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HrpsysSeqStateROSBridge.cpp
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// -*- C++ -*-
/*!
* @file HrpsysSeqStateROSBridge.cpp * @brief hrpsys seq state - ros bridge * $Date$
*
* $Id$
*/
#include "HrpsysSeqStateROSBridge.h"
#include "rtm/idl/RTC.hh"
#include "hrpsys_ros_bridge/idl/ExecutionProfileService.hh"
#include "hrpsys_ros_bridge/idl/RobotHardwareService.hh"
#include <boost/format.hpp>
// Module specification
// <rtc-template block="module_spec">
static const char* hrpsysseqstaterosbridge_spec[] =
{
"implementation_id", "HrpsysSeqStateROSBridge",
"type_name", "HrpsysSeqStateROSBridge",
"description", "hrpsys seq state - ros bridge",
"version", "1.0",
"vendor", "Kei Okada",
"category", "example",
"activity_type", "SPORADIC",
"kind", "DataFlowComponent",
"max_instance", "10",
"language", "C++",
"lang_type", "compile",
// Configuration variables
""
};
// </rtc-template>
HrpsysSeqStateROSBridge::HrpsysSeqStateROSBridge(RTC::Manager* manager) :
use_sim_time(false), use_hrpsys_time(false),
#ifdef USE_PR2_CONTROLLERS_MSGS
joint_trajectory_server(nh, "fullbody_controller/joint_trajectory_action", false),
#endif
follow_joint_trajectory_server(nh, "fullbody_controller/follow_joint_trajectory_action", false),
HrpsysSeqStateROSBridgeImpl(manager), follow_action_initialized(false), prev_odom_acquired(false)
{
// ros
ros::NodeHandle pnh("~");
pnh.param("publish_sensor_transforms", publish_sensor_transforms, true);
pnh.param("tf_rate", tf_rate, 50.0);
// tf callback is isolated to have independent execution rate
tf_transforms.clear();
periodic_update_timer = pnh.createTimer(ros::Duration(1.0 / tf_rate), boost::bind(&HrpsysSeqStateROSBridge::periodicTimerCallback, this, _1));
#ifdef USE_PR2_CONTROLLERS_MSGS
joint_trajectory_server.registerGoalCallback(boost::bind(&HrpsysSeqStateROSBridge::onJointTrajectoryActionGoal, this));
joint_trajectory_server.registerPreemptCallback(boost::bind(&HrpsysSeqStateROSBridge::onJointTrajectoryActionPreempt, this));
#endif
follow_joint_trajectory_server.registerGoalCallback(boost::bind(&HrpsysSeqStateROSBridge::onFollowJointTrajectoryActionGoal, this));
follow_joint_trajectory_server.registerPreemptCallback(boost::bind(&HrpsysSeqStateROSBridge::onFollowJointTrajectoryActionPreempt, this));
sendmsg_srv = nh.advertiseService(std::string("sendmsg"), &HrpsysSeqStateROSBridge::sendMsg, this);
set_sensor_transformation_srv = nh.advertiseService("set_sensor_transformation", &HrpsysSeqStateROSBridge::setSensorTransformation, this);
joint_state_pub = nh.advertise<sensor_msgs::JointState>("joint_states", 1);
#ifdef USE_PR2_CONTROLLERS_MSGS
joint_controller_state_pub = nh.advertise<pr2_controllers_msgs::JointTrajectoryControllerState>("/fullbody_controller/state", 1);
#else
joint_controller_state_pub = nh.advertise<control_msgs::JointTrajectoryControllerState>("/fullbody_controller/state", 1);
#endif
trajectory_command_sub = nh.subscribe("/fullbody_controller/command", 1, &HrpsysSeqStateROSBridge::onTrajectoryCommandCB, this);
mot_states_pub = nh.advertise<hrpsys_ros_bridge::MotorStates>("/motor_states", 1);
odom_pub = nh.advertise<nav_msgs::Odometry>("/odom", 1);
imu_pub = nh.advertise<sensor_msgs::Imu>("/imu", 1);
// is use_sim_time is set and no one publishes clock, publish clock time
use_sim_time = ros::Time::isSimTime();
clock_sub = nh.subscribe("/clock", 1, &HrpsysSeqStateROSBridge::clock_cb, this);
{ // wait ...
