From 98cd2e3a4dfd9523c8137b4920c7384eb171d359 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 14:35:27 +0200 Subject: [PATCH 001/128] added COLCON_IGNORE to every controller folder to not build it every time --> added gitignore, to not push it to github --> remove it after everything is done --- .gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..57aaf61f1e --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +**/COLCON_IGNORE \ No newline at end of file From 783d129b3be106146b6777f2dc4d5d4562b5d1a9 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 14:59:21 +0200 Subject: [PATCH 002/128] added motion_primitive_forward_controller from https://github.com/mathias31415/ros2_motion_primitives_controller_pkg --- .../CMakeLists.txt | 112 +++++ motion_primitives_controller_pkg/LICENSE | 25 + motion_primitives_controller_pkg/README.md | 9 + .../execution_state.hpp | 13 + .../motion_primitives_forward_controller.hpp | 117 +++++ .../motion_type.hpp | 13 + ...imitives_forward_controller_parameters.hpp | 43 ++ .../visibility_control.h | 54 +++ ...on_primitives_controller_pkg.rolling.repos | 6 + ...ives_controller_pkg.rolling.upstream.repos | 6 + .../motion_primitives_controller_pkg.xml | 28 ++ motion_primitives_controller_pkg/package.xml | 35 ++ .../motion_primitives_forward_controller.cpp | 429 ++++++++++++++++++ .../motion_primitives_forward_controller.yaml | 52 +++ ..._primitives_forward_controller_params.yaml | 26 ++ ..._forward_controller_preceeding_params.yaml | 28 ++ ...d_motion_primitives_forward_controller.cpp | 44 ++ ...t_motion_primitives_forward_controller.cpp | 277 +++++++++++ ...t_motion_primitives_forward_controller.hpp | 274 +++++++++++ ...imitives_forward_controller_preceeding.cpp | 80 ++++ 20 files changed, 1671 insertions(+) create mode 100644 motion_primitives_controller_pkg/CMakeLists.txt create mode 100644 motion_primitives_controller_pkg/LICENSE create mode 100644 motion_primitives_controller_pkg/README.md create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml create mode 100644 motion_primitives_controller_pkg/package.xml create mode 100644 motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml create mode 100644 motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml create mode 100644 motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml create mode 100644 motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp diff --git a/motion_primitives_controller_pkg/CMakeLists.txt b/motion_primitives_controller_pkg/CMakeLists.txt new file mode 100644 index 0000000000..4ac8f424c8 --- /dev/null +++ b/motion_primitives_controller_pkg/CMakeLists.txt @@ -0,0 +1,112 @@ +cmake_minimum_required(VERSION 3.8) +project(motion_primitives_controller_pkg) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) +endif() + +# find dependencies +set(THIS_PACKAGE_INCLUDE_DEPENDS + control_msgs + controller_interface + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + std_srvs +) + +find_package(ament_cmake REQUIRED) +find_package(generate_parameter_library REQUIRED) +find_package(ament_cmake_gmock REQUIRED) +find_package(controller_manager REQUIRED) +find_package(hardware_interface REQUIRED) +find_package(ros2_control_test_assets REQUIRED) +find_package(industrial_robot_motion_interfaces REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +# Add motion_primitives_forward_controller library related compile commands +generate_parameter_library(motion_primitives_forward_controller_parameters + src/motion_primitives_forward_controller.yaml + include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp +) +add_library( + motion_primitives_forward_controller + SHARED + src/motion_primitives_forward_controller.cpp +) +target_include_directories(motion_primitives_forward_controller PUBLIC + "$" + "$") +target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) +ament_target_dependencies(motion_primitives_forward_controller + ${THIS_PACKAGE_INCLUDE_DEPENDS} + industrial_robot_motion_interfaces +) +target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") + +pluginlib_export_plugin_description_file( + controller_interface motion_primitives_controller_pkg.xml) + +install( + TARGETS + motion_primitives_forward_controller + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +# install( +# DIRECTORY include/ +# DESTINATION include/${PROJECT_NAME} +# ) + +install( + DIRECTORY include/ + DESTINATION include +) + +if(BUILD_TESTING) + + ament_add_gmock(test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp) + target_include_directories(test_load_motion_primitives_forward_controller PRIVATE include) + ament_target_dependencies( + test_load_motion_primitives_forward_controller + controller_manager + hardware_interface + ros2_control_test_assets + ) + + # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) + # target_include_directories(test_motion_primitives_forward_controller PRIVATE include) + # target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + # ament_target_dependencies( + # test_motion_primitives_forward_controller + # controller_interface + # hardware_interface + # ) + + # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) + # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) + # target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + # ament_target_dependencies( + # test_motion_primitives_forward_controller_preceeding + # controller_interface + # hardware_interface + # ) +endif() + +ament_export_include_directories( + include +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_export_libraries( + motion_primitives_forward_controller +) + +ament_package() diff --git a/motion_primitives_controller_pkg/LICENSE b/motion_primitives_controller_pkg/LICENSE new file mode 100644 index 0000000000..574ef07902 --- /dev/null +++ b/motion_primitives_controller_pkg/LICENSE @@ -0,0 +1,25 @@ +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 the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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. diff --git a/motion_primitives_controller_pkg/README.md b/motion_primitives_controller_pkg/README.md new file mode 100644 index 0000000000..dd7e2ae218 --- /dev/null +++ b/motion_primitives_controller_pkg/README.md @@ -0,0 +1,9 @@ +motion_primitives_controller_pkg +========================================== + +Package to control robots using motion primitives like PTP, LIN and CIRC + +![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) + + + diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp new file mode 100644 index 0000000000..1d2c101f4c --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp @@ -0,0 +1,13 @@ +#ifndef EXECUTION_STATE_HPP +#define EXECUTION_STATE_HPP + + +namespace ExecutionState +{ + static constexpr uint8_t IDLE = 0; + static constexpr uint8_t EXECUTING = 1; + static constexpr uint8_t SUCCESS = 2; + static constexpr uint8_t ERROR = 3; +} + +#endif // EXECUTION_STATE_HPP diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp new file mode 100644 index 0000000000..273cec3f3c --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp @@ -0,0 +1,117 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +#include +#include +#include +#include + +#include "controller_interface/controller_interface.hpp" +#include +#include "motion_primitives_controller_pkg/visibility_control.h" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "realtime_tools/realtime_buffer.hpp" +#include "realtime_tools/realtime_publisher.hpp" + +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "std_msgs/msg/int8.hpp" + + +namespace motion_primitives_controller_pkg +{ +// name constants for state interfaces +static constexpr size_t STATE_MY_ITFS = 0; + +// name constants for command interfaces +static constexpr size_t CMD_MY_ITFS = 0; + +class MotionPrimitivesForwardController : public controller_interface::ControllerInterface +{ +public: + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + MotionPrimitivesForwardController(); + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_init() override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::InterfaceConfiguration command_interface_configuration() const override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::InterfaceConfiguration state_interface_configuration() const override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + // state and command message types + using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using ControllerStateMsg = std_msgs::msg::Int8; + + +protected: + std::shared_ptr param_listener_; + motion_primitives_forward_controller::Params params_; + + // Command subscribers and Controller State publisher + rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; + // realtime_tools::RealtimeBuffer> input_ref_; + + using ControllerStatePublisher = realtime_tools::RealtimePublisher; + + rclcpp::Publisher::SharedPtr s_publisher_; + std::unique_ptr state_publisher_; + +private: + // callback for topic interface + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL + void reference_callback(const std::shared_ptr msg); // callback for reference message + // std::atomic new_msg_available_ = false; // flag to indicate if new message is available + void reset_command_interfaces(); // Reset all command interfaces to NaN() + bool set_command_interfaces(); // Set command interfaces from the message + + std::queue> msg_queue_; + size_t queue_size_ = 0; + + bool was_executing_{false}; // Flag to check if the robot was executing a motion command + bool was_stopped_{false}; // Flag to check if the robot was stopped + bool first_cmd_{true}; // Flag to check if the first command is sent + + bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR +}; + +} // namespace motion_primitives_controller_pkg + +#endif // MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp new file mode 100644 index 0000000000..9a552043d0 --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp @@ -0,0 +1,13 @@ +#ifndef MOTION_TYPE_HPP +#define MOTION_TYPE_HPP + + +namespace MotionType +{ + static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value + static constexpr uint8_t LINEAR_CARTESIAN = 50; + static constexpr uint8_t CIRCULAR_CARTESIAN = 51; + static constexpr uint8_t STOP_MOTION = 66; // added to stop motion +} + +#endif // MOTION_TYPE_HPP diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp new file mode 100644 index 0000000000..d9c55b99b9 --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp @@ -0,0 +1,43 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ + +#include + +#include "parameter_traits/parameter_traits.hpp" + +namespace parameter_traits +{ +Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) +{ + auto const & interface_name = parameter.as_string(); + + if (interface_name.rfind("blup_", 0) == 0) + { + return ERROR("'interface_name' parameter can not start with 'blup_'"); + } + + return OK; +} + +} // namespace parameter_traits + +#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h new file mode 100644 index 0000000000..88afabcafa --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h @@ -0,0 +1,54 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ +#ifdef __GNUC__ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((dllexport)) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __attribute__((dllimport)) +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __declspec(dllexport) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __declspec(dllimport) +#endif +#ifdef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_BUILDING_DLL +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT +#endif +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((visibility("default"))) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT +#if __GNUC__ >= 4 +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC __attribute__((visibility("default"))) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL __attribute__((visibility("hidden"))) +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL +#endif +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE +#endif + +#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos new file mode 100644 index 0000000000..1b3910e7e7 --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos @@ -0,0 +1,6 @@ +repositories: + ## EXAMPLE DEPENDENCY +# : +# type: git +# url: git@github.com:/.git +# version: master diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos new file mode 100644 index 0000000000..1b3910e7e7 --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos @@ -0,0 +1,6 @@ +repositories: + ## EXAMPLE DEPENDENCY +# : +# type: git +# url: git@github.com:/.git +# version: master diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml new file mode 100644 index 0000000000..a2abd194ae --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml @@ -0,0 +1,28 @@ + + + + + + MotionPrimitivesForwardController ros2_control controller. + + + diff --git a/motion_primitives_controller_pkg/package.xml b/motion_primitives_controller_pkg/package.xml new file mode 100644 index 0000000000..9f32bd1b7e --- /dev/null +++ b/motion_primitives_controller_pkg/package.xml @@ -0,0 +1,35 @@ + + + + motion_primitives_controller_pkg + 0.0.0 + Package to control robots using motion primitives like PTP, LIN and CIRC + mathias31415 + BSD-3-Clause + + ament_cmake + + generate_parameter_library + + control_msgs + + controller_interface + + hardware_interface + + pluginlib + + industrial_robot_motion_interfaces + + rclcpp + + rclcpp_lifecycle + + realtime_tools + + std_srvs + + + ament_cmake + + diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..a4d305a3b7 --- /dev/null +++ b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp @@ -0,0 +1,429 @@ +// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" + +#include +#include +#include +#include + +#include "controller_interface/helpers.hpp" +#include "motion_primitives_controller_pkg/motion_type.hpp" +#include "motion_primitives_controller_pkg/execution_state.hpp" + + +namespace +{ // utility + +// TODO(destogl): remove this when merged upstream +// Changed services history QoS to keep all so we don't lose any client service calls +static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { + RMW_QOS_POLICY_HISTORY_KEEP_ALL, + 1, // message queue depth + RMW_QOS_POLICY_RELIABILITY_RELIABLE, + RMW_QOS_POLICY_DURABILITY_VOLATILE, + RMW_QOS_DEADLINE_DEFAULT, + RMW_QOS_LIFESPAN_DEFAULT, + RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, + RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, + false}; + +using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; + +// reset the controller reference message to NaN +void reset_controller_reference_msg(std::shared_ptr & msg) +{ + msg->type = 0; + msg->blend_radius = std::numeric_limits::quiet_NaN(); + + for (auto & arg : msg->additional_arguments) { + arg.argument_name = ""; + arg.argument_value = std::numeric_limits::quiet_NaN(); + } + + for (auto & pose : msg->poses) { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + } +} + +} // namespace + + +namespace motion_primitives_controller_pkg +{ +MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() +{ + RCLCPP_INFO(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); + + try + { + param_listener_ = std::make_shared(get_node()); + } + catch (const std::exception & e) + { + fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + RCLCPP_INFO(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); + + params_ = param_listener_->get_params(); + + // Check if the name is not empty + if (params_.name.