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Update JTC API (#896)
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@fmauch
fmauch committed Dec 27, 2023
1 parent 017a54c commit 9599eac
Showing 1 changed file with 73 additions and 39 deletions.
112 changes: 73 additions & 39 deletions ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,11 +86,16 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
return controller_interface::return_type::OK;
}
// update dynamic parameters
if (param_listener_->is_old(params_)) {
params_ = param_listener_->get_params();
default_tolerances_ = get_segment_tolerances(params_);
}

auto compute_error_for_joint = [&](JointTrajectoryPoint& error, int index, const JointTrajectoryPoint& current,
const JointTrajectoryPoint& desired) {
// error defined as the difference between current and desired
if (normalize_joint_error_[index]) {
if (joints_angle_wraparound_[index]) {
// if desired, the shortest_angular_distance is calculated, i.e., the error is
// normalized between -pi<error<pi
error.positions[index] = angles::shortest_angular_distance(current.positions[index], desired.positions[index]);
Expand All @@ -105,16 +110,18 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
}
};

// don't update goal after we sampled the trajectory to avoid any racecondition
const auto active_goal = *rt_active_goal_.readFromRT();

// Check if a new external message has been received from nonRT threads
auto current_external_msg = traj_external_point_ptr_->get_trajectory_msg();
auto new_external_msg = traj_msg_external_point_ptr_.readFromRT();
if (current_external_msg != *new_external_msg) {
// Discard, if a goal is pending but still not active (somewhere stuck in goal_handle_timer_)
if (current_external_msg != *new_external_msg && (*(rt_has_pending_goal_.readFromRT()) && !active_goal) == false) {
fill_partial_goal(*new_external_msg);
sort_to_local_joint_order(*new_external_msg);
// TODO(denis): Add here integration of position and velocity
traj_external_point_ptr_->update(*new_external_msg);
// set the active trajectory pointer to the new goal
traj_point_active_ptr_ = &traj_external_point_ptr_;
}

// TODO(anyone): can I here also use const on joint_interface since the reference_wrapper is not
Expand All @@ -127,43 +134,60 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

// current state update
state_current_.time_from_start.set__sec(0);
read_state_from_hardware(state_current_);
read_state_from_state_interfaces(state_current_);

// currently carrying out a trajectory
if (traj_point_active_ptr_ && (*traj_point_active_ptr_)->has_trajectory_msg()) {
// Main Speed scaling difference...
if (has_active_trajectory()) {
// Adjust time with scaling factor
TimeData time_data;
time_data.time = time;
rcl_duration_value_t t_period = (time_data.time - time_data_.readFromRT()->time).nanoseconds();
time_data.period = rclcpp::Duration::from_nanoseconds(scaling_factor_ * t_period);
time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
rclcpp::Time traj_time = time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
time_data_.writeFromNonRT(time_data);
time_data_.reset();
time_data_.initRT(time_data);

bool first_sample = false;
// if sampling the first time, set the point before you sample
if (!(*traj_point_active_ptr_)->is_sampled_already()) {
if (!traj_external_point_ptr_->is_sampled_already()) {
first_sample = true;
if (params_.open_loop_control) {
(*traj_point_active_ptr_)->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, last_commanded_state_);
} else {
(*traj_point_active_ptr_)->set_point_before_trajectory_msg(traj_time, state_current_);
traj_external_point_ptr_->set_point_before_trajectory_msg(traj_time, state_current_);
}
}

// find segment for current timestamp
joint_trajectory_controller::TrajectoryPointConstIter start_segment_itr, end_segment_itr;
const bool valid_point =
(*traj_point_active_ptr_)
->sample(traj_time, interpolation_method_, state_desired_, start_segment_itr, end_segment_itr);
const bool valid_point = traj_external_point_ptr_->sample(traj_time, interpolation_method_, state_desired_,
start_segment_itr, end_segment_itr);

if (valid_point) {
const rclcpp::Time traj_start = traj_external_point_ptr_->time_from_start();
// this is the time instance
// - started with the first segment: when the first point will be reached (in the future)
// - later: when the point of the current segment was reached
const rclcpp::Time segment_time_from_start = traj_start + start_segment_itr->time_from_start;
// time_difference is
// - negative until first point is reached
// - counting from zero to time_from_start of next point
double time_difference = time.seconds() - segment_time_from_start.seconds();
bool tolerance_violated_while_moving = false;
bool outside_goal_tolerance = false;
bool within_goal_time = true;
double time_difference = 0.0;
const bool before_last_point = end_segment_itr != (*traj_point_active_ptr_)->end();
const bool before_last_point = end_segment_itr != traj_external_point_ptr_->end();