ros::WallDuration wtm(0, 500000000);
wtm.sleep();
}
if ( use_sim_time ) {
int num = clock_sub.getNumPublishers();
ROS_DEBUG("[HrpsysSeqStateROSBridge] number of clock publisher : %d", num);
clock_pub = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
ros::WallTime rnow = ros::WallTime::now();
while (clock_sub.getNumPublishers() == num) {
if ((ros::WallTime::now() - rnow).toSec() > 15.0) { // timeout 15 sec
break;
}
ros::WallDuration wtm(0, 1000000);
wtm.sleep();
}
ROS_DEBUG("wating for num of clock publishers = %d", clock_sub.getNumPublishers());
if(clock_sub.getNumPublishers() == 1) { // if use sim_time and publisher==1, which means clock publisher is only this RosBridge
ROS_WARN("[HrpsysSeqStateROSBridge] use_hrpsys_time");
use_hrpsys_time = true;
} else {
clock_sub.shutdown();
clock_pub.shutdown();
ROS_WARN("[HrpsysSeqStateROSBridge] use_sim_time");
}
}
#ifdef USE_PR2_CONTROLLERS_MSGS
joint_trajectory_server.start();
#endif
follow_joint_trajectory_server.start();
}
HrpsysSeqStateROSBridge::~HrpsysSeqStateROSBridge() {
#ifdef USE_PR2_CONTROLLERS_MSGS
joint_trajectory_server.shutdown();
#endif
follow_joint_trajectory_server.shutdown();
};
RTC::ReturnCode_t HrpsysSeqStateROSBridge::onFinalize() {
ROS_INFO_STREAM("[HrpsysSeqStateROSBridge] @onFinalize : " << getInstanceName());
#ifdef USE_PR2_CONTROLLERS_MSGS
if ( joint_trajectory_server.isActive() ) {
joint_trajectory_server.setPreempted();
}
#endif
if ( follow_joint_trajectory_server.isActive() ) {
follow_joint_trajectory_server.setPreempted();
}
return RTC_OK;
}
RTC::ReturnCode_t HrpsysSeqStateROSBridge::onInitialize() {
// initialize
ROS_INFO_STREAM("[HrpsysSeqStateROSBridge] @Initilize name : " << getInstanceName());
// impl
HrpsysSeqStateROSBridgeImpl::onInitialize();
if ( body == NULL ) {
return RTC::RTC_ERROR;
}
ROS_INFO_STREAM("[HrpsysSeqStateROSBridge] Loaded " << body->name());
body->calcForwardKinematics();
tm.tick();
rootlink_name = std::string((*(bodyinfo->links()))[0].segments[0].name);
interpolationp = false;
ROS_INFO_STREAM("[HrpsysSeqStateROSBridge] @Initilize name : " << getInstanceName() << " done");
fsensor_pub.resize(m_rsforceIn.size()+m_offforceIn.size()+m_mcforceIn.size());
for (unsigned int i=0; i<m_rsforceIn.size(); i++){
fsensor_pub[i] = nh.advertise<geometry_msgs::WrenchStamped>(m_rsforceName[i], 10);
}
for (unsigned int i=0; i<m_offforceIn.size(); i++){
fsensor_pub[i+m_rsforceIn.size()] = nh.advertise<geometry_msgs::WrenchStamped>(m_offforceName[i], 10);
}
for (unsigned int i=0; i<m_mcforceIn.size(); i++){
fsensor_pub[i+m_rsforceIn.size()+m_offforceIn.size()] = nh.advertise<geometry_msgs::WrenchStamped>(m_mcforceName[i], 10);
}
zmp_pub = nh.advertise<geometry_msgs::PointStamped>("/zmp", 10);
ref_cp_pub = nh.advertise<geometry_msgs::PointStamped>("/ref_capture_point", 10);
act_cp_pub = nh.advertise<geometry_msgs::PointStamped>("/act_capture_point", 10);
ref_contact_states_pub = nh.advertise<hrpsys_ros_bridge::ContactStatesStamped>("/ref_contact_states", 10);
act_contact_states_pub = nh.advertise<hrpsys_ros_bridge::ContactStatesStamped>("/act_contact_states", 10);
cop_pub.resize(m_mcforceName.size());
for (unsigned int i=0; i<m_mcforceName.size(); i++){
std::string tmpname(m_mcforceName[i]); // "ref_xx"
tmpname.erase(0,4); // Remove "ref_"
cop_pub[i] = nh.advertise<geometry_msgs::PointStamped>(tmpname+"_cop", 10);
}
em_mode_pub = nh.advertise<std_msgs::Int32>("emergency_mode", 10);
return RTC::RTC_OK;
}
void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory trajectory) {
m_mutex.lock();
ROS_INFO_STREAM("[" << getInstanceName() << "] @onJointTrajectoryAction ");
//std::cerr << goal->trajectory.joint_names.size() << std::endl;
OpenHRP::dSequenceSequence angles;
OpenHRP::dSequence duration;
angles.length(trajectory.points.size()) ;
duration.length(trajectory.points.size()) ;
std::vector<std::string> joint_names = trajectory.joint_names;
// set body to current reference angle
if ( m_mcangle.data.length() == body->joints().size() ) {
for (unsigned int i = 0; i < body->joints().size(); i++){
body->joint(i)->q = m_mcangle.data[i];
}
}
for (unsigned int i=0; i < trajectory.points.size(); i++) {
angles[i].length(body->joints().size());
trajectory_msgs::JointTrajectoryPoint point = trajectory.points[i];
for (unsigned int j=0; j < trajectory.joint_names.size(); j++ ) {
hrp::Link* l = body->link(joint_names[j]);
if(l) l->q = point.positions[j];
else ROS_WARN_STREAM_ONCE("[" << getInstanceName() << "] @onJointTrajectoryAction : joint named " << joint_names[j] << " is not found. Skipping ...");
}
body->calcForwardKinematics();
int j = 0;
std::vector<hrp::Link*>::const_iterator it = body->joints().begin();
while ( it != body->joints().end() ) {
hrp::Link* l = ((hrp::Link*)*it);
angles[i][j] = l->q;
++it;++j;
}
ROS_INFO_STREAM("[" << getInstanceName() << "] @onJointTrajectoryAction : time_from_start " << trajectory.points[i].time_from_start.toSec());
if ( i > 0 ) {
duration[i] = trajectory.points[i].time_from_start.toSec() - trajectory.points[i-1].time_from_start.toSec();
} else { // if i == 0
duration[i] = trajectory.points[i].time_from_start.toSec();
if ( std::abs(duration[i]) < 0.001 ) duration[i] = 0.001; // set delta ... https://github.com/start-jsk/rtmros_common/issues/1036
}
}
m_mutex.unlock();
if ( duration.length() == 1 ) {
m_service0->setJointAngles(angles[0], duration[0]);
} else {
// hrpsys < 315.5.0 does not have clearJointAngles, so need to use old API
if (LessThanVersion(hrpsys_version, std::string("315.5.0"))) {
OpenHRP::dSequenceSequence rpy, zmp;
m_service0->playPattern(angles, rpy, zmp, duration);
} else {
m_service0->setJointAnglesSequence(angles, duration);
}
}
traj_start_tm = ros::Time::now();
interpolationp = true;
}
#ifdef USE_PR2_CONTROLLERS_MSGS
void HrpsysSeqStateROSBridge::onJointTrajectoryActionGoal() {
pr2_controllers_msgs::JointTrajectoryGoalConstPtr goal = joint_trajectory_server.acceptNewGoal();
onJointTrajectory(goal->trajectory);
}
#endif
void HrpsysSeqStateROSBridge::onFollowJointTrajectoryActionGoal() {
control_msgs::FollowJointTrajectoryGoalConstPtr goal = follow_joint_trajectory_server.acceptNewGoal();
follow_action_initialized = true;
onJointTrajectory(goal->trajectory);
}
#ifdef USE_PR2_CONTROLLERS_MSGS
void HrpsysSeqStateROSBridge::onJointTrajectoryActionPreempt() {
joint_trajectory_server.setPreempted();
if (!joint_trajectory_server.isNewGoalAvailable()) {
// Cancel request comes from client, so motion should be stopped immediately,
// while motion should be changed smoothly when new goal comes.