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // Check if there are exactly 18 command interfaces + if (params_.command_interfaces.size() !=25) { // 1 status + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // Check if there is exactly one state interface + if (params_.state_interfaces.size() != 1) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // topics QoS + auto subscribers_qos = rclcpp::SystemDefaultsQoS(); + subscribers_qos.keep_last(1); + subscribers_qos.best_effort(); + + // Reference Subscriber + ref_subscriber_ = get_node()->create_subscription( + "~/reference", subscribers_qos, + std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); + + std::shared_ptr msg = std::make_shared(); + reset_controller_reference_msg(msg); + + queue_size_ = params_.queue_size; + if (queue_size_ == 0) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); + return controller_interface::CallbackReturn::ERROR; + } + + try + { + // State publisher + s_publisher_ = + get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); + state_publisher_ = std::make_unique(s_publisher_); + } + catch (const std::exception & e) + { + fprintf( + stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", + e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + RCLCPP_INFO(get_node()->get_logger(), "configure successful"); + return controller_interface::CallbackReturn::SUCCESS; +} + +// Function gets called when a new message is received +void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg) +{ + // Check if the type is one of the allowed motion types + switch (msg->type) + { + case MotionType::STOP_MOTION: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); + reset_command_interfaces(); // Reset all command interfaces to NaN + // TODO(mathias31415): Use mutex? + (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver + while (!msg_queue_.empty()) { // clear the queue + msg_queue_.pop(); + } + was_stopped_ = true; + return; + + case MotionType::LINEAR_JOINT: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); + // Check if joint positions are provided + if (msg->joint_positions.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); + return; + } + break; + + case MotionType::LINEAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); + // Check if poses are provided + if (msg->poses.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); + return; + } + break; + + case MotionType::CIRCULAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); + // Check if poses are provided + if (msg->poses.size() != 2) { + RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); + return; + } + break; + + case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); + break; + + // Additional motion types can be added here + default: + RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); + return; + } + + // Check if the queue size is exceeded + if (msg_queue_.size() >= queue_size_) { + RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + return; + } + + msg_queue_.push(msg); +} + + +controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const +{ + controller_interface::InterfaceConfiguration command_interfaces_config; + command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + // Reserve memory for the command interfaces + command_interfaces_config.names.reserve(params_.command_interfaces.size()); + + // Iterate over all command interfaces from the config yaml file + for (const auto & interface_name : params_.command_interfaces) + { + // Combine the joint with the interface name and add it to the list + command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + } + return command_interfaces_config; +} + +controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration state_interfaces_config; + state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + // Reserve memory for the state interfaces + state_interfaces_config.names.reserve(params_.state_interfaces.size()); + + // Iterate over all state interfaces from the config yaml file + for (const auto & interface_name : params_.state_interfaces) + { + // Combine the joint with the interface name and add it to the list + state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + } + return state_interfaces_config; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); // Reset all command interfaces to NaN + RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); // Reset all command interfaces to NaN + RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); + return controller_interface::CallbackReturn::SUCCESS; +} + + +controller_interface::return_type MotionPrimitivesForwardController::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + // read the status from the state interface + // TODO(mathias31415) Is check needed if the value is .0? + uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + + // publish the state + state_publisher_->lock(); + state_publisher_->msg_.data = execution_status; + state_publisher_->unlockAndPublish(); + + if(!msg_queue_.empty()) + { + switch (execution_status) { + case ExecutionState::IDLE: // no motion primitive sent yet + print_error_once_ = true; + if(first_cmd_ || was_executing_ || was_stopped_){ + if(!set_command_interfaces()){ // Set the command interfaces with the current reference message + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + first_cmd_ = false; + was_executing_ = false; + was_stopped_ = false; + } + return controller_interface::return_type::OK; + + case ExecutionState::EXECUTING: // executing + if(!was_executing_){ + was_executing_ = true; + } + return controller_interface::return_type::OK; + + case ExecutionState::SUCCESS: // success + print_error_once_ = true; + if(was_executing_){ + was_executing_ = false; + if(!set_command_interfaces()){ // Set the command interfaces with the current reference message + return controller_interface::return_type::ERROR; + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + } + } + return controller_interface::return_type::OK; + + case ExecutionState::ERROR: // error + if(print_error_once_){ + print_error_once_ = false; + RCLCPP_ERROR(get_node()->get_logger(), "Error: Can't send new command, execution status is ERROR"); + } + return controller_interface::return_type::OK; + + default: + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + return controller_interface::return_type::ERROR; + } + } + return controller_interface::return_type::OK; +} + +// Reset Command-Interfaces to nan +void MotionPrimitivesForwardController::reset_command_interfaces() +{ + for (size_t i = 0; i < command_interfaces_.size(); ++i) + { + if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) { + RCLCPP_ERROR(get_node()->get_logger(), "Failed to reset command interface %ld", i); + } + } +} + +// Set command interfaces from the message, gets called in the update function +bool MotionPrimitivesForwardController::set_command_interfaces() +{ + // Get the oldest message from the queue + std::shared_ptr current_ref = msg_queue_.front(); + msg_queue_.pop(); + + // Check if the message is valid + if (!current_ref){ + RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + return false; + } + + // Set the motion_type + (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + + // Process joint positions if available + if (!current_ref->joint_positions.empty()) + { + for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) + { + (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + } + } + + // Process Cartesian poses if available + if (!current_ref->poses.empty()) + { + const auto & goal_pose = current_ref->poses[0].pose; // goal pose + (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x + (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y + (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z + (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx + (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy + (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz + (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw + + // Process via poses if available (only for circular motion) + if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) + { + const auto & via_pose = current_ref->poses[1].pose; // via pose + (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x + (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y + (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z + (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx + (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy + (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz + (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw + } + } + + // Set blend_radius + (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + + // Read additional arguments + for (const auto &arg : current_ref->additional_arguments) + { + if (arg.argument_name == "velocity") + { + (void)command_interfaces_[22].set_value(arg.argument_value); + } + else if (arg.argument_name == "acceleration") + { + (void)command_interfaces_[23].set_value(arg.argument_value); + } + else if (arg.argument_name == "move_time") + { + (void)command_interfaces_[24].set_value(arg.argument_value); + } + else + { + RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + } + } + return true; +} + + +} // namespace motion_primitives_controller_pkg + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + motion_primitives_controller_pkg::MotionPrimitivesForwardController, controller_interface::ControllerInterface) diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml new file mode 100644 index 0000000000..8c4ec46897 --- /dev/null +++ b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml @@ -0,0 +1,52 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. + + +motion_primitives_forward_controller: + name: { + type: string, + default_value: "", + description: "Name for /", + read_only: true, + } + command_interfaces: { + type: string_array, + default_value: [], + description: "Names of the command interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } + state_interfaces: { + type: string_array, + default_value: [], + description: "Names of the state interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } + queue_size: { + type: int, + default_value: 10, + description: "Queue size to buffer incoming commands", + read_only: true, + } diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml new file mode 100644 index 0000000000..6be68ba92e --- /dev/null +++ b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml @@ -0,0 +1,26 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# + +test_motion_primitives_forward_controller: + ros__parameters: + + joints: + - joint1 + + interface_name: acceleration diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml new file mode 100644 index 0000000000..1bcadb0c65 --- /dev/null +++ b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -0,0 +1,28 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# + +test_motion_primitives_forward_controller: + ros__parameters: + joints: + - joint1 + + interface_name: acceleration + + state_joints: + - joint1state diff --git a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..c660587acc --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp @@ -0,0 +1,44 @@ +// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#include +#include + +#include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" +#include "ros2_control_test_assets/descriptions.hpp" + +TEST(TestLoadMotionPrimitivesForwardController, load_controller) +{ + rclcpp::init(0, nullptr); + + std::shared_ptr executor = + std::make_shared(); + + controller_manager::ControllerManager cm( + executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + + ASSERT_NO_THROW( + cm.load_controller("test_motion_primitives_controller_pkg", "motion_primitives_controller_pkg/MotionPrimitivesForwardController")); + + rclcpp::shutdown(); +} diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..de939ba81b --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp @@ -0,0 +1,277 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #include +// #include +// #include +// #include +// #include + +// #include "rclcpp/rclcpp.hpp" +// #include "test_motion_primitives_forward_controller.hpp" + +// using motion_primitives_controller_pkg::CMD_MY_ITFS; +// using motion_primitives_controller_pkg::control_mode_type; +// using motion_primitives_controller_pkg::STATE_MY_ITFS; + +// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +// { +// }; + +// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +// { +// SetUpController(); + +// ASSERT_TRUE(controller_->params_.joints.empty()); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_TRUE(controller_->params_.interface_name.empty()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); +// ASSERT_EQ(controller_->params_.interface_name, interface_name_); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// auto command_intefaces = controller_->command_interface_configuration(); +// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); +// for (size_t i = 0; i < command_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } + +// auto state_intefaces = controller_->state_interface_configuration(); +// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); +// for (size_t i = 0; i < state_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, activate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // check that the message is reset +// auto msg = controller_->input_ref_.readFromNonRT(); +// EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); +// for (const auto & cmd : (*msg)->displacements) +// { +// EXPECT_TRUE(std::isnan(cmd)); +// } +// EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); +// for (const auto & cmd : (*msg)->velocities) +// { +// EXPECT_TRUE(std::isnan(cmd)); +// } + +// ASSERT_TRUE(std::isnan((*msg)->duration)); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, update_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); +// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) +// { +// SetUpController(); + +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// // initially set to false +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // should stay false +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + +// // set to true +// ASSERT_NO_THROW(call_service(true, executor)); +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + +// // set back to false +// ASSERT_NO_THROW(call_service(false, executor)); +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // set command statically +// static constexpr double TEST_DISPLACEMENT = 23.24; +// std::shared_ptr msg = std::make_shared(); +// msg->joint_names = joint_names_; +// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); +// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); +// msg->duration = std::numeric_limits::quiet_NaN(); +// controller_->input_ref_.writeFromNonRT(msg); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); +// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // set command statically +// static constexpr double TEST_DISPLACEMENT = 23.24; +// std::shared_ptr msg = std::make_shared(); +// // When slow mode is enabled command ends up being half of the value +// msg->joint_names = joint_names_; +// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); +// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); +// msg->duration = std::numeric_limits::quiet_NaN(); +// controller_->input_ref_.writeFromNonRT(msg); +// controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); + +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); +// ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); +// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// ControllerStateMsg msg; +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 101.101); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// ControllerStateMsg msg; +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 101.101); + +// publish_commands(); +// ASSERT_TRUE(controller_->wait_for_commands(executor)); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 0.45); +// } + +// int main(int argc, char ** argv) +// { +// ::testing::InitGoogleTest(&argc, argv); +// rclcpp::init(argc, argv); +// int result = RUN_ALL_TESTS(); +// rclcpp::shutdown(); +// return result; +// } diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp new file mode 100644 index 0000000000..61b72494a1 --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp @@ -0,0 +1,274 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +// #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +// #include +// #include +// #include +// #include +// #include +// #include +// #include + +// #include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +// #include "gmock/gmock.h" +// #include "hardware_interface/loaned_command_interface.hpp" +// #include "hardware_interface/loaned_state_interface.hpp" +// #include "hardware_interface/types/hardware_interface_return_values.hpp" +// #include "rclcpp/executor.hpp" +// #include "rclcpp/parameter_value.hpp" +// #include "rclcpp/time.hpp" +// #include "rclcpp/utilities.hpp" +// #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +// // TODO(anyone): replace the state and command message types +// using ControllerStateMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerStateMsg; +// using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; +// using ControllerModeSrvType = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerModeSrvType; + +// namespace +// { +// constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; +// constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; +// } // namespace + +// // subclassing and friending so we can access member variables +// class TestableMotionPrimitivesForwardController : public motion_primitives_controller_pkg::MotionPrimitivesForwardController +// { +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); + +// public: +// controller_interface::CallbackReturn on_configure( +// const rclcpp_lifecycle::State & previous_state) override +// { +// auto ret = motion_primitives_controller_pkg::MotionPrimitivesForwardController::on_configure(previous_state); +// // Only if on_configure is successful create subscription +// if (ret == CallbackReturn::SUCCESS) +// { +// ref_subscriber_wait_set_.add_subscription(ref_subscriber_); +// } +// return ret; +// } + +// /** +// * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. +// * Requires that the executor is not spinned elsewhere between the +// * message publication and the call to this function. +// * +// * @return true if new ControllerReferenceMsg msg was received, false if timeout. +// */ +// bool wait_for_command( +// rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, +// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) +// { +// bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; +// if (success) +// { +// executor.spin_some(); +// } +// return success; +// } + +// bool wait_for_commands( +// rclcpp::Executor & executor, +// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) +// { +// return wait_for_command(executor, ref_subscriber_wait_set_, timeout); +// } + +// // TODO(anyone): add implementation of any methods of your controller is needed + +// private: +// rclcpp::WaitSet ref_subscriber_wait_set_; +// }; + +// // We are using template class here for easier reuse of Fixture in specializations of controllers +// template +// class MotionPrimitivesForwardControllerFixture : public ::testing::Test +// { +// public: +// static void SetUpTestCase() {} + +// void SetUp() +// { +// // initialize controller +// controller_ = std::make_unique(); + +// command_publisher_node_ = std::make_shared("command_publisher"); +// command_publisher_ = command_publisher_node_->create_publisher( +// "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); + +// service_caller_node_ = std::make_shared("service_caller"); +// slow_control_service_client_ = service_caller_node_->create_client( +// "/test_motion_primitives_forward_controller/set_slow_control_mode"); +// } + +// static void TearDownTestCase() {} + +// void TearDown() { controller_.reset(nullptr); } + +// protected: +// void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") +// { +// ASSERT_EQ( +// controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), +// controller_interface::return_type::OK); + +// std::vector command_ifs; +// command_itfs_.reserve(joint_command_values_.size()); +// command_ifs.reserve(joint_command_values_.size()); + +// for (size_t i = 0; i < joint_command_values_.size(); ++i) +// { +// command_itfs_.emplace_back(hardware_interface::CommandInterface( +// joint_names_[i], interface_name_, &joint_command_values_[i])); +// command_ifs.emplace_back(command_itfs_.back()); +// } +// // TODO(anyone): Add other command interfaces, if any + +// std::vector state_ifs; +// state_itfs_.reserve(joint_state_values_.size()); +// state_ifs.reserve(joint_state_values_.size()); + +// for (size_t i = 0; i < joint_state_values_.size(); ++i) +// { +// state_itfs_.emplace_back(hardware_interface::StateInterface( +// joint_names_[i], interface_name_, &joint_state_values_[i])); +// state_ifs.emplace_back(state_itfs_.back()); +// } +// // TODO(anyone): Add other state interfaces, if any + +// controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); +// } + +// void subscribe_and_get_messages(ControllerStateMsg & msg) +// { +// // create a new subscriber +// rclcpp::Node test_subscription_node("test_subscription_node"); +// auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; +// auto subscription = test_subscription_node.create_subscription( +// "/test_motion_primitives_forward_controller/state", 10, subs_callback); + +// // call update to publish the test value +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// // call update to publish the test value +// // since update doesn't guarantee a published message, republish until received +// int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop +// rclcpp::WaitSet wait_set; // block used to wait on message +// wait_set.add_subscription(subscription); +// while (max_sub_check_loop_count--) +// { +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); +// // check if message has been received +// if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) +// { +// break; +// } +// } +// ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " +// "controller/broadcaster update loop"; + +// // take message from subscription +// rclcpp::MessageInfo msg_info; +// ASSERT_TRUE(subscription->take(msg, msg_info)); +// } + +// // TODO(anyone): add/remove arguments as it suites your command message type +// void publish_commands( +// const std::vector & displacements = {0.45}, +// const std::vector & velocities = {0.0}, const double duration = 1.25) +// { +// auto wait_for_topic = [&](const auto topic_name) +// { +// size_t wait_count = 0; +// while (command_publisher_node_->count_subscribers(topic_name) == 0) +// { +// if (wait_count >= 5) +// { +// auto error_msg = +// std::string("publishing to ") + topic_name + " but no node subscribes to it"; +// throw std::runtime_error(error_msg); +// } +// std::this_thread::sleep_for(std::chrono::milliseconds(100)); +// ++wait_count; +// } +// }; + +// wait_for_topic(command_publisher_->get_topic_name()); + +// ControllerReferenceMsg msg; +// msg.joint_names = joint_names_; +// msg.displacements = displacements; +// msg.velocities = velocities; +// msg.duration = duration; + +// command_publisher_->publish(msg); +// } + +// std::shared_ptr call_service( +// const bool slow_control, rclcpp::Executor & executor) +// { +// auto request = std::make_shared(); +// request->data = slow_control; + +// bool wait_for_service_ret = +// slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); +// EXPECT_TRUE(wait_for_service_ret); +// if (!wait_for_service_ret) +// { +// throw std::runtime_error("Services is not available!"); +// } +// auto result = slow_control_service_client_->async_send_request(request); +// EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + +// return result.get(); +// } + +// protected: +// // TODO(anyone): adjust the members as needed + +// // Controller-related parameters +// std::vector joint_names_ = {"joint1"}; +// std::vector state_joint_names_ = {"joint1state"}; +// std::string interface_name_ = "acceleration"; +// std::array joint_state_values_ = {1.1}; +// std::array joint_command_values_ = {101.101}; + +// std::vector state_itfs_; +// std::vector command_itfs_; + +// // Test related parameters +// std::unique_ptr controller_; +// rclcpp::Node::SharedPtr command_publisher_node_; +// rclcpp::Publisher::SharedPtr command_publisher_; +// rclcpp::Node::SharedPtr service_caller_node_; +// rclcpp::Client::SharedPtr slow_control_service_client_; +// }; + +// #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp new file mode 100644 index 0000000000..2699961d58 --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -0,0 +1,80 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #include "test_motion_primitives_forward_controller.hpp" + +// #include +// #include +// #include +// #include +// #include + +// using motion_primitives_controller_pkg::CMD_MY_ITFS; +// using motion_primitives_controller_pkg::control_mode_type; +// using motion_primitives_controller_pkg::STATE_MY_ITFS; + +// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +// { +// }; + +// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +// { +// SetUpController(); + +// ASSERT_TRUE(controller_->params_.joints.empty()); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_TRUE(controller_->params_.interface_name.empty()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); +// ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); +// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); +// ASSERT_EQ(controller_->params_.interface_name, interface_name_); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// auto command_intefaces = controller_->command_interface_configuration(); +// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); +// for (size_t i = 0; i < command_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } + +// auto state_intefaces = controller_->state_interface_configuration(); +// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); +// for (size_t i = 0; i < state_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); +// } +// } + +// int main(int argc, char ** argv) +// { +// ::testing::InitGoogleTest(&argc, argv); +// rclcpp::init(argc, argv); +// int result = RUN_ALL_TESTS(); +// rclcpp::shutdown(); +// return result; +// } From 6ed1181f75c1f7f4692ae707288213b8f2e7ae1e Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 15:25:01 +0200 Subject: [PATCH 003/128] renamed motion_primitives_controller_pkg to motion_primitives_forward_controller --- .../CMakeLists.txt | 6 +++--- .../LICENSE | 0 .../README.md | 2 +- .../execution_state.hpp | 0 .../motion_primitives_forward_controller.hpp | 14 +++++++------- .../motion_type.hpp | 0 ...on_primitives_forward_controller_parameters.hpp | 0 .../visibility_control.h | 0 ...rimitives_controller_pkg.rolling.upstream.repos | 0 ...ion_primitives_forward_controller.rolling.repos | 0 .../motion_primitives_forward_controller.xml | 4 ++-- .../package.xml | 2 +- .../src/motion_primitives_forward_controller.cpp | 14 +++++++------- .../src/motion_primitives_forward_controller.yaml | 0 ...otion_primitives_forward_controller_params.yaml | 0 ...tives_forward_controller_preceeding_params.yaml | 0 ...t_load_motion_primitives_forward_controller.cpp | 2 +- .../test_motion_primitives_forward_controller.cpp | 6 +++--- .../test_motion_primitives_forward_controller.hpp | 12 ++++++------ ...on_primitives_forward_controller_preceeding.cpp | 6 +++--- 20 files changed, 34 insertions(+), 34 deletions(-) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/CMakeLists.txt (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/LICENSE (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/README.md (83%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/execution_state.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/motion_primitives_forward_controller.hpp (89%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/motion_type.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/validate_motion_primitives_forward_controller_parameters.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/visibility_control.h (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/motion_primitives_controller_pkg.rolling.upstream.repos (100%) rename motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos => motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos (100%) rename motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml => motion_primitives_forward_controller/motion_primitives_forward_controller.xml (79%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/package.xml (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/src/motion_primitives_forward_controller.cpp (96%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/src/motion_primitives_forward_controller.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/motion_primitives_forward_controller_params.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/motion_primitives_forward_controller_preceeding_params.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_load_motion_primitives_forward_controller.cpp (91%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller.cpp (98%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller.hpp (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller_preceeding.cpp (93%) diff --git a/motion_primitives_controller_pkg/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt similarity index 94% rename from motion_primitives_controller_pkg/CMakeLists.txt rename to motion_primitives_forward_controller/CMakeLists.txt index 4ac8f424c8..c73778c958 100644 --- a/motion_primitives_controller_pkg/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(motion_primitives_controller_pkg) +project(motion_primitives_forward_controller) if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) @@ -31,7 +31,7 @@ endforeach() # Add motion_primitives_forward_controller library related compile commands generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml - include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp + include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp ) add_library( motion_primitives_forward_controller @@ -49,7 +49,7 @@ ament_target_dependencies(motion_primitives_forward_controller target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") pluginlib_export_plugin_description_file( - controller_interface motion_primitives_controller_pkg.xml) + controller_interface motion_primitives_forward_controller.xml) install( TARGETS diff --git a/motion_primitives_controller_pkg/LICENSE b/motion_primitives_forward_controller/LICENSE similarity index 100% rename from motion_primitives_controller_pkg/LICENSE rename to motion_primitives_forward_controller/LICENSE diff --git a/motion_primitives_controller_pkg/README.md b/motion_primitives_forward_controller/README.md similarity index 83% rename from motion_primitives_controller_pkg/README.md rename to motion_primitives_forward_controller/README.md index dd7e2ae218..2a7aba8649 100644 --- a/motion_primitives_controller_pkg/README.md +++ b/motion_primitives_forward_controller/README.md @@ -1,4 +1,4 @@ -motion_primitives_controller_pkg +motion_primitives_forward_controller ========================================== Package to control robots using motion primitives like PTP, LIN and CIRC diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp similarity index 89% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 273cec3f3c..9924017d48 100644 --- a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -17,8 +17,8 @@ // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // -#ifndef MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -#define MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include #include @@ -26,8 +26,8 @@ #include #include "controller_interface/controller_interface.hpp" -#include -#include "motion_primitives_controller_pkg/visibility_control.h" +#include +#include "motion_primitives_forward_controller/visibility_control.h" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -37,7 +37,7 @@ #include "std_msgs/msg/int8.hpp" -namespace motion_primitives_controller_pkg +namespace motion_primitives_forward_controller { // name constants for state interfaces static constexpr size_t STATE_MY_ITFS = 0; @@ -112,6 +112,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; -} // namespace motion_primitives_controller_pkg +} // namespace motion_primitives_forward_controller -#endif // MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos similarity index 100% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos rename to motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos b/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos similarity index 100% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos rename to motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml similarity index 79% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml rename to motion_primitives_forward_controller/motion_primitives_forward_controller.xml index a2abd194ae..1d9ac20e10 100644 --- a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml +++ b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml @@ -19,8 +19,8 @@ Source of this file are templates in --> - + MotionPrimitivesForwardController ros2_control controller. diff --git a/motion_primitives_controller_pkg/package.xml b/motion_primitives_forward_controller/package.xml similarity index 94% rename from motion_primitives_controller_pkg/package.xml rename to motion_primitives_forward_controller/package.xml index 9f32bd1b7e..1265dac284 100644 --- a/motion_primitives_controller_pkg/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -1,7 +1,7 @@ - motion_primitives_controller_pkg + motion_primitives_forward_controller 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC mathias31415 diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp similarity index 96% rename from motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a4d305a3b7..4067fd88cc 100644 --- a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -17,7 +17,7 @@ // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // -#include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include #include @@ -25,8 +25,8 @@ #include #include "controller_interface/helpers.hpp" -#include "motion_primitives_controller_pkg/motion_type.hpp" -#include "motion_primitives_controller_pkg/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" +#include "motion_primitives_forward_controller/execution_state.hpp" namespace @@ -45,7 +45,7 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; -using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; +using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; // reset the controller reference message to NaN void reset_controller_reference_msg(std::shared_ptr & msg) @@ -73,7 +73,7 @@ void reset_controller_reference_msg(std::shared_ptr & ms } // namespace -namespace motion_primitives_controller_pkg +namespace motion_primitives_forward_controller { MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} @@ -421,9 +421,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } -} // namespace motion_primitives_controller_pkg +} // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - motion_primitives_controller_pkg::MotionPrimitivesForwardController, controller_interface::ControllerInterface) + motion_primitives_forward_controller::MotionPrimitivesForwardController, controller_interface::ControllerInterface) diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml similarity index 100% rename from motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml rename to motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml similarity index 100% rename from motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml rename to motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml similarity index 100% rename from motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml rename to motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml diff --git a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp similarity index 91% rename from motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index c660587acc..2c7a6d38cc 100644 --- a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -38,7 +38,7 @@ TEST(TestLoadMotionPrimitivesForwardController, load_controller) executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); ASSERT_NO_THROW( - cm.load_controller("test_motion_primitives_controller_pkg", "motion_primitives_controller_pkg/MotionPrimitivesForwardController")); + cm.load_controller("test_motion_primitives_forward_controller", "motion_primitives_forward_controller/MotionPrimitivesForwardController")); rclcpp::shutdown(); } diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp similarity index 98% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index de939ba81b..01e062623f 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -26,9 +26,9 @@ // #include "rclcpp/rclcpp.hpp" // #include "test_motion_primitives_forward_controller.hpp" -// using motion_primitives_controller_pkg::CMD_MY_ITFS; -// using motion_primitives_controller_pkg::control_mode_type; -// using motion_primitives_controller_pkg::STATE_MY_ITFS; +// using motion_primitives_forward_controller::CMD_MY_ITFS; +// using motion_primitives_forward_controller::control_mode_type; +// using motion_primitives_forward_controller::STATE_MY_ITFS; // class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture // { diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp similarity index 94% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 61b72494a1..deb3122f0d 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -28,7 +28,7 @@ // #include // #include -// #include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" // #include "gmock/gmock.h" // #include "hardware_interface/loaned_command_interface.hpp" // #include "hardware_interface/loaned_state_interface.hpp" @@ -40,9 +40,9 @@ // #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" // // TODO(anyone): replace the state and command message types -// using ControllerStateMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerStateMsg; -// using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; -// using ControllerModeSrvType = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerModeSrvType; +// using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; +// using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; +// using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; // namespace // { @@ -51,7 +51,7 @@ // } // namespace // // subclassing and friending so we can access member variables -// class TestableMotionPrimitivesForwardController : public motion_primitives_controller_pkg::MotionPrimitivesForwardController +// class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController // { // FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); // FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); @@ -64,7 +64,7 @@ // controller_interface::CallbackReturn on_configure( // const rclcpp_lifecycle::State & previous_state) override // { -// auto ret = motion_primitives_controller_pkg::MotionPrimitivesForwardController::on_configure(previous_state); +// auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); // // Only if on_configure is successful create subscription // if (ret == CallbackReturn::SUCCESS) // { diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp similarity index 93% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 2699961d58..0c0f13a949 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -25,9 +25,9 @@ // #include // #include -// using motion_primitives_controller_pkg::CMD_MY_ITFS; -// using motion_primitives_controller_pkg::control_mode_type; -// using motion_primitives_controller_pkg::STATE_MY_ITFS; +// using motion_primitives_forward_controller::CMD_MY_ITFS; +// using motion_primitives_forward_controller::control_mode_type; +// using motion_primitives_forward_controller::STATE_MY_ITFS; // class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture // { From 9074829833d03d3ef12fa8a860f65ab49f614048 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 10:47:58 +0200 Subject: [PATCH 004/128] added functionallity to execute multiple primitives as a motion sequence --- .../motion_primitives_forward_controller/motion_type.hpp | 6 +++++- .../src/motion_primitives_forward_controller.cpp | 8 ++++++++ 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 9a552043d0..ac1fda9b0b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -3,11 +3,15 @@ namespace MotionType -{ +{ // Motion Primitives static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value static constexpr uint8_t LINEAR_CARTESIAN = 50; static constexpr uint8_t CIRCULAR_CARTESIAN = 51; + + // Helper types static constexpr uint8_t STOP_MOTION = 66; // added to stop motion + static constexpr uint8_t MOTION_SEQUENCE_START = 100; // added to indicate motion sequence instead of executing single primitives + static constexpr uint8_t MOTION_SEQUENCE_END = 101; // added to indicate end of motion sequence } #endif // MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4067fd88cc..72c4a80b13 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -201,6 +201,14 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr } break; + case MotionType::MOTION_SEQUENCE_START: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_START"); + break; + + case MotionType::MOTION_SEQUENCE_END: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); + break; + case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); break; From 2cf7b094bb5ce79345df317e5a4a690e3066ac85 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 13:27:24 +0200 Subject: [PATCH 005/128] =?UTF-8?q?Added=20new=20state=20interface=20ready?= =?UTF-8?q?=5Ffor=5Fnew=5Fprimitive=20to=20indicate=20whether=20the=20hard?= =?UTF-8?q?ware=20interface=20can=20receive=20a=20new=20motion=20primitive?= =?UTF-8?q?=20=E2=80=94=20replaces=20the=20previous,=20more=20complex=20ha?= =?UTF-8?q?ndling=20via=20execution=5Fstatus?