/ur_robot_driver/src/hardware_interface.cpp b/ur_robot_driver/src/hardware_interface.cpp
@@ -95,9 +95,9 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
   system_interface_initialized_ = 0.0;
 
   for (const hardware_interface::ComponentInfo& joint : info_.joints) {
-    if (joint.command_interfaces.size() != 2) {
+    if (joint.command_interfaces.size() != 5) {
       RCLCPP_FATAL(rclcpp::get_logger("URPositionHardwareInterface"),
-                   "Joint '%s' has %zu command interfaces found. 2 expected.", joint.name.c_str(),
+                   "Joint '%s' has %zu command interfaces found. 5 expected.", joint.name.c_str(),
                    joint.command_interfaces.size());
       return hardware_interface::CallbackReturn::ERROR;
     }
@@ -243,6 +243,15 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e
 
     command_interfaces.emplace_back(hardware_interface::CommandInterface(
         info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_velocity_commands_[i]));
+
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(info_.joints[i].name, "passthrough_position",
+                                                                         &passthrough_trajectory_positions_[i]));
+
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(info_.joints[i].name, "passthrough_velocity",
+                                                                         &passthrough_trajectory_velocities_[i]));
+
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+        info_.joints[i].name, "passthrough_acceleration", &passthrough_trajectory_accelerations_[i]));
   }
   // Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
   // NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio