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advancing in creation of gravity_compensation .. still have to finish…
… the node
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fevb
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Nov 12, 2013
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| /* | ||
| * gravity_compensation.cpp | ||
| * | ||
| * Created on: Nov 12, 2013 | ||
| * Authors: Francisco Viña | ||
| * fevb <at> kth.se | ||
| */ | ||
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| /* Copyright (c) 2013, Francisco Viña, CVAP, KTH | ||
| All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
| * Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
| * Redistributions in binary form must reproduce the above copyright | ||
| notice, this list of conditions and the following disclaimer in the | ||
| documentation and/or other materials provided with the distribution. | ||
| * Neither the name of KTH nor the | ||
| names of its contributors may be used to endorse or promote products | ||
| derived from this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | ||
| ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
| WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL KTH BE LIABLE FOR ANY | ||
| DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
| (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
| ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
| SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #include <ros/ros.h> | ||
| #include <gravity_compensation/gravity_compensation.h> | ||
| #include <gravity_compensation/gravity_compensation_params.h> | ||
| #include <sensor_msgs/Imu.h> | ||
| #include <eigen3/Eigen/Core> | ||
| #include <eigen3/Eigen/Geometry> | ||
| #include <tf/transform_datatypes.h> | ||
| #include <tf/transform_broadcaster.h> | ||
| #include <eigen_conversions/eigen_msg.h> | ||
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| class GravityCompensationNode | ||
| { | ||
| public: | ||
| ros::NodeHandle n_; | ||
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| // subscribe to accelerometer (imu) readings | ||
| ros::Subscriber topicSub_imu_; | ||
| ros::Subscriber topicSub_ft_raw_; | ||
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| ros::Publisher topicPub_ft_zeroed_; | ||
| ros::Publisher topicPub_ft_compensated_; | ||
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| tf::TransformBroadcaster tf_br_; | ||
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| GravityCompensationNode() | ||
| { | ||
| n_ = ros::NodeHandle("~"); | ||
| m_g_comp_params = new GravityCompensationParams(); | ||
| m_g_comp = NULL; | ||
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| // subscribe to accelerometer topic and raw F/T sensor topic | ||
| topicSub_imu_ = n_.subscribe("imu", 1, &GravityCompensationNode::topicCallback_imu, this); | ||
| topicSub_ft_raw_ = n_.subscribe("ft_raw", 1, &GravityCompensationNode::topicCallback_ft_raw, this); | ||
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| /// implementation of topics to publish | ||
| topicPub_ft_zeroed_ = n_.advertise<geometry_msgs::WrenchStamped> ("ft_zeroed", 1); | ||
| topicPub_ft_compensated_ = n_.advertise<geometry_msgs::WrenchStamped> ("ft_compensated", 1); | ||
| } | ||
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| ~GravityCompensationNode() | ||
| { | ||
| delete m_g_comp; | ||
| delete m_g_comp_params; | ||
| } | ||
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| bool getROSParameters() | ||
| { | ||
| /// Get F/T sensor bias | ||
| XmlRpc::XmlRpcValue biasXmlRpc; | ||
| Eigen::Matrix<double, 6, 1> bias; | ||
| if (n_.hasParam("bias")) | ||
| { | ||
| n_.getParam("bias", biasXmlRpc); | ||
| } | ||
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| else | ||
| { | ||
| ROS_ERROR("Parameter 'bias' not set, shutting down node..."); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| if(biasXmlRpc.size()!=6) | ||
| { | ||
| ROS_ERROR("Invalid F/T bias parameter size (should be size 6), shutting down node"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| for (int i = 0; i < biasXmlRpc.size(); i++) | ||
| { | ||
| bias(i) = (double)biasXmlRpc[i]; | ||
| } | ||
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| // get the mass of the gripper | ||
| double gripper_mass; | ||
| if (n_.hasParam("gripper_mass")) | ||
| { | ||
| n_.getParam("gripper_mass", gripper_mass); | ||
| } | ||
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| else | ||
| { | ||
| ROS_ERROR("Parameter 'gripper_mass' not available"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| if(gripper_mass<0.0) | ||
| { | ||
| ROS_ERROR("Parameter 'gripper_mass' < 0"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| // get the pose of the COM of the gripper | ||
| // we assume that it is fixed with respect to FT sensor frame | ||