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../motion_primitives_forward_controller.hpp | 6 +- .../ready_for_new_primitive.hpp | 11 +++ .../motion_primitives_forward_controller.cpp | 91 ++++++++++--------- 3 files changed, 59 insertions(+), 49 deletions(-) create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 9924017d48..850aad7746 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -104,11 +104,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; size_t queue_size_ = 0; - - bool was_executing_{false}; // Flag to check if the robot was executing a motion command - bool was_stopped_{false}; // Flag to check if the robot was stopped - bool first_cmd_{true}; // Flag to check if the first command is sent - + bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp new file mode 100644 index 0000000000..26b0c01dbc --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -0,0 +1,11 @@ +#ifndef READY_FOR_NEW_PRIMITIVE_HPP +#define READY_FOR_NEW_PRIMITIVE_HPP + + +namespace ReadyForNewPrimitive +{ + static constexpr uint8_t NOT_READY = 0; + static constexpr uint8_t READY = 1; +} + +#endif // READY_FOR_NEW_PRIMITIVE_HPP diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 72c4a80b13..524222b874 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -27,7 +27,7 @@ #include "controller_interface/helpers.hpp" #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" - +#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace { // utility @@ -107,14 +107,14 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - // Check if there are exactly 18 command interfaces - if (params_.command_interfaces.size() !=25) { // 1 status + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + // Check if there are exactly 25 command interfaces + if (params_.command_interfaces.size() !=25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } - // Check if there is exactly one state interface - if (params_.state_interfaces.size() != 1) { + // Check if there are exactly 2 state interfaces + if (params_.state_interfaces.size() != 2) { // execution_status + ready_for_new_primitive RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); return controller_interface::CallbackReturn::ERROR; } @@ -171,7 +171,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } - was_stopped_ = true; return; case MotionType::LINEAR_JOINT: @@ -287,53 +286,57 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // TODO(mathias31415) Is check needed if the value is .0? uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); - // publish the state + switch (execution_status) { + case ExecutionState::IDLE: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); + print_error_once_ = true; + break; + case ExecutionState::EXECUTING: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); + print_error_once_ = true; + break; + + case ExecutionState::SUCCESS: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); + print_error_once_ = true; + break; + + case ExecutionState::ERROR: + if (print_error_once_) { + RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); + print_error_once_ = false; + } + break; + + default: + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + return controller_interface::return_type::ERROR; + } + + // publish the execution_status state_publisher_->lock(); state_publisher_->msg_.data = execution_status; state_publisher_->unlockAndPublish(); - if(!msg_queue_.empty()) - { - switch (execution_status) { - case ExecutionState::IDLE: // no motion primitive sent yet - print_error_once_ = true; - if(first_cmd_ || was_executing_ || was_stopped_){ - if(!set_command_interfaces()){ // Set the command interfaces with the current reference message - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; - } - first_cmd_ = false; - was_executing_ = false; - was_stopped_ = false; - } - return controller_interface::return_type::OK; - - case ExecutionState::EXECUTING: // executing - if(!was_executing_){ - was_executing_ = true; - } - return controller_interface::return_type::OK; + // TODO(mathias31415) Is check needed if the value is .0? + uint8_t ready_for_new_primitive = static_cast(std::round(state_interfaces_[1].get_value())); - case ExecutionState::SUCCESS: // success - print_error_once_ = true; - if(was_executing_){ - was_executing_ = false; - if(!set_command_interfaces()){ // Set the command interfaces with the current reference message - return controller_interface::return_type::ERROR; - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - } - } + // sending new command? + if(!msg_queue_.empty()) // check if new command is available + { + switch (ready_for_new_primitive) { + case ReadyForNewPrimitive::NOT_READY:{ // hw-interface is not ready for a new command return controller_interface::return_type::OK; - - case ExecutionState::ERROR: // error - if(print_error_once_){ - print_error_once_ = false; - RCLCPP_ERROR(get_node()->get_logger(), "Error: Can't send new command, execution status is ERROR"); + } + case ReadyForNewPrimitive::READY:{ // hw-interface is ready for a new command + if(!set_command_interfaces()){ // Set the command interfaces with next motion primitive + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; } return controller_interface::return_type::OK; - + } default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", ready_for_new_primitive); return controller_interface::return_type::ERROR; } } From c09d1fdba73abaf8eec3d7afbe88338a7b6992a2 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 13:35:07 +0200 Subject: [PATCH 006/128] removed case 33 block with hardcoded motion sequence (was only for testing) --- .../src/motion_primitives_forward_controller.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 524222b874..211e8af363 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -208,10 +208,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); break; - case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); - break; - // Additional motion types can be added here default: RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); From f4abcbd897ed62264dcdc1cc50863cc176b05ef6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 13:32:45 +0200 Subject: [PATCH 007/128] removed mail --- motion_primitives_forward_controller/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 1265dac284..537b46911e 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -4,7 +4,8 @@ motion_primitives_forward_controller 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC - mathias31415 + todo + Mathias Fuhrer BSD-3-Clause ament_cmake From 79e47bec8dde89eac4d55f13843343a4be5b317f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 13:33:03 +0200 Subject: [PATCH 008/128] added command_mutex_ --- .../motion_primitives_forward_controller.hpp | 2 ++ .../src/motion_primitives_forward_controller.cpp | 6 ++++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 850aad7746..13f2c4e134 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -104,6 +104,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; size_t queue_size_ = 0; + + std::mutex command_mutex_; bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 211e8af363..f08a0dcea6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -163,15 +163,16 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr // Check if the type is one of the allowed motion types switch (msg->type) { - case MotionType::STOP_MOTION: + case MotionType::STOP_MOTION:{ RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); // Reset all command interfaces to NaN - // TODO(mathias31415): Use mutex? + std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } return; + } case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); @@ -353,6 +354,7 @@ void MotionPrimitivesForwardController::reset_command_interfaces() // Set command interfaces from the message, gets called in the update function bool MotionPrimitivesForwardController::set_command_interfaces() { + std::lock_guard guard(command_mutex_); // Get the oldest message from the queue std::shared_ptr current_ref = msg_queue_.front(); msg_queue_.pop(); From 316ad5496389404c5af3d75fca9e17ea1a9523a6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 16:26:43 +0200 Subject: [PATCH 009/128] edited readme --- .../README.md | 42 +++++++++++++++++- ...s2_control_motion_primitives_ur.drawio.png | Bin 0 -> 458182 bytes 2 files changed, 41 insertions(+), 1 deletion(-) create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 2a7aba8649..28f64f47b0 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -1,9 +1,49 @@ motion_primitives_forward_controller ========================================== -Package to control robots using motion primitives like PTP, LIN and CIRC +Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) +This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. +## Features + +- Support for basic motion primitives: + - `LINEAR_JOINT` + - `LINEAR_CARTESIAN` + - `CIRCULAR_CARTESIAN` +- Additional helper types: + - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue. + - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. + +## Architecture Overview +The following diagram shows the architecture for a UR robot. +For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. + +![UR Robot Architecture](doc/ros2_control_motion_primitives_ur.drawio.png) + + +1. **Command Reception** + Python scripts can publish motion primitives to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + +2. **Command Handling Logic** + - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. + - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. + +3. **Motion Execution Flow** + The `update()` method in the controller: + - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. + - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. + +4. **Sequencing Logic** + Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. + + +## Related Packages/ Repos +- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) +- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) +- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file diff --git 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010/128] changed image in readme to white background --- motion_primitives_forward_controller/README.md | 2 +- ...on_primitives_ur_whiteBackground.drawio.png | Bin 0 -> 441153 bytes 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 28f64f47b0..cb96e85a9a 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -22,7 +22,7 @@ This project provides an interface for sending motion primitives to an industria The following diagram shows the architecture for a UR robot. 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zm<=ojm2&BpH9B_zOAY=H$qxi8A)`5m>3g| Date: Fri, 11 Apr 2025 09:57:10 +0200 Subject: [PATCH 011/128] edited Related packages/ repos in readme --- motion_primitives_forward_controller/README.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index cb96e85a9a..372eed8e29 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -41,9 +41,8 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. -## Related Packages/ Repos -- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) +# Related packages/ repos - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file From c451fb46075feae443802fc3bd406a0ad3de521c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Fri, 11 Apr 2025 12:14:27 +0200 Subject: [PATCH 012/128] added/ modified copyright headers --- .../execution_state.hpp | 16 ++++++++++++++++ .../motion_primitives_forward_controller.hpp | 9 +++------ .../motion_type.hpp | 16 ++++++++++++++++ .../ready_for_new_primitive.hpp | 16 ++++++++++++++++ ..._primitives_forward_controller_parameters.hpp | 2 +- .../visibility_control.h | 2 +- .../src/motion_primitives_forward_controller.cpp | 8 +++----- .../motion_primitives_forward_controller.yaml | 6 ++---- 8 files changed, 58 insertions(+), 17 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index 1d2c101f4c..38c1458365 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef EXECUTION_STATE_HPP #define EXECUTION_STATE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 13f2c4e134..1de3bef76f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,11 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // +// Authors: Mathias Fuhrer #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index ac1fda9b0b..9074f4d45b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef MOTION_TYPE_HPP #define MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp index 26b0c01dbc..f8054f3dbc 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef READY_FOR_NEW_PRIMITIVE_HPP #define READY_FOR_NEW_PRIMITIVE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index d9c55b99b9..b724f6adec 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2025, b»robotized // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h index 88afabcafa..106bd9b866 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h @@ -1,4 +1,4 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2025, b»robotized // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f08a0dcea6..a17ee48a3a 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,10 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - // -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// Authors: Mathias Fuhrer // #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index 8c4ec46897..d63573e0c1 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,4 +1,4 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright (c) 2025, b»robotized # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -11,10 +11,8 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. - # -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# Authors: Mathias Fuhrer motion_primitives_forward_controller: From 188f8b5dda67f4265d7c90cf1a1d8494e8ab8395 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:33:47 +0200 Subject: [PATCH 013/128] removed LICENSE file --- motion_primitives_forward_controller/LICENSE | 25 -------------------- 1 file changed, 25 deletions(-) delete mode 100644 motion_primitives_forward_controller/LICENSE diff --git a/motion_primitives_forward_controller/LICENSE b/motion_primitives_forward_controller/LICENSE deleted file mode 100644 index 574ef07902..0000000000 --- a/motion_primitives_forward_controller/LICENSE +++ /dev/null @@ -1,25 +0,0 @@ -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 the copyright holder 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 THE COPYRIGHT HOLDER OR CONTRIBUTORS 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. From 93cc78740f2b0666fe23bf4f78ed9efc00202802 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:36:35 +0200 Subject: [PATCH 014/128] removed repos files --- .../motion_primitives_controller_pkg.rolling.upstream.repos | 6 ------ .../motion_primitives_forward_controller.rolling.repos | 6 ------ 2 files changed, 12 deletions(-) delete mode 100644 motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos diff --git a/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos deleted file mode 100644 index 1b3910e7e7..