// hrpsys < 315.5.0 does not have clearJointAngles, so need to use old API
if (LessThanVersion(hrpsys_version, std::string("315.5.0"))) {
m_service0->clear();
} else {
m_service0->clearJointAngles();
}
}
}
#endif
void HrpsysSeqStateROSBridge::onFollowJointTrajectoryActionPreempt() {
follow_joint_trajectory_server.setPreempted();
if (!follow_joint_trajectory_server.isNewGoalAvailable()) {
// Cancel request comes from client, so motion should be stopped immediately,
// while motion should be changed smoothly when new goal comes.
// hrpsys < 315.5.0 does not have clearJointAngles, so need to use old API
if (LessThanVersion(hrpsys_version, std::string("315.5.0"))) {
m_service0->clear();
} else {
m_service0->clearJointAngles();
}
}
}
void HrpsysSeqStateROSBridge::onTrajectoryCommandCB(const trajectory_msgs::JointTrajectoryConstPtr& msg) {
onJointTrajectory(*msg);
}
bool HrpsysSeqStateROSBridge::setSensorTransformation(hrpsys_ros_bridge::SetSensorTransformation::Request& req,
hrpsys_ros_bridge::SetSensorTransformation::Response& res)
{
boost::mutex::scoped_lock lock(sensor_transformation_mutex);
sensor_transformations[req.sensor_name] = req.transform;
return true;
}
bool HrpsysSeqStateROSBridge::sendMsg (dynamic_reconfigure::Reconfigure::Request &req,
dynamic_reconfigure::Reconfigure::Response &res)
{
if ( req.config.strs.size() == 2 ) {
res.config.strs = req.config.strs;
ROS_INFO_STREAM("[" << getInstanceName() << "] @sendMsg [" << req.config.strs[0].value << "]");
if (req.config.strs[0].value == "setInterpolationMode") {
ROS_INFO_STREAM("[" << getInstanceName() << "] @sendMsg [" << req.config.strs[1].value << "]");
if ( req.config.strs[1].value == ":linear" ) {
ROS_DEBUG("set interpolation mode -> :linear");
m_service0->setInterpolationMode(OpenHRP::SequencePlayerService::LINEAR);
} else {
ROS_DEBUG("set interpolation mode -> :hoffarbib");
m_service0->setInterpolationMode(OpenHRP::SequencePlayerService::HOFFARBIB);
}
} else if (req.config.strs[0].value == "setJointAngles") {
std::istringstream iss(req.config.strs[1].value);
OpenHRP::dSequence js;
js.length(body->joints().size());
double duration;
for (size_t ii = 0; ii < body->joints().size(); ii++) iss >> js[ii];
iss >> duration;
m_service0->setJointAngles(js, duration);
} else if (req.config.strs[0].value == "waitInterpolation") {
m_service0->waitInterpolation();
}
} else {
ROS_ERROR_STREAM("[" << getInstanceName() << "] @sendMsg [Invalid argument string length]");
return false;
}
return true;
}
RTC::ReturnCode_t HrpsysSeqStateROSBridge::onExecute(RTC::UniqueId ec_id)
{
ros::Time tm_on_execute = ros::Time::now();
#ifdef USE_PR2_CONTROLLERS_MSGS
pr2_controllers_msgs::JointTrajectoryControllerState joint_controller_state;
#else
control_msgs::JointTrajectoryControllerState joint_controller_state;
#endif
joint_controller_state.header.stamp = tm_on_execute;
control_msgs::FollowJointTrajectoryFeedback follow_joint_trajectory_feedback;
follow_joint_trajectory_feedback.header.stamp = tm_on_execute;
hrpsys_ros_bridge::MotorStates mot_states;
mot_states.header.stamp = tm_on_execute;
static int count_all = 0;
static int count_read = 0; // inc only when data is arrived
static int count_drop = 0; // inc only when data is dropped
count_all ++;
// servoStateIn
if ( m_servoStateIn.isNew () ) {
try {
m_servoStateIn.read();
if ( use_hrpsys_time ) {
mot_states.header.stamp = ros::Time(m_servoState.tm.sec, m_servoState.tm.nsec);
} else{
mot_states.header.stamp = tm_on_execute;
}
if (m_servoState.data.length() != body->joints().size()){
std::cerr << __PRETTY_FUNCTION__ << "m_servoState.data.length() = " << m_servoState.data.length() << std::endl;
std::cerr << __PRETTY_FUNCTION__ << "body->joints().size() = " << body->joints().size() << std::endl;
for ( unsigned int i = 0; i < body->joints().size() ; i++ ) std::cerr << body->joint(i)->name << " "; std::cerr << std::endl;
}
assert(m_servoState.data.length() == body->joints().size());
int joint_size = body->joints().size();
mot_states.name.resize(joint_size);
mot_states.calib_state.resize(joint_size);
mot_states.servo_state.resize(joint_size);
mot_states.power_state.resize(joint_size);
mot_states.servo_alarm.resize(joint_size);
mot_states.driver_temp.resize(joint_size);
int extra_size = 0;
if ( joint_size > 0 ) extra_size = m_servoState.data[0].length() - 1;
mot_states.extra_data.layout.dim.resize(2);
mot_states.extra_data.layout.dim[0].label = "joint";
mot_states.extra_data.layout.dim[0].size = joint_size;
mot_states.extra_data.layout.dim[0].stride = joint_size*extra_size;
