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

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

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26 changes: 16 additions & 10 deletions ur_controllers/include/ur_controllers/gpio_controller.hpp
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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
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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
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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
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