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos +++ /dev/null @@ -1,6 +0,0 @@ -repositories: - ## EXAMPLE DEPENDENCY -# : -# type: git -# url: git@github.com:/.git -# version: master diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos b/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos deleted file mode 100644 index 1b3910e7e7..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos +++ /dev/null @@ -1,6 +0,0 @@ -repositories: - ## EXAMPLE DEPENDENCY -# : -# type: git -# url: git@github.com:/.git -# version: master From 1122a31a1a20b94d401c55914e2e40baad6387d8 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:42:25 +0200 Subject: [PATCH 015/128] changed license from BSD-3-Clause to Apache License 2.0 --- motion_primitives_forward_controller/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 537b46911e..3a853de316 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -6,7 +6,7 @@ Package to control robots using motion primitives like PTP, LIN and CIRC todo Mathias Fuhrer - BSD-3-Clause + Apache License 2.0 ament_cmake From af63eabaf5731513643b991002a954a633c76d19 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:48:09 +0200 Subject: [PATCH 016/128] added email to package.xml --- motion_primitives_forward_controller/package.xml | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 3a853de316..a3b5e8552b 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -5,7 +5,7 @@ 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC todo - Mathias Fuhrer + Mathias Fuhrer Apache License 2.0 ament_cmake @@ -13,21 +13,13 @@ generate_parameter_library control_msgs - controller_interface - hardware_interface - pluginlib - industrial_robot_motion_interfaces - rclcpp - rclcpp_lifecycle - realtime_tools - std_srvs From 3f3881fb7ded5da8621dd07e01348f91a753b28c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:53:22 +0200 Subject: [PATCH 017/128] changed version to fit the rest of the repo, added maintainers and urls according to other controllers in the repo --- motion_primitives_forward_controller/package.xml | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index a3b5e8552b..eb107bd920 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -2,12 +2,22 @@ motion_primitives_forward_controller - 0.0.0 + 4.23.0 Package to control robots using motion primitives like PTP, LIN and CIRC - todo - Mathias Fuhrer + + Bence Magyar + Denis Štogl + Christoph Froehlich + Sai Kishor Kothakota + Apache License 2.0 + https://control.ros.org + https://github.com/ros-controls/ros2_controllers/issues + https://github.com/ros-controls/ros2_controllers/ + + Mathias Fuhrer + ament_cmake generate_parameter_library From ce8b93790dc4eb62839406a00527132ecee68e88 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 11:21:23 +0200 Subject: [PATCH 018/128] removed .gitignore (was not supposed to be pushed to the repo) --- .gitignore | 1 - 1 file changed, 1 deletion(-) delete mode 100644 .gitignore diff --git a/.gitignore b/.gitignore deleted file mode 100644 index 57aaf61f1e..0000000000 --- a/.gitignore +++ /dev/null @@ -1 +0,0 @@ -**/COLCON_IGNORE \ No newline at end of file From 92ee81042cc69a0b07a0938d647fbd253c3217ec Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 11:27:43 +0200 Subject: [PATCH 019/128] removed visibility control --- .../motion_primitives_forward_controller.hpp | 10 ---- .../visibility_control.h | 54 ------------------- 2 files changed, 64 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 1de3bef76f..add7ad4ee0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -24,7 +24,6 @@ #include "controller_interface/controller_interface.hpp" #include -#include "motion_primitives_forward_controller/visibility_control.h" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -45,31 +44,23 @@ static constexpr size_t CMD_MY_ITFS = 0; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { public: - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MotionPrimitivesForwardController(); - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_init() override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_activate( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_deactivate( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; @@ -93,7 +84,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle private: // callback for topic interface - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL void reference_callback(const std::shared_ptr msg); // callback for reference message // std::atomic new_msg_available_ = false; // flag to indicate if new message is available void reset_command_interfaces(); // Reset all command interfaces to NaN() diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h deleted file mode 100644 index 106bd9b866..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// - -#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ - -// This logic was borrowed (then namespaced) from the examples on the gcc wiki: -// https://gcc.gnu.org/wiki/Visibility - -#if defined _WIN32 || defined __CYGWIN__ -#ifdef __GNUC__ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((dllexport)) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __attribute__((dllimport)) -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __declspec(dllexport) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __declspec(dllimport) -#endif -#ifdef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_BUILDING_DLL -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT -#endif -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((visibility("default"))) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT -#if __GNUC__ >= 4 -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC __attribute__((visibility("default"))) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL __attribute__((visibility("hidden"))) -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL -#endif -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE -#endif - -#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ From bce1031039bd6303cfa891bb2b2eb458a9ecf401 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 30 Apr 2025 17:07:41 +0200 Subject: [PATCH 020/128] removed/ changed license headers from template files --- ...imitives_forward_controller_parameters.hpp | 7 ++-- .../motion_primitives_forward_controller.xml | 20 ----------- ..._primitives_forward_controller_params.yaml | 19 ----------- ..._forward_controller_preceeding_params.yaml | 19 ----------- ...d_motion_primitives_forward_controller.cpp | 10 ++---- ...t_motion_primitives_forward_controller.cpp | 33 +++++++++---------- ...t_motion_primitives_forward_controller.hpp | 33 +++++++++---------- ...imitives_forward_controller_preceeding.cpp | 33 +++++++++---------- 8 files changed, 50 insertions(+), 124 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index b724f6adec..aad3111815 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,11 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // +// Authors: #ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller.xml b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml index 1d9ac20e10..eab3a4113f 100644 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller.xml +++ b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml @@ -1,23 +1,3 @@ - - diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 6be68ba92e..573eb4364a 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,22 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - test_motion_primitives_forward_controller: ros__parameters: diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index 1bcadb0c65..e3113c2042 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,22 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - test_motion_primitives_forward_controller: ros__parameters: joints: diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index 2c7a6d38cc..a7bb555bd0 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,12 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - // -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// - +// Authors: #include #include diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 01e062623f..ad0442f74c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #include // #include diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index deb3122f0d..c63549ce49 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ // #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 0c0f13a949..1182c14ea1 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #include "test_motion_primitives_forward_controller.hpp" From ae083e7381b847be68e9996fbebebe3338e322e5 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 08:33:58 +0200 Subject: [PATCH 021/128] removed license header from motion_primitives_forward_controller.yaml --- .../motion_primitives_forward_controller.yaml | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index d63573e0c1..62db1ccb09 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,20 +1,3 @@ -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - - motion_primitives_forward_controller: name: { type: string, From 487e88a120480c09b70c5353eabad8a8515b836c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 08:44:26 +0200 Subject: [PATCH 022/128] changed license in readme to apache 2.0 --- motion_primitives_forward_controller/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 372eed8e29..0d5215e491 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -3,7 +3,7 @@ motion_primitives_forward_controller Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) -![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) +[![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. From e0d87c67c1ffe64a2d1cb62c5eaa9332846d1f78 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 09:24:23 +0200 Subject: [PATCH 023/128] uncommented test_motion_primitives_forward_controller --- .../CMakeLists.txt | 16 +- ...t_motion_primitives_forward_controller.cpp | 516 +++++++++--------- ...t_motion_primitives_forward_controller.hpp | 510 ++++++++--------- 3 files changed, 521 insertions(+), 521 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index c73778c958..3dd291754b 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -80,14 +80,14 @@ if(BUILD_TESTING) ros2_control_test_assets ) - # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) - # target_include_directories(test_motion_primitives_forward_controller PRIVATE include) - # target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) - # ament_target_dependencies( - # test_motion_primitives_forward_controller - # controller_interface - # hardware_interface - # ) + add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) + target_include_directories(test_motion_primitives_forward_controller PRIVATE include) + target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + ament_target_dependencies( + test_motion_primitives_forward_controller + controller_interface + hardware_interface + ) # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index ad0442f74c..1f31006fdc 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -14,261 +14,261 @@ // // Authors: -// #include -// #include -// #include -// #include -// #include - -// #include "rclcpp/rclcpp.hpp" -// #include "test_motion_primitives_forward_controller.hpp" - -// using motion_primitives_forward_controller::CMD_MY_ITFS; -// using motion_primitives_forward_controller::control_mode_type; -// using motion_primitives_forward_controller::STATE_MY_ITFS; - -// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture -// { -// }; - -// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) -// { -// SetUpController(); - -// ASSERT_TRUE(controller_->params_.joints.empty()); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_TRUE(controller_->params_.interface_name.empty()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); -// ASSERT_EQ(controller_->params_.interface_name, interface_name_); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// auto command_intefaces = controller_->command_interface_configuration(); -// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); -// for (size_t i = 0; i < command_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } - -// auto state_intefaces = controller_->state_interface_configuration(); -// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); -// for (size_t i = 0; i < state_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, activate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // check that the message is reset -// auto msg = controller_->input_ref_.readFromNonRT(); -// EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); -// for (const auto & cmd : (*msg)->displacements) -// { -// EXPECT_TRUE(std::isnan(cmd)); -// } -// EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); -// for (const auto & cmd : (*msg)->velocities) -// { -// EXPECT_TRUE(std::isnan(cmd)); -// } - -// ASSERT_TRUE(std::isnan((*msg)->duration)); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, update_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); -// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) -// { -// SetUpController(); - -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// // initially set to false -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // should stay false -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - -// // set to true -// ASSERT_NO_THROW(call_service(true, executor)); -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); - -// // set back to false -// ASSERT_NO_THROW(call_service(false, executor)); -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // set command statically -// static constexpr double TEST_DISPLACEMENT = 23.24; -// std::shared_ptr msg = std::make_shared(); -// msg->joint_names = joint_names_; -// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); -// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); -// msg->duration = std::numeric_limits::quiet_NaN(); -// controller_->input_ref_.writeFromNonRT(msg); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); -// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // set command statically -// static constexpr double TEST_DISPLACEMENT = 23.24; -// std::shared_ptr msg = std::make_shared(); -// // When slow mode is enabled command ends up being half of the value -// msg->joint_names = joint_names_; -// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); -// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); -// msg->duration = std::numeric_limits::quiet_NaN(); -// controller_->input_ref_.writeFromNonRT(msg); -// controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); - -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); -// ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); -// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// ControllerStateMsg msg; -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 101.101); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// ControllerStateMsg msg; -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 101.101); - -// publish_commands(); -// ASSERT_TRUE(controller_->wait_for_commands(executor)); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); - -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 0.45); -// } - -// int main(int argc, char ** argv) -// { -// ::testing::InitGoogleTest(&argc, argv); -// rclcpp::init(argc, argv); -// int result = RUN_ALL_TESTS(); -// rclcpp::shutdown(); -// return result; -// } +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "test_motion_primitives_forward_controller.hpp" + +using motion_primitives_forward_controller::CMD_MY_ITFS; +using motion_primitives_forward_controller::control_mode_type; +using motion_primitives_forward_controller::STATE_MY_ITFS; + +class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +{ +}; + +TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +{ + SetUpController(); + + ASSERT_TRUE(controller_->params_.joints.empty()); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.interface_name.empty()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); + ASSERT_EQ(controller_->params_.interface_name, interface_name_); +} + +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + auto command_intefaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { + EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } + + auto state_intefaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { + EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } +} + +TEST_F(MotionPrimitivesForwardControllerTest, activate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check that the message is reset + auto msg = controller_->input_ref_.readFromNonRT(); + EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); + for (const auto & cmd : (*msg)->displacements) + { + EXPECT_TRUE(std::isnan(cmd)); + } + EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); + for (const auto & cmd : (*msg)->velocities) + { + EXPECT_TRUE(std::isnan(cmd)); + } + + ASSERT_TRUE(std::isnan((*msg)->duration)); +} + +TEST_F(MotionPrimitivesForwardControllerTest, update_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +} + +TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) +{ + SetUpController(); + + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + // initially set to false + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // should stay false + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + + // set to true + ASSERT_NO_THROW(call_service(true, executor)); + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + + // set back to false + ASSERT_NO_THROW(call_service(false, executor)); + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; + std::shared_ptr msg = std::make_shared(); + msg->joint_names = joint_names_; + msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->duration = std::numeric_limits::quiet_NaN(); + controller_->input_ref_.writeFromNonRT(msg); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; + std::shared_ptr msg = std::make_shared(); + // When slow mode is enabled command ends up being half of the value + msg->joint_names = joint_names_; + msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->duration = std::numeric_limits::quiet_NaN(); + controller_->input_ref_.writeFromNonRT(msg); + controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); + + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +} + +TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + ControllerStateMsg msg; + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 101.101); +} + +TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + ControllerStateMsg msg; + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 101.101); + + publish_commands(); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 0.45); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index c63549ce49..0ea3c40b54 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -14,258 +14,258 @@ // // Authors: -// #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -// #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ - -// #include -// #include -// #include -// #include -// #include -// #include -// #include - -// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" -// #include "gmock/gmock.h" -// #include "hardware_interface/loaned_command_interface.hpp" -// #include "hardware_interface/loaned_state_interface.hpp" -// #include "hardware_interface/types/hardware_interface_return_values.hpp" -// #include "rclcpp/executor.hpp" -// #include "rclcpp/parameter_value.hpp" -// #include "rclcpp/time.hpp" -// #include "rclcpp/utilities.hpp" -// #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" - -// // TODO(anyone): replace the state and command message types -// using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; -// using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; -// using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; - -// namespace -// { -// constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; -// constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; -// } // namespace - -// // subclassing and friending so we can access member variables -// class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController -// { -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); - -// public: -// controller_interface::CallbackReturn on_configure( -// const rclcpp_lifecycle::State & previous_state) override -// { -// auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); -// // Only if on_configure is successful create subscription -// if (ret == CallbackReturn::SUCCESS) -// { -// ref_subscriber_wait_set_.add_subscription(ref_subscriber_); -// } -// return ret; -// } - -// /** -// * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. -// * Requires that the executor is not spinned elsewhere between the -// * message publication and the call to this function. -// * -// * @return true if new ControllerReferenceMsg msg was received, false if timeout. -// */ -// bool wait_for_command( -// rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, -// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) -// { -// bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; -// if (success) -// { -// executor.spin_some(); -// } -// return success; -// } - -// bool wait_for_commands( -// rclcpp::Executor & executor, -// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) -// { -// return wait_for_command(executor, ref_subscriber_wait_set_, timeout); -// } - -// // TODO(anyone): add implementation of any methods of your controller is needed - -// private: -// rclcpp::WaitSet ref_subscriber_wait_set_; -// }; - -// // We are using template class here for easier reuse of Fixture in specializations of controllers -// template -// class MotionPrimitivesForwardControllerFixture : public ::testing::Test -// { -// public: -// static void SetUpTestCase() {} - -// void SetUp() -// { -// // initialize controller -// controller_ = std::make_unique(); - -// command_publisher_node_ = std::make_shared("command_publisher"); -// command_publisher_ = command_publisher_node_->create_publisher( -// "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); - -// service_caller_node_ = std::make_shared("service_caller"); -// slow_control_service_client_ = service_caller_node_->create_client( -// "/test_motion_primitives_forward_controller/set_slow_control_mode"); -// } - -// static void TearDownTestCase() {} - -// void TearDown() { controller_.reset(nullptr); } - -// protected: -// void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") -// { -// ASSERT_EQ( -// controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), -// controller_interface::return_type::OK); - -// std::vector command_ifs; -// command_itfs_.reserve(joint_command_values_.size()); -// command_ifs.reserve(joint_command_values_.size()); - -// for (size_t i = 0; i < joint_command_values_.size(); ++i) -// { -// command_itfs_.emplace_back(hardware_interface::CommandInterface( -// joint_names_[i], interface_name_, &joint_command_values_[i])); -// command_ifs.emplace_back(command_itfs_.back()); -// } -// // TODO(anyone): Add other command interfaces, if any - -// std::vector state_ifs; -// state_itfs_.reserve(joint_state_values_.size()); -// state_ifs.reserve(joint_state_values_.size()); - -// for (size_t i = 0; i < joint_state_values_.size(); ++i) -// { -// state_itfs_.emplace_back(hardware_interface::StateInterface( -// joint_names_[i], interface_name_, &joint_state_values_[i])); -// state_ifs.emplace_back(state_itfs_.back()); -// } -// // TODO(anyone): Add other state interfaces, if any - -// controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); -// } - -// void subscribe_and_get_messages(ControllerStateMsg & msg) -// { -// // create a new subscriber -// rclcpp::Node test_subscription_node("test_subscription_node"); -// auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; -// auto subscription = test_subscription_node.create_subscription( -// "/test_motion_primitives_forward_controller/state", 10, subs_callback); - -// // call update to publish the test value -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// // call update to publish the test value -// // since update doesn't guarantee a published message, republish until received -// int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop -// rclcpp::WaitSet wait_set; // block used to wait on message -// wait_set.add_subscription(subscription); -// while (max_sub_check_loop_count--) -// { -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); -// // check if message has been received -// if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) -// { -// break; -// } -// } -// ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " -// "controller/broadcaster update loop"; - -// // take message from subscription -// rclcpp::MessageInfo msg_info; -// ASSERT_TRUE(subscription->take(msg, msg_info)); -// } - -// // TODO(anyone): add/remove arguments as it suites your command message type -// void publish_commands( -// const std::vector & displacements = {0.45}, -// const std::vector & velocities = {0.0}, const double duration = 1.25) -// { -// auto wait_for_topic = [&](const auto topic_name) -// { -// size_t wait_count = 0; -// while (command_publisher_node_->count_subscribers(topic_name) == 0) -// { -// if (wait_count >= 5) -// { -// auto error_msg = -// std::string("publishing to ") + topic_name + " but no node subscribes to it"; -// throw std::runtime_error(error_msg); -// } -// std::this_thread::sleep_for(std::chrono::milliseconds(100)); -// ++wait_count; -// } -// }; - -// wait_for_topic(command_publisher_->get_topic_name()); - -// ControllerReferenceMsg msg; -// msg.joint_names = joint_names_; -// msg.displacements = displacements; -// msg.velocities = velocities; -// msg.duration = duration; - -// command_publisher_->publish(msg); -// } - -// std::shared_ptr call_service( -// const bool slow_control, rclcpp::Executor & executor) -// { -// auto request = std::make_shared(); -// request->data = slow_control; - -// bool wait_for_service_ret = -// slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); -// EXPECT_TRUE(wait_for_service_ret); -// if (!wait_for_service_ret) -// { -// throw std::runtime_error("Services is not available!"); -// } -// auto result = slow_control_service_client_->async_send_request(request); -// EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); - -// return result.get(); -// } - -// protected: -// // TODO(anyone): adjust the members as needed - -// // Controller-related parameters -// std::vector joint_names_ = {"joint1"}; -// std::vector state_joint_names_ = {"joint1state"}; -// std::string interface_name_ = "acceleration"; -// std::array joint_state_values_ = {1.1}; -// std::array joint_command_values_ = {101.101}; - -// std::vector state_itfs_; -// std::vector command_itfs_; - -// // Test related parameters -// std::unique_ptr controller_; -// rclcpp::Node::SharedPtr command_publisher_node_; -// rclcpp::Publisher::SharedPtr command_publisher_; -// rclcpp::Node::SharedPtr service_caller_node_; -// rclcpp::Client::SharedPtr slow_control_service_client_; -// }; - -// #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" +#include "gmock/gmock.h" +#include "hardware_interface/loaned_command_interface.hpp" +#include "hardware_interface/loaned_state_interface.hpp" +#include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/parameter_value.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp/utilities.