Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added services to set tool voltage and zero force torque sensor - galactic backport (#466) #707

Closed
wants to merge 1 commit into from
Closed

Added services to set tool voltage and zero force torque sensor - galactic backport (#466) #707

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 16 additions & 10 deletions ur_controllers/include/ur_controllers/gpio_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,16 +63,19 @@ enum CommandInterfaces
{
DIGITAL_OUTPUTS_CMD = 0u,
ANALOG_OUTPUTS_CMD = 18,
IO_ASYNC_SUCCESS = 20,
TARGET_SPEED_FRACTION_CMD = 21,
TARGET_SPEED_FRACTION_ASYNC_SUCCESS = 22,
RESEND_ROBOT_PROGRAM_CMD = 23,
RESEND_ROBOT_PROGRAM_ASYNC_SUCCESS = 24,
PAYLOAD_MASS = 25,
PAYLOAD_COG_X = 26,
PAYLOAD_COG_Y = 27,
PAYLOAD_COG_Z = 28,
PAYLOAD_ASYNC_SUCCESS = 29,
TOOL_VOLTAGE_CMD = 20,
IO_ASYNC_SUCCESS = 21,
TARGET_SPEED_FRACTION_CMD = 22,
TARGET_SPEED_FRACTION_ASYNC_SUCCESS = 23,
RESEND_ROBOT_PROGRAM_CMD = 24,
RESEND_ROBOT_PROGRAM_ASYNC_SUCCESS = 25,
PAYLOAD_MASS = 26,
PAYLOAD_COG_X = 27,
PAYLOAD_COG_Y = 28,
PAYLOAD_COG_Z = 29,
PAYLOAD_ASYNC_SUCCESS = 30,
ZERO_FTSENSOR_CMD = 31,
ZERO_FTSENSOR_ASYNC_SUCCESS = 32,
};

enum StateInterfaces
Expand Down Expand Up @@ -125,6 +128,8 @@ class GPIOController : public controller_interface::ControllerInterface
bool setPayload(const ur_msgs::srv::SetPayload::Request::SharedPtr req,
ur_msgs::srv::SetPayload::Response::SharedPtr resp);

bool zeroFTSensor(std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp);

void publishIO();

void publishToolData();
Expand All @@ -150,6 +155,7 @@ class GPIOController : public controller_interface::ControllerInterface
rclcpp::Service<ur_msgs::srv::SetSpeedSliderFraction>::SharedPtr set_speed_slider_srv_;
rclcpp::Service<ur_msgs::srv::SetIO>::SharedPtr set_io_srv_;
rclcpp::Service<ur_msgs::srv::SetPayload>::SharedPtr set_payload_srv_;
rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr tare_sensor_srv_;

std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::IOStates>> io_pub_;
std::shared_ptr<rclcpp::Publisher<ur_msgs::msg::ToolDataMsg>> tool_data_pub_;
Expand Down
48 changes: 48 additions & 0 deletions ur_controllers/src/gpio_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ controller_interface::InterfaceConfiguration GPIOController::command_interface_c
config.names.emplace_back("gpio/standard_analog_output_cmd_" + std::to_string(i));
}

config.names.emplace_back("gpio/tool_voltage_cmd");

config.names.emplace_back("gpio/io_async_success");

config.names.emplace_back("speed_scaling/target_speed_fraction_cmd");
Expand All @@ -78,6 +80,10 @@ controller_interface::InterfaceConfiguration GPIOController::command_interface_c
config.names.emplace_back("payload/cog.z");
config.names.emplace_back("payload/payload_async_success");

// zero ft sensor
config.names.emplace_back("zero_ftsensor/zero_ftsensor_cmd");
config.names.emplace_back("zero_ftsensor/zero_ftsensor_async_success");

return config;
}

Expand Down Expand Up @@ -274,6 +280,10 @@ ur_controllers::GPIOController::on_activate(const rclcpp_lifecycle::State& /*pre

set_payload_srv_ = get_node()->create_service<ur_msgs::srv::SetPayload>(
"~/set_payload", std::bind(&GPIOController::setPayload, this, std::placeholders::_1, std::placeholders::_2));

tare_sensor_srv_ = get_node()->create_service<std_srvs::srv::Trigger>(
"~/zero_ftsensor",
std::bind(&GPIOController::zeroFTSensor, this, std::placeholders::_1, std::placeholders::_2));
} catch (...) {
return LifecycleNodeInterface::CallbackReturn::ERROR;
}
Expand Down Expand Up @@ -326,6 +336,19 @@ bool GPIOController::setIO(ur_msgs::srv::SetIO::Request::SharedPtr req, ur_msgs:
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}

resp->success = static_cast<bool>(command_interfaces_[CommandInterfaces::IO_ASYNC_SUCCESS].get_value());
return resp->success;
} else if (req->fun == req->FUN_SET_TOOL_VOLTAGE) {
command_interfaces_[CommandInterfaces::IO_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
command_interfaces_[CommandInterfaces::TOOL_VOLTAGE_CMD].set_value(static_cast<double>(req->state));

RCLCPP_INFO(get_node()->get_logger(), "Setting tool voltage to: '%1.0f'.", req->state);

while (command_interfaces_[CommandInterfaces::IO_ASYNC_SUCCESS].get_value() == ASYNC_WAITING) {
// Asynchronous wait until the hardware interface has set the io value
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}

resp->success = static_cast<bool>(command_interfaces_[CommandInterfaces::IO_ASYNC_SUCCESS].get_value());
return resp->success;
} else {
Expand Down Expand Up @@ -413,6 +436,31 @@ bool GPIOController::setPayload(const ur_msgs::srv::SetPayload::Request::SharedP
return true;
}

bool GPIOController::zeroFTSensor(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
std_srvs::srv::Trigger::Response::SharedPtr resp)
{
// reset success flag
command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
// call the service in the hardware
command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_CMD].set_value(1.0);

while (command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_ASYNC_SUCCESS].get_value() == ASYNC_WAITING) {
// Asynchronous wait until the hardware interface has set the slider value
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}

resp->success = static_cast<bool>(command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_ASYNC_SUCCESS].get_value());

if (resp->success) {
RCLCPP_INFO(get_node()->get_logger(), "Successfully zeroed the force torque sensor");
} else {
RCLCPP_ERROR(get_node()->get_logger(), "Could not zero the force torque sensor");
return false;
}

return true;
}

void GPIOController::initMsgs()
{
io_msg_.digital_in_states.resize(standard_digital_output_cmd_.size());
Expand Down
3 changes: 3 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -173,11 +173,14 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
// asynchronous commands
std::array<double, 18> standard_dig_out_bits_cmd_;
std::array<double, 2> standard_analog_output_cmd_;
double tool_voltage_cmd_;
double io_async_success_;
double target_speed_fraction_cmd_;
double scaling_async_success_;
double resend_robot_program_cmd_;
double resend_robot_program_async_success_;
double zero_ftsensor_cmd_;
double zero_ftsensor_async_success_;
bool first_pass_;
bool initialized_;
double system_interface_initialized_;
Expand Down
Loading