mot_states.extra_data.layout.dim[1].label = "extra_data";
mot_states.extra_data.layout.dim[1].size = extra_size;
mot_states.extra_data.layout.dim[1].stride = extra_size;
mot_states.extra_data.data.resize(joint_size*extra_size);
for ( unsigned int i = 0; i < joint_size ; i++ ){
mot_states.name[i] = body->joint(i)->name;
mot_states.calib_state[i] = (m_servoState.data[i][0] & OpenHRP::RobotHardwareService::CALIB_STATE_MASK) >> OpenHRP::RobotHardwareService::CALIB_STATE_SHIFT;
mot_states.servo_state[i] = (m_servoState.data[i][0] & OpenHRP::RobotHardwareService::SERVO_STATE_MASK) >> OpenHRP::RobotHardwareService::SERVO_STATE_SHIFT;
mot_states.power_state[i] = (m_servoState.data[i][0] & OpenHRP::RobotHardwareService::POWER_STATE_MASK) >> OpenHRP::RobotHardwareService::POWER_STATE_SHIFT;
mot_states.servo_alarm[i] = (m_servoState.data[i][0] & OpenHRP::RobotHardwareService::SERVO_ALARM_MASK) >> OpenHRP::RobotHardwareService::SERVO_ALARM_SHIFT;
mot_states.driver_temp[i] = (m_servoState.data[i][0] & OpenHRP::RobotHardwareService::DRIVER_TEMP_MASK) >> OpenHRP::RobotHardwareService::DRIVER_TEMP_SHIFT;
for ( unsigned int j = 0; j < extra_size; j++ ) {
mot_states.extra_data.data[i*extra_size+j] = ((float *)&(m_servoState.data[i][1]))[j];
}
}
mot_states_pub.publish(mot_states);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] m_rservoStateIn failed with " << e.what());
}
} // end: servoStateIn
// rstorqueIn
if ( m_rstorqueIn.isNew () ) {
try {
m_rstorqueIn.read();
//for ( unsigned int i = 0; i < m_rstorque.data.length() ; i++ ) std::cerr << m_rstorque.data[i] << " "; std::cerr << std::endl;
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] m_rstorqueIn failed with " << e.what());
}
} // end: rstorqueIn
// rsvelIn
if ( m_rsvelIn.isNew () ) {
try {
m_rsvelIn.read();
//for ( unsigned int i = 0; i < m_rstorque.data.length() ; i++ ) std::cerr << m_rstorque.data[i] << " "; std::cerr << std::endl;
} catch(const std::runtime_error &e) {
ROS_ERROR_STREAM("[" << getInstanceName() << "] m_rsvelIn failed with " << e.what());
}
} // end: rsvelIn
// m_in_rsangleIn
if ( m_rsangleIn.isNew () ) {
ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute ec_id : " << ec_id << ", rs:" << m_rsangleIn.isNew () << ", baseTform:" << m_baseTformIn.isNew());
try {
m_rsangleIn.read();
//for ( unsigned int i = 0; i < m_rsangle.data.length() ; i++ ) std::cerr << m_rsangle.data[i] << " "; std::cerr << std::endl;
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] m_rsangleIn failed with " << e.what());
}
//
sensor_msgs::JointState joint_state;
if ( use_hrpsys_time ) {
// convert openrtm time to ros time
joint_state.header.stamp = ros::Time(m_rsangle.tm.sec, m_rsangle.tm.nsec);
}else{
joint_state.header.stamp = tm_on_execute;
}
//
if ( use_hrpsys_time ) {
rosgraph_msgs::Clock clock_msg;
clock_msg.clock = ros::Time(m_rsangle.tm.sec,m_rsangle.tm.nsec);
clock_pub.publish(clock_msg);
}
m_mutex.lock();
body->calcForwardKinematics();
if ( m_rsangle.data.length() < body->joints().size() ) {
ROS_ERROR_STREAM("rsangle.data.length(" << m_rsangle.data.length() << ") is not equal to body->joints().size(" << body->joints().size() << ")");
m_mutex.unlock();
return RTC::RTC_OK;
} else if ( m_rsangle.data.length() != body->joints().size() ) {
ROS_INFO_STREAM("rsangle.data.length(" << m_rsangle.data.length() << ") is not equal to body->joints().size(" << body->joints().size() << ")");
}
for ( unsigned int i = 0; i < body->joints().size() ; i++ ){
body->joint(i)->q = m_rsangle.data[i];
ROS_DEBUG_STREAM(m_rsangle.data[i] << " ");
}
ROS_DEBUG_STREAM(std::endl);
body->calcForwardKinematics();
// joint state publish
std::vector<hrp::Link*>::const_iterator it = body->joints().begin();
while ( it != body->joints().end() ) {
hrp::Link* j = ((hrp::Link*)*it);
if (j->parent != NULL) {
ROS_DEBUG_STREAM(j->name << " - " << j->q);
joint_state.name.push_back(j->name);
joint_state.position.push_back(j->q);
joint_controller_state.joint_names.push_back(j->name);
joint_controller_state.actual.positions.push_back(j->q);
//joint_state.velocity
//joint_state.effort
follow_joint_trajectory_feedback.joint_names.push_back(j->name);
follow_joint_trajectory_feedback.desired.time_from_start = tm_on_execute - traj_start_tm;
follow_joint_trajectory_feedback.actual.time_from_start = tm_on_execute - traj_start_tm;
follow_joint_trajectory_feedback.error.time_from_start = tm_on_execute - traj_start_tm;
follow_joint_trajectory_feedback.desired.positions.push_back(j->q);
follow_joint_trajectory_feedback.actual.positions.push_back(j->q);
