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Publish joint temperature #446

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Publish joint temperature #446

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4472723
Publish joint temperature
tassos Aug 3, 2021
323e9f5
Defining a separate publisher for each joint
tassos Aug 3, 2021
9447911
Using separate topics for each joint temperature
tassos Aug 3, 2021
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5 changes: 5 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@
#include <ur_msgs/ToolDataMsg.h>
#include <ur_msgs/SetIO.h>
#include <ur_msgs/SetSpeedSliderFraction.h>
#include <sensor_msgs/Temperature.h>

#include <ur_controllers/speed_scaling_interface.h>
#include <ur_controllers/scaled_joint_command_interface.h>
Expand Down Expand Up @@ -177,6 +178,7 @@ class HardwareInterface : public hardware_interface::RobotHW
*/
void publishPose();

void publishJointTemperatures(const ros::Time& timestamp);
void publishIOData();
void publishToolData();
void publishRobotAndSafetyMode();
Expand Down Expand Up @@ -230,6 +232,7 @@ class HardwareInterface : public hardware_interface::RobotHW
urcl::vector6d_t joint_positions_;
urcl::vector6d_t joint_velocities_;
urcl::vector6d_t joint_efforts_;
urcl::vector6d_t joint_temperatures_;
urcl::vector6d_t fts_measurements_;
urcl::vector6d_t tcp_pose_;
std::bitset<18> actual_dig_out_bits_;
Expand All @@ -256,6 +259,8 @@ class HardwareInterface : public hardware_interface::RobotHW
std::bitset<11> safety_status_bits_;

std::unique_ptr<realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>> tcp_pose_pub_;
typedef std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::Temperature>> JTPublisherPtr;
std::vector<JTPublisherPtr> joint_temperature_pubs_;
std::unique_ptr<realtime_tools::RealtimePublisher<ur_msgs::IOStates>> io_pub_;
std::unique_ptr<realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>> tool_data_pub_;
std::unique_ptr<realtime_tools::RealtimePublisher<ur_dashboard_msgs::RobotMode>> robot_mode_pub_;
Expand Down
1 change: 1 addition & 0 deletions ur_robot_driver/resources/rtde_output_recipe.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
timestamp
actual_q
actual_qd
joint_temperatures
speed_scaling
target_speed_fraction
runtime_state
Expand Down
27 changes: 27 additions & 0 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ HardwareInterface::HardwareInterface()
, joint_positions_{ { 0, 0, 0, 0, 0, 0 } }
, joint_velocities_{ { 0, 0, 0, 0, 0, 0 } }
, joint_efforts_{ { 0, 0, 0, 0, 0, 0 } }
, joint_temperatures_{ { 0, 0, 0, 0, 0, 0 } }
, standard_analog_input_{ { 0, 0 } }
, standard_analog_output_{ { 0, 0 } }
, joint_names_(6)
Expand Down Expand Up @@ -354,6 +355,12 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
{
io_pub_->msg_.analog_out_states[i].pin = i;
}
for (size_t i = 0; i < joint_names_.size(); i++)
{
JTPublisherPtr joint_temperature_pub(new realtime_tools::RealtimePublisher<sensor_msgs::Temperature>(root_nh, "joint_temperatures/"+joint_names_[i], 1));
joint_temperature_pubs_.push_back(joint_temperature_pub);
}

tool_data_pub_.reset(new realtime_tools::RealtimePublisher<ur_msgs::ToolDataMsg>(robot_hw_nh, "tool_data", 1));

robot_mode_pub_.reset(
Expand Down Expand Up @@ -449,6 +456,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
readData(data_pkg, "runtime_state", runtime_state_);
readData(data_pkg, "actual_TCP_force", fts_measurements_);
readData(data_pkg, "actual_TCP_pose", tcp_pose_);
readData(data_pkg, "joint_temperatures", joint_temperatures_);
readData(data_pkg, "standard_analog_input0", standard_analog_input_[0]);
readData(data_pkg, "standard_analog_input1", standard_analog_input_[1]);
readData(data_pkg, "standard_analog_output0", standard_analog_output_[0]);
Expand Down Expand Up @@ -478,6 +486,7 @@ void HardwareInterface::read(const ros::Time& time, const ros::Duration& period)
extractToolPose(time);
transformForceTorque();
publishPose();
publishJointTemperatures(time);
publishRobotAndSafetyMode();

// pausing state follows runtime state when pausing
Expand Down Expand Up @@ -719,6 +728,24 @@ void HardwareInterface::publishPose()
}
}

void HardwareInterface::publishJointTemperatures(const ros::Time& timestamp)
{
for (size_t i = 0; i < joint_names_.size(); i++)
{
if (joint_temperature_pubs_[i])
{
if (joint_temperature_pubs_[i]->trylock())
{
joint_temperature_pubs_[i]->msg_.header.stamp = timestamp;
joint_temperature_pubs_[i]->msg_.header.frame_id = joint_names_[i];
joint_temperature_pubs_[i]->msg_.temperature = joint_temperatures_[i];

joint_temperature_pubs_[i]->unlockAndPublish();
}
}
}
}

void HardwareInterface::extractRobotStatus()
{
robot_status_resource_.mode =
Expand Down