// have we reached the end, are not holding position, and is a timeout configured?
// Check independently of other tolerances
if (!before_last_point && *(rt_is_holding_.readFromRT()) == false && cmd_timeout_ > 0.0 &&
time_difference > cmd_timeout_) {
RCLCPP_WARN(get_node()->get_logger(), "Aborted due to command timeout");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}

// Check state/goal tolerance
for (size_t index = 0; index < dof_; ++index) {
Expand All @@ -172,21 +196,18 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
// Always check the state tolerance on the first sample in case the first sample
// is the last point
if ((before_last_point || first_sample) &&
!check_state_tolerance_per_joint(state_error_, index, default_tolerances_.state_tolerance[index], false)) {
!check_state_tolerance_per_joint(state_error_, index, default_tolerances_.state_tolerance[index], false) &&
*(rt_is_holding_.readFromRT()) == false) {
tolerance_violated_while_moving = true;
}
// past the final point, check that we end up inside goal tolerance
if (!before_last_point && !check_state_tolerance_per_joint(
state_error_, index, default_tolerances_.goal_state_tolerance[index], false)) {
if (!before_last_point &&
!check_state_tolerance_per_joint(state_error_, index, default_tolerances_.goal_state_tolerance[index],
false) &&
*(rt_is_holding_.readFromRT()) == false) {
outside_goal_tolerance = true;

if (default_tolerances_.goal_time_tolerance != 0.0) {
// if we exceed goal_time_tolerance set it to aborted
const rclcpp::Time traj_start = (*traj_point_active_ptr_)->get_trajectory_start_time();
const rclcpp::Time traj_end = traj_start + start_segment_itr->time_from_start;

time_difference = time.seconds() - traj_end.seconds();

if (time_difference > default_tolerances_.goal_time_tolerance) {
within_goal_time = false;
}
Expand Down Expand Up @@ -227,7 +248,6 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
last_commanded_state_ = state_desired_;
}

const auto active_goal = *rt_active_goal_.readFromRT();
if (active_goal) {
// send feedback
auto feedback = std::make_shared<FollowJTrajAction::Feedback>();
Expand All @@ -241,19 +261,18 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

// check abort
if (tolerance_violated_while_moving) {
set_hold_position();
auto result = std::make_shared<FollowJTrajAction::Result>();

RCLCPP_WARN(get_node()->get_logger(), "Aborted due to state tolerance violation");
result->set__error_code(FollowJTrajAction::Result::PATH_TOLERANCE_VIOLATED);
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
// remove the active trajectory pointer so that we stop commanding the hardware
traj_point_active_ptr_ = nullptr;
rt_has_pending_goal_.writeFromNonRT(false);

RCLCPP_WARN(get_node()->get_logger(), "Aborted due to state tolerance violation");

// check goal tolerance
traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
} else if (!before_last_point) {
if (!outside_goal_tolerance) {
auto res = std::make_shared<FollowJTrajAction::Result>();
Expand All @@ -262,28 +281,43 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
// remove the active trajectory pointer so that we stop commanding the hardware
traj_point_active_ptr_ = nullptr;
rt_has_pending_goal_.writeFromNonRT(false);

RCLCPP_INFO(get_node()->get_logger(), "Goal reached, success!");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_success_trajectory_point());
} else if (!within_goal_time) {
set_hold_position();
auto result = std::make_shared<FollowJTrajAction::Result>();
result->set__error_code(FollowJTrajAction::Result::GOAL_TOLERANCE_VIOLATED);
active_goal->setAborted(result);
// TODO(matthew-reynolds): Need a lock-free write here
// See https://github.com/ros-controls/ros2_controllers/issues/168
rt_active_goal_.writeFromNonRT(RealtimeGoalHandlePtr());
rt_has_pending_goal_.writeFromNonRT(false);

RCLCPP_WARN(get_node()->get_logger(), "Aborted due goal_time_tolerance exceeding by %f seconds",
time_difference);

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
// else, run another cycle while waiting for outside_goal_tolerance
// to be satisfied or violated within the goal_time_tolerance
}
} else if (tolerance_violated_while_moving) {
set_hold_position();
} else if (tolerance_violated_while_moving && *(rt_has_pending_goal_.readFromRT()) == false) {
// we need to ensure that there is no pending goal -> we get a race condition otherwise
RCLCPP_ERROR(get_node()->get_logger(), "Holding position due to state tolerance violation");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
} else if (!before_last_point && !within_goal_time && *(rt_has_pending_goal_.readFromRT()) == false) {
RCLCPP_ERROR(get_node()->get_logger(), "Exceeded goal_time_tolerance: holding position...");

traj_msg_external_point_ptr_.reset();
traj_msg_external_point_ptr_.initRT(set_hold_position());
}
// else, run another cycle while waiting for outside_goal_tolerance
// to be satisfied (will stay in this state until new message arrives)
// or outside_goal_tolerance violated within the goal_time_tolerance
}
}

Expand Down

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