follow_joint_trajectory_feedback.error.positions.push_back(0);
follow_joint_trajectory_feedback.desired.velocities.push_back(j->dq);
follow_joint_trajectory_feedback.actual.velocities.push_back(j->dq);
follow_joint_trajectory_feedback.error.velocities.push_back(0);
follow_joint_trajectory_feedback.desired.accelerations.push_back(j->ddq);
follow_joint_trajectory_feedback.actual.accelerations.push_back(j->ddq);
follow_joint_trajectory_feedback.error.accelerations.push_back(0);
follow_joint_trajectory_feedback.desired.effort.push_back(j->u);
follow_joint_trajectory_feedback.actual.effort.push_back(j->u);
follow_joint_trajectory_feedback.error.effort.push_back(0);
}
++it;
}
// set velocity if m_rsvel is available
if (m_rsvel.data.length() == body->joints().size()) {
for (unsigned int i = 0; i < body->joints().size(); i++) {
joint_state.velocity.push_back(m_rsvel.data[i]);
}
} else {
double time_from_prev = (joint_state.header.stamp - prev_joint_state.header.stamp).toSec();
if(time_from_prev > 0 && prev_joint_state.position.size() == joint_state.position.size()) {
for (unsigned int i = 0; i < joint_state.position.size(); i++) {
joint_state.velocity.push_back((joint_state.position[i] - prev_joint_state.position[i]) / time_from_prev);
}
} else {
joint_state.velocity.resize(joint_state.name.size());
}
}
prev_joint_state = joint_state;
// set effort if m_rstorque is available
if (m_rstorque.data.length() == body->joints().size()) {
for ( unsigned int i = 0; i < body->joints().size() ; i++ ){
joint_state.effort.push_back(m_rstorque.data[i]);
}
} else {
joint_state.effort.resize(joint_state.name.size());
}
joint_state_pub.publish(joint_state);
m_mutex.unlock();
// publish sensor transformations
ros::Time sensor_tf_stamp;
if ( use_hrpsys_time ) {
sensor_tf_stamp = ros::Time(m_rsangle.tm.sec, m_rsangle.tm.nsec);
}else{
sensor_tf_stamp = tm_on_execute;
}
updateSensorTransform(sensor_tf_stamp); // transform depends on joint angles, not sensor values
#ifdef USE_PR2_CONTROLLERS_MSGS
if ( joint_trajectory_server.isActive() &&
interpolationp == true && m_service0->isEmpty() == true ) {
pr2_controllers_msgs::JointTrajectoryResult result;
joint_trajectory_server.setSucceeded(result);
interpolationp = false;
}
#endif
if ( follow_joint_trajectory_server.isActive() &&
interpolationp == true && m_service0->isEmpty() == true ) {
control_msgs::FollowJointTrajectoryResult result;
result.error_code = control_msgs::FollowJointTrajectoryResult::SUCCESSFUL;
follow_joint_trajectory_server.setSucceeded(result);
interpolationp = false;
}
ros::Time tm_on_execute = ros::Time::now();
#ifdef USE_PR2_CONTROLLERS_MSGS
if ( joint_trajectory_server.isActive() ) {
pr2_controllers_msgs::JointTrajectoryFeedback joint_trajectory_feedback;
joint_trajectory_server.publishFeedback(joint_trajectory_feedback);
}
#endif
if ( follow_joint_trajectory_server.isActive() ) {
follow_joint_trajectory_feedback.header.stamp = tm_on_execute;
if (!follow_joint_trajectory_feedback.joint_names.empty() &&
!follow_joint_trajectory_feedback.actual.positions.empty())
{
follow_joint_trajectory_server.publishFeedback(follow_joint_trajectory_feedback);
}
}
ros::spinOnce();
// diagnostics
tm.tack();
if ( tm.interval() > 1 ) {
ROS_INFO_STREAM("[" << getInstanceName() << "] @onExecutece " << ec_id << " is working at " << count_read << "[Hz] (exec " << count_all << " Hz, dropped " << count_drop << ")");
tm.tick();
count_read = 0;
count_all = 0;
count_drop = 0;
}
static ros::Time t0, t1;
t1 = ros::Time(m_rsangle.tm.sec,m_rsangle.tm.nsec);
if ( (t1 - t0).toSec() < dt * 0.9 || dt * 1.1 < (t1 - t0).toSec() ){
ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecutece " << ec_id << " may drop communication. " << (t1 - t0).toSec() << "[sec] (" << dt << ")");
count_drop ++;
}
t0 = t1;
count_read ++;
} else { //m_in_rsangleIn
double interval = 5;
tm.tack();
if ( tm.interval() > interval ) {
ROS_WARN_STREAM("[" << getInstanceName() << "] @onExecutece " << ec_id << " is not executed last " << interval << "[sec]");
tm.tick();
}
} // end: m_in_rsangleIn
// m_mcangleIn
if ( m_mcangleIn.isNew () ) {
//ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute ec_id : " << ec_id << ", mc:" << m_mcangleIn.isNew () << ", baseTform:" << m_baseTformIn.isNew() << ", lfsensor:" << m_mclfsensorIn.isNew() << ", rfsensor:" << m_mcrfsensorIn.isNew());
try {
m_mcangleIn.read();
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
// joint controller state publish <- only if both rsangle and mcangle are prepared.