| // first get the frame ID | ||
| tf::StampedTransform gripper_com; | ||
| std::string gripper_com_frame_id; | ||
| if (n_.hasParam("gripper_com_frame_id")) | ||
| { | ||
| n_.getParam("gripper_com_frame_id", gripper_com_frame_id); | ||
| } | ||
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| else | ||
| { | ||
| ROS_ERROR("Parameter 'gripper_com_frame_id' not available"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| gripper_com.frame_id_ = gripper_com_frame_id; | ||
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| // now get the CHILD frame ID | ||
| std::string gripper_com_child_frame_id; | ||
| if (n_.hasParam("gripper_com_child_frame_id")) | ||
| { | ||
| n_.getParam("gripper_com_child_frame_id", gripper_com_child_frame_id); | ||
| } | ||
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| else | ||
| { | ||
| ROS_ERROR("Parameter 'gripper_com_child_frame_id' not available"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| gripper_com.child_frame_id_ = gripper_com_child_frame_id; | ||
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| // now get the actual gripper COM pose | ||
| Eigen::Matrix<double, 6, 1> gripper_com_pose; | ||
| XmlRpc::XmlRpcValue gripper_com_pose_XmlRpc; | ||
| if (n_.hasParam("gripper_com_pose")) | ||
| { | ||
| n_.getParam("gripper_com_pose", gripper_com_pose_XmlRpc); | ||
| } | ||
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| else | ||
| { | ||
| ROS_ERROR("Parameter 'gripper_com_pose' not set, shutting down node..."); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| if(gripper_com_pose_XmlRpc.size()!=6) | ||
| { | ||
| ROS_ERROR("Invalid 'gripper_com_pose' parameter size (should be size 6), shutting down node"); | ||
| n_.shutdown(); | ||
| return false; | ||
| } | ||
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| for(unsigned int i=0; i<gripper_com_pose_XmlRpc.size(); i++) | ||
| { | ||
| gripper_com_pose(i) = gripper_com_pose_XmlRpc[i]; | ||
| } | ||
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| tf::Vector3 p; | ||
| tf::vectorEigenToTF(gripper_com_pose.topRows(3), p); | ||
| tf::Quaternion q; | ||
| q.setRPY((double)gripper_com_pose(3), | ||
| (double)gripper_com_pose(4), | ||
| (double)gripper_com_pose(5)); | ||
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| gripper_com.Transform(q, p); | ||
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| m_g_comp_params->setBias(bias); | ||
| m_g_comp_params->setGripperMass(gripper_mass); | ||
| m_g_comp_params->setGripperCOM(gripper_com); | ||
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| m_g_comp = new GravityCompensation(m_g_comp_params); | ||
| return true; | ||
| } | ||
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| void topicCallback_imu(const sensor_msgs::Imu::ConstPtr &msg) | ||
| { | ||
| m_imu = *msg; | ||
| } | ||
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| void topicCallback_ft_raw(const geometry_msgs::WrenchStamped::ConstPtr &msg) | ||
| { | ||
| geometry_msgs::WrenchStamped ft_zeroed; | ||
| m_g_comp->Zero(*msg, ft_zeroed); | ||
| topicPub_ft_zeroed_.publish(ft_zeroed); | ||
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| geometry_msgs::WrenchStamped ft_compensated; | ||
| m_g_comp->Compensate(ft_zeroed, m_imu, ft_compensated); | ||
| topicPub_ft_compensated_.publish(ft_compensated); | ||
| } | ||
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| void publish_gripper_com_tf() | ||
| { | ||
| tf::StampedTransform gripper_com = m_g_comp_params->getGripperCOM(); | ||
| gripper_com.stamp_ = ros::Time::now(); | ||
| tf_br_.sendTransform(gripper_com); | ||
| } | ||
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| private: | ||
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| GravityCompensationParams *m_g_comp_params; | ||
| GravityCompensation *m_g_comp; | ||
| sensor_msgs::Imu m_imu; | ||
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| }; | ||
|
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| int main(int argc, char **argv) | ||
| { | ||
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| ros::init(argc, argv, "gravity_compensation"); | ||
| GravityCompensationNode g_comp_node; | ||
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| // tf broadcasting frequency | ||
| double tf_broad_frequency; | ||
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| // loop frequency | ||
| double loop_frequency; | ||
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| g_comp_node.n_.param("tf_broadcast_frequency", tf_broad_frequency, 100.0); | ||
| g_comp_node.n_.param("loop_frequency", loop_frequency, 1000.0); | ||
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| // todo: add two threads, one for reading ft and imu and one for publish tf | ||
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| return 0; | ||
| } | ||
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