if ( !joint_controller_state.joint_names.empty() && !joint_controller_state.actual.positions.empty() ) {
for ( unsigned int i = 0; i < body->joints().size() ; i++ ){
ROS_DEBUG_STREAM(body->joint(i)->name << " - " << m_mcangle.data[i]);
joint_controller_state.desired.positions.push_back(m_mcangle.data[i]);
joint_controller_state.error.positions.push_back(joint_controller_state.actual.positions[i]-joint_controller_state.desired.positions[i]);
}
/* set zero for all velocities and accelerations */
joint_controller_state.desired.velocities.resize(joint_controller_state.joint_names.size());
joint_controller_state.desired.accelerations.resize(joint_controller_state.joint_names.size());
joint_controller_state.actual.velocities.resize(joint_controller_state.joint_names.size());
joint_controller_state.actual.accelerations.resize(joint_controller_state.joint_names.size());
joint_controller_state.error.velocities.resize(joint_controller_state.joint_names.size());
joint_controller_state.error.accelerations.resize(joint_controller_state.joint_names.size());
joint_controller_state_pub.publish(joint_controller_state);
}
if ( !follow_joint_trajectory_feedback.joint_names.empty() &&
!follow_joint_trajectory_feedback.actual.positions.empty() &&
follow_action_initialized &&
follow_joint_trajectory_server.isActive() ) {
follow_joint_trajectory_server.publishFeedback(follow_joint_trajectory_feedback);
}
} // end: m_mcangleIn
// m_baseTformIn
bool is_base_valid = false;
tf::Transform base;
if ( m_baseTformIn.isNew () ) {
m_baseTformIn.read();
is_base_valid = true;
// calculate base transform
double *a = m_baseTform.data.get_buffer();
hrp::Vector3 base_origin = hrp::Vector3(a[0], a[1], a[2]);
base.setOrigin(tf::Vector3(base_origin[0], base_origin[1], base_origin[2]));
// calculate pose quaternion
hrp::Matrix33 R;
hrp::getMatrix33FromRowMajorArray(R, a, 3);
hrp::Vector3 rpy = hrp::rpyFromRot(R);
tf::Quaternion q = tf::createQuaternionFromRPY(rpy(0), rpy(1), rpy(2));
base.setRotation(q);
ros::Time odom_stamp;
if ( use_hrpsys_time ) {
odom_stamp = ros::Time(m_baseTform.tm.sec, m_baseTform.tm.nsec);
} else {
odom_stamp = tm_on_execute;
}
updateOdometry(base_origin, R, odom_stamp);
} // end: m_baseTformIn
updateImu(base, is_base_valid, tm_on_execute);
// publish forces sonsors
for (unsigned int i=0; i<m_rsforceIn.size(); i++){
if ( m_rsforceIn[i]->isNew() ) {
try {
m_rsforceIn[i]->read();
ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute " << m_rsforceName[i] << " size = " << m_rsforce[i].data.length() );
if ( m_rsforce[i].data.length() >= 6 ) {
geometry_msgs::WrenchStamped fsensor;
if ( use_hrpsys_time ) {
fsensor.header.stamp = ros::Time(m_rsforce[i].tm.sec, m_rsforce[i].tm.nsec);
}else{
fsensor.header.stamp = tm_on_execute;
}
fsensor.header.frame_id = m_rsforceName[i];
fsensor.wrench.force.x = m_rsforce[i].data[0];
fsensor.wrench.force.y = m_rsforce[i].data[1];
fsensor.wrench.force.z = m_rsforce[i].data[2];
fsensor.wrench.torque.x = m_rsforce[i].data[3];
fsensor.wrench.torque.y = m_rsforce[i].data[4];
fsensor.wrench.torque.z = m_rsforce[i].data[5];
fsensor_pub[i].publish(fsensor);
}
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
} // end: publish forces sonsors
for (unsigned int i=0; i<m_offforceIn.size(); i++){
if ( m_offforceIn[i]->isNew() ) {
try {
m_offforceIn[i]->read();
ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute " << m_offforceName[i] << " size = " << m_offforce[i].data.length() );
if ( m_offforce[i].data.length() >= 6 ) {
geometry_msgs::WrenchStamped fsensor;
if ( use_hrpsys_time ) {
fsensor.header.stamp = ros::Time(m_offforce[i].tm.sec, m_offforce[i].tm.nsec);
}else{
fsensor.header.stamp = tm_on_execute;
}
fsensor.header.frame_id = m_offforceName[i].substr(std::string("off_").size());
fsensor.wrench.force.x = m_offforce[i].data[0];
fsensor.wrench.force.y = m_offforce[i].data[1];
fsensor.wrench.force.z = m_offforce[i].data[2];
fsensor.wrench.torque.x = m_offforce[i].data[3];
fsensor.wrench.torque.y = m_offforce[i].data[4];
fsensor.wrench.torque.z = m_offforce[i].data[5];
fsensor_pub[i+m_rsforceIn.size()].publish(fsensor);
}
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
} // end: publish forces sonsors
// publish reference forces sonsors
for (unsigned int i=0; i<m_mcforceIn.size(); i++){
if ( m_mcforceIn[i]->isNew() ) {
try {
m_mcforceIn[i]->read();
ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute " << m_mcforceName[i] << " size = " << m_mcforce[i].data.length() );
if ( m_mcforce[i].data.length() >= 6 ) {
geometry_msgs::WrenchStamped fsensor;
if ( use_hrpsys_time ) {
fsensor.header.stamp = ros::Time(m_mcforce[i].tm.sec, m_mcforce[i].tm.nsec);
}else{
fsensor.header.stamp = tm_on_execute;
}
fsensor.header.frame_id = m_mcforceName[i].substr(std::string("ref_").size());
fsensor.wrench.force.x = m_mcforce[i].data[0];
fsensor.wrench.force.y = m_mcforce[i].data[1];
fsensor.wrench.force.z = m_mcforce[i].data[2];
fsensor.wrench.torque.x = m_mcforce[i].data[3];
fsensor.wrench.torque.y = m_mcforce[i].data[4];
fsensor.wrench.torque.z = m_mcforce[i].data[5];
fsensor_pub[i+m_rsforceIn.size()+m_offforceIn.size()].publish(fsensor);
}
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
} // end: publish reference forces sonsors
if ( m_rszmpIn.isNew() ) {
try {
m_rszmpIn.read();
//ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute " << m_rsforceName[i] << " size = " << m_rsforce[i].data.length() );
geometry_msgs::PointStamped zmpv;
if ( use_hrpsys_time ) {
zmpv.header.stamp = ros::Time(m_rszmp.tm.sec, m_rszmp.tm.nsec);
}else{
zmpv.header.stamp = tm_on_execute;
}
zmpv.header.frame_id = rootlink_name;
zmpv.point.x = m_rszmp.data.x;
zmpv.point.y = m_rszmp.data.y;
zmpv.point.z = m_rszmp.data.z;
zmp_pub.publish(zmpv);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_rsrefCPIn.isNew() ) {
try {
m_rsrefCPIn.read();
geometry_msgs::PointStamped refCPv;
if ( use_hrpsys_time ) {
refCPv.header.stamp = ros::Time(m_rsrefCP.tm.sec, m_rsrefCP.tm.nsec);
}else{
refCPv.header.stamp = tm_on_execute;
}
refCPv.header.frame_id = rootlink_name;
refCPv.point.x = m_rsrefCP.data.x;
refCPv.point.y = m_rsrefCP.data.y;
refCPv.point.z = m_rsrefCP.data.z;
ref_cp_pub.publish(refCPv);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_rsactCPIn.isNew() ) {
try {
m_rsactCPIn.read();
geometry_msgs::PointStamped actCPv;
if ( use_hrpsys_time ) {
actCPv.header.stamp = ros::Time(m_rsactCP.tm.sec, m_rsactCP.tm.nsec);
}else{
actCPv.header.stamp = tm_on_execute;
}
actCPv.header.frame_id = rootlink_name;
actCPv.point.x = m_rsactCP.data.x;
actCPv.point.y = m_rsactCP.data.y;
actCPv.point.z = m_rsactCP.data.z;
act_cp_pub.publish(actCPv);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_refContactStatesIn.isNew() && m_controlSwingSupportTimeIn.isNew() ) {
try {
m_refContactStatesIn.read();
m_controlSwingSupportTimeIn.read();
hrpsys_ros_bridge::ContactStatesStamped refCSs;
if ( use_hrpsys_time ) {
refCSs.header.stamp = ros::Time(m_refContactStates.tm.sec, m_refContactStates.tm.nsec);
}else{
refCSs.header.stamp = tm_on_execute;
}
int limb_size = m_refContactStates.data.length();
refCSs.states.resize(limb_size);
for ( unsigned int i = 0; i < limb_size ; i++ ){
hrpsys_ros_bridge::ContactState s;
if (m_refContactStates.data[i]) {
s.state = s.ON;
} else {
s.state = s.OFF;
}
s.remaining_time = m_controlSwingSupportTime.data[i];
refCSs.states[i].header.stamp = refCSs.header.stamp;
refCSs.states[i].header.frame_id = m_rsforceName[i];
refCSs.states[i].state = s;
}
ref_contact_states_pub.publish(refCSs);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_actContactStatesIn.isNew() ) {
try {
m_actContactStatesIn.read();
hrpsys_ros_bridge::ContactStatesStamped actCSs;
if ( use_hrpsys_time ) {
actCSs.header.stamp = ros::Time(m_actContactStates.tm.sec, m_actContactStates.tm.nsec);
}else{
actCSs.header.stamp = tm_on_execute;
}
int limb_size = m_actContactStates.data.length();
actCSs.states.resize(limb_size);
for ( unsigned int i = 0; i < limb_size ; i++ ){
hrpsys_ros_bridge::ContactState s;
if (m_actContactStates.data[i]) {
s.state = s.ON;
} else {
s.state = s.OFF;
}
actCSs.states[i].header.stamp = actCSs.header.stamp;
actCSs.states[i].header.frame_id = m_rsforceName[i];
actCSs.states[i].state = s;
}
act_contact_states_pub.publish(actCSs);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_rsCOPInfoIn.isNew() ) {
try {
m_rsCOPInfoIn.read();
//ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute " << m_rsforceName[i] << " size = " << m_rsforce[i].data.length() );
for (size_t i = 0; i < m_mcforceIn.size(); i++) {
std::string tmpname = m_mcforceName[i]; // "ref_xx"
tmpname.erase(0,4); // Remove "ref_"
if (cop_link_info.find(tmpname) == cop_link_info.end()) continue;
double fz = m_rsCOPInfo.data[i*3+2];
if (fz < 1e-3) continue; // If fz is small, do not publish COP.
geometry_msgs::PointStamped copv;
if ( use_hrpsys_time ) {
copv.header.stamp = ros::Time(m_rsCOPInfo.tm.sec, m_rsCOPInfo.tm.nsec);
}else{
copv.header.stamp = tm_on_execute;
}
copv.header.frame_id = cop_link_info[tmpname].link_name;
copv.point.x = m_rsCOPInfo.data[i*3+1]/fz; // copx = my / fz
copv.point.y = m_rsCOPInfo.data[i*3]/fz; // copy = mx / fz
copv.point.z = cop_link_info[tmpname].cop_offset_z; // cop z position is static.
cop_pub[i].publish(copv);
}
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
if ( m_emergencyModeIn.isNew() ) {
try {
m_emergencyModeIn.read();
//ROS_DEBUG_STREAM("[" << getInstanceName() << "] @onExecute" << " emergencyMode: " << m_emergencyMode.data);
std_msgs::Int32 em_mode;
em_mode.data = m_emergencyMode.data;
em_mode_pub.publish(em_mode);
}
catch(const std::runtime_error &e)
{
ROS_ERROR_STREAM("[" << getInstanceName() << "] " << e.what());
}
}
//
return RTC::RTC_OK;
}
void HrpsysSeqStateROSBridge::periodicTimerCallback(const ros::TimerEvent& event)
{
boost::mutex::scoped_lock lock(tf_mutex);
// broadcast tf at once to suppress publishing rate of /tf
if (!tf_transforms.empty()) {
br.sendTransform(tf_transforms);
}
tf_transforms.clear();
}
void HrpsysSeqStateROSBridge::updateOdometry(const hrp::Vector3 &trans, const hrp::Matrix33 &R, const ros::Time &stamp)
{
hrp::Vector3 rpy = hrp::rpyFromRot(R);
tf::Quaternion q = tf::createQuaternionFromRPY(rpy(0), rpy(1), rpy(2));
nav_msgs::Odometry odom;
//odom.header.frame_id = rootlink_name;
odom.header.frame_id = "odom";
if ( use_hrpsys_time ) {
odom.header.stamp = ros::Time(m_baseTform.tm.sec, m_baseTform.tm.nsec);
} else {
odom.header.stamp = stamp;
}
// odom.child_frame_id = "/odom";
odom.child_frame_id = rootlink_name;
odom.pose.pose.position.x = trans[0];
odom.pose.pose.position.y = trans[1];
odom.pose.pose.position.z = trans[2];
odom.pose.pose.orientation.x = q.getX();
odom.pose.pose.orientation.y = q.getY();
odom.pose.pose.orientation.z = q.getZ();
odom.pose.pose.orientation.w = q.getW();
if (prev_odom_acquired) {
// calc velocity
double dt = (odom.header.stamp - prev_odom.header.stamp).toSec();
if (dt > 0) {
hrp::Matrix33 prev_R = hrp::rotFromRpy(prev_rpy[0], prev_rpy[1], prev_rpy[2]);
// R = exp(omega_w*dt) * prev_R
// omega_w is described in global coordinates in relationships of twist transformation.
// omega in twist.angular is transformed into rootlink coords because twist should be described in child_frame_id.
hrp::Vector3 omega = R.transpose() * hrp::omegaFromRot(R * prev_R.transpose()) / dt; // omegaFromRot returns matrix_log
odom.twist.twist.angular.x = omega[0];
odom.twist.twist.angular.y = omega[1];
odom.twist.twist.angular.z = omega[2];
// calculate velocity (not strict linear twist from odom)
hrp::Vector3 velocity, local_velocity;
velocity[0] = (odom.pose.pose.position.x - prev_odom.pose.pose.position.x) / dt;
velocity[1] = (odom.pose.pose.position.y - prev_odom.pose.pose.position.y) / dt;
velocity[2] = (odom.pose.pose.position.z - prev_odom.pose.pose.position.z) / dt;
local_velocity = R.transpose() * velocity; // global -> local
odom.twist.twist.linear.x = local_velocity[0];
odom.twist.twist.linear.y = local_velocity[1];
odom.twist.twist.linear.z = local_velocity[2];
// calculate covariance
// assume dx, dy >> dz, dgamma >> dalpha, dbeta and use 2d odometry update equation
Eigen::VectorXd sigma(6);
sigma << 1.0, 1.0, 0.001, 0.001, 0.001, 0.1; // velocitis are assumed to have constant standard deviations and they are described in base_link local coordinates
if (std::abs(local_velocity[0]) < 0.01) {
sigma[0] = 0.001; // trust "stop" state in x
}
if (std::abs(local_velocity[1]) < 0.01) {
sigma[1] = 0.001; // trust "stop" state in y
}
if (std::abs(omega[2]) < 0.01) {
sigma[5] = 0.001; // trust "stop" state in theta
}
Eigen::Matrix<double,6,6> prev_pose_cov;
for(int i = 0; i < 6; i++) { // index in col
for (int j = 0; j < 6; j++) { // index in raw
prev_pose_cov(i, j) = prev_odom.pose.covariance[6 * i + j];
}
}
// each variance are assumed to be independent
Eigen::VectorXd sigma2(6);
for (int i = 0; i < 6; i++) {
sigma2[i] = sigma[i] * sigma[i];
}
Eigen::Matrix<double,6,6> twist_transformation = Eigen::Matrix<double,6,6>::Zero(); // matrix [[R, 0], [0, R]] to convert twist from local to global
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
twist_transformation(i, j) = R(i, j);