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +// TODO(anyone): replace the state and command message types +using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; +using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; +using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; + +namespace +{ +constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; +constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; +} // namespace + +// subclassing and friending so we can access member variables +class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController +{ + FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); + +public: + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override + { + auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); + // Only if on_configure is successful create subscription + if (ret == CallbackReturn::SUCCESS) + { + ref_subscriber_wait_set_.add_subscription(ref_subscriber_); + } + return ret; + } + + /** + * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. + * Requires that the executor is not spinned elsewhere between the + * message publication and the call to this function. + * + * @return true if new ControllerReferenceMsg msg was received, false if timeout. + */ + bool wait_for_command( + rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, + const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) + { + bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; + if (success) + { + executor.spin_some(); + } + return success; + } + + bool wait_for_commands( + rclcpp::Executor & executor, + const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) + { + return wait_for_command(executor, ref_subscriber_wait_set_, timeout); + } + + // TODO(anyone): add implementation of any methods of your controller is needed + +private: + rclcpp::WaitSet ref_subscriber_wait_set_; +}; + +// We are using template class here for easier reuse of Fixture in specializations of controllers +template +class MotionPrimitivesForwardControllerFixture : public ::testing::Test +{ +public: + static void SetUpTestCase() {} + + void SetUp() + { + // initialize controller + controller_ = std::make_unique(); + + command_publisher_node_ = std::make_shared("command_publisher"); + command_publisher_ = command_publisher_node_->create_publisher( + "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); + + service_caller_node_ = std::make_shared("service_caller"); + slow_control_service_client_ = service_caller_node_->create_client( + "/test_motion_primitives_forward_controller/set_slow_control_mode"); + } + + static void TearDownTestCase() {} + + void TearDown() { controller_.reset(nullptr); } + +protected: + void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") + { + ASSERT_EQ( + controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), + controller_interface::return_type::OK); + + std::vector command_ifs; + command_itfs_.reserve(joint_command_values_.size()); + command_ifs.reserve(joint_command_values_.size()); + + for (size_t i = 0; i < joint_command_values_.size(); ++i) + { + command_itfs_.emplace_back(hardware_interface::CommandInterface( + joint_names_[i], interface_name_, &joint_command_values_[i])); + command_ifs.emplace_back(command_itfs_.back()); + } + // TODO(anyone): Add other command interfaces, if any + + std::vector state_ifs; + state_itfs_.reserve(joint_state_values_.size()); + state_ifs.reserve(joint_state_values_.size()); + + for (size_t i = 0; i < joint_state_values_.size(); ++i) + { + state_itfs_.emplace_back(hardware_interface::StateInterface( + joint_names_[i], interface_name_, &joint_state_values_[i])); + state_ifs.emplace_back(state_itfs_.back()); + } + // TODO(anyone): Add other state interfaces, if any + + controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); + } + + void subscribe_and_get_messages(ControllerStateMsg & msg) + { + // create a new subscriber + rclcpp::Node test_subscription_node("test_subscription_node"); + auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; + auto subscription = test_subscription_node.create_subscription( + "/test_motion_primitives_forward_controller/state", 10, subs_callback); + + // call update to publish the test value + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + // call update to publish the test value + // since update doesn't guarantee a published message, republish until received + int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop + rclcpp::WaitSet wait_set; // block used to wait on message + wait_set.add_subscription(subscription); + while (max_sub_check_loop_count--) + { + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); + // check if message has been received + if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) + { + break; + } + } + ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " + "controller/broadcaster update loop"; + + // take message from subscription + rclcpp::MessageInfo msg_info; + ASSERT_TRUE(subscription->take(msg, msg_info)); + } + + // TODO(anyone): add/remove arguments as it suites your command message type + void publish_commands( + const std::vector & displacements = {0.45}, + const std::vector & velocities = {0.0}, const double duration = 1.25) + { + auto wait_for_topic = [&](const auto topic_name) + { + size_t wait_count = 0; + while (command_publisher_node_->count_subscribers(topic_name) == 0) + { + if (wait_count >= 5) + { + auto error_msg = + std::string("publishing to ") + topic_name + " but no node subscribes to it"; + throw std::runtime_error(error_msg); + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + ++wait_count; + } + }; + + wait_for_topic(command_publisher_->get_topic_name()); + + ControllerReferenceMsg msg; + msg.joint_names = joint_names_; + msg.displacements = displacements; + msg.velocities = velocities; + msg.duration = duration; + + command_publisher_->publish(msg); + } + + std::shared_ptr call_service( + const bool slow_control, rclcpp::Executor & executor) + { + auto request = std::make_shared(); + request->data = slow_control; + + bool wait_for_service_ret = + slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); + EXPECT_TRUE(wait_for_service_ret); + if (!wait_for_service_ret) + { + throw std::runtime_error("Services is not available!"); + } + auto result = slow_control_service_client_->async_send_request(request); + EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + + return result.get(); + } + +protected: + // TODO(anyone): adjust the members as needed + + // Controller-related parameters + std::vector joint_names_ = {"joint1"}; + std::vector state_joint_names_ = {"joint1state"}; + std::string interface_name_ = "acceleration"; + std::array joint_state_values_ = {1.1}; + std::array joint_command_values_ = {101.101}; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; + rclcpp::Client::SharedPtr slow_control_service_client_; +}; + +#endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From 9fa58b485f96f2ea7395bc595962da9034a10a0c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:46:49 +0200 Subject: [PATCH 024/128] changed msg_queue_ form private to protected to be accessible in tests --- .../motion_primitives_forward_controller.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index add7ad4ee0..8357c39825 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -82,6 +82,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle rclcpp::Publisher::SharedPtr s_publisher_; std::unique_ptr state_publisher_; + std::queue> msg_queue_; + private: // callback for topic interface void reference_callback(const std::shared_ptr msg); // callback for reference message @@ -89,7 +91,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void reset_command_interfaces(); // Reset all command interfaces to NaN() bool set_command_interfaces(); // Set command interfaces from the message - std::queue> msg_queue_; size_t queue_size_ = 0; std::mutex command_mutex_; From 3eb44c26e5f9c68c2ff98287eb060323fb8f9668 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:48:40 +0200 Subject: [PATCH 025/128] changed test_motion_primitives_forward_controller implementation from rtw template to fit the controller implementation --- ..._primitives_forward_controller_params.yaml | 36 +++- ...t_motion_primitives_forward_controller.cpp | 150 +++----------- ...t_motion_primitives_forward_controller.hpp | 192 ++++++++++-------- 3 files changed, 166 insertions(+), 212 deletions(-) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 573eb4364a..d01d9bfdea 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,7 +1,33 @@ test_motion_primitives_forward_controller: ros__parameters: - - joints: - - joint1 - - interface_name: acceleration + name: motion_primitive + command_interfaces: + - motion_type + - q1 + - q2 + - q3 + - q4 + - q5 + - q6 + - pos_x + - pos_y + - pos_z + - pos_qx + - pos_qy + - pos_qz + - pos_qw + - pos_via_x + - pos_via_y + - pos_via_z + - pos_via_qx + - pos_via_qy + - pos_via_qz + - pos_via_qw + - blend_radius + - velocity + - acceleration + - move_time + state_interfaces: + - execution_status + - ready_for_new_primitive + queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 1f31006fdc..db31b27dc0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #include #include @@ -24,7 +24,6 @@ #include "test_motion_primitives_forward_controller.hpp" using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::control_mode_type; using motion_primitives_forward_controller::STATE_MY_ITFS; class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture @@ -35,16 +34,15 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.command_interfaces.empty()); + ASSERT_TRUE(controller_->params_.state_interfaces.empty()); + ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); - ASSERT_EQ(controller_->params_.interface_name, interface_name_); + ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) @@ -54,17 +52,17 @@ TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } @@ -75,20 +73,9 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // check that the message is reset - auto msg = controller_->input_ref_.readFromNonRT(); - EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); - for (const auto & cmd : (*msg)->displacements) - { - EXPECT_TRUE(std::isnan(cmd)); - } - EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); - for (const auto & cmd : (*msg)->velocities) - { - EXPECT_TRUE(std::isnan(cmd)); - } - - ASSERT_TRUE(std::isnan((*msg)->duration)); + // check that the message queue is reset + auto msg_queue = controller_->msg_queue_; + ASSERT_TRUE(msg_queue.empty()); } TEST_F(MotionPrimitivesForwardControllerTest, update_success) @@ -118,102 +105,21 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); -} - -TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) -{ - SetUpController(); - - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - // initially set to false - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - // should stay false - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - // set to true - ASSERT_NO_THROW(call_service(true, executor)); - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + auto val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + ASSERT_TRUE(std::isnan(val_opt.value())); - // set back to false - ASSERT_NO_THROW(call_service(false, executor)); - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -} - -TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); + val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } -TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - // When slow mode is enabled command ends up being half of the value - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); - controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); - - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); - ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -} TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) { @@ -229,7 +135,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) ControllerStateMsg msg; subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + ASSERT_EQ(msg.data, ExecutionState::IDLE); } TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) @@ -248,20 +154,30 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update ControllerStateMsg msg; subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + ASSERT_EQ(msg.data, ExecutionState::IDLE); publish_commands(); - ASSERT_TRUE(controller_->wait_for_commands(executor)); + controller_->wait_for_commands(executor); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ(command_values_[2], 0.2); + EXPECT_EQ(command_values_[3], 0.3); + EXPECT_EQ(command_values_[4], 0.4); + EXPECT_EQ(command_values_[5], 0.5); + EXPECT_EQ(command_values_[6], 0.6); + EXPECT_EQ(command_values_[21], 3.0); // blend radius + EXPECT_EQ(command_values_[22], 0.7); // velocity + EXPECT_EQ(command_values_[23], 1.0); // acceleration + EXPECT_EQ(command_values_[24], 2.0); // move time subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 0.45); + ASSERT_EQ(msg.data, ExecutionState::IDLE); } int main(int argc, char ** argv) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 0ea3c40b54..9e3beec17c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ @@ -36,10 +36,14 @@ #include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" -// TODO(anyone): replace the state and command message types -using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; -using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; -using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "std_msgs/msg/int8.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" +#include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" + +using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using ControllerStateMsg = std_msgs::msg::Int8; namespace { @@ -53,53 +57,38 @@ class TestableMotionPrimitivesForwardController : public motion_primitives_forwa FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); - + FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); + public: controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override { - auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); - // Only if on_configure is successful create subscription - if (ret == CallbackReturn::SUCCESS) - { - ref_subscriber_wait_set_.add_subscription(ref_subscriber_); - } - return ret; + return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); } /** * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. * Requires that the executor is not spinned elsewhere between the * message publication and the call to this function. - * - * @return true if new ControllerReferenceMsg msg was received, false if timeout. */ - bool wait_for_command( - rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, + void wait_for_command( + rclcpp::Executor & executor, const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { - bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; - if (success) + auto until = get_node()->get_clock()->now() + timeout; + while (get_node()->get_clock()->now() < until) { executor.spin_some(); + std::this_thread::sleep_for(std::chrono::microseconds(10)); } - return success; } - bool wait_for_commands( + void wait_for_commands( rclcpp::Executor & executor, const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { - return wait_for_command(executor, ref_subscriber_wait_set_, timeout); + return wait_for_command(executor, timeout); } - - // TODO(anyone): add implementation of any methods of your controller is needed - -private: - rclcpp::WaitSet ref_subscriber_wait_set_; }; // We are using template class here for easier reuse of Fixture in specializations of controllers @@ -116,11 +105,7 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_publisher_node_ = std::make_shared("command_publisher"); command_publisher_ = command_publisher_node_->create_publisher( - "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); - - service_caller_node_ = std::make_shared("service_caller"); - slow_control_service_client_ = service_caller_node_->create_client( - "/test_motion_primitives_forward_controller/set_slow_control_mode"); + "/test_motion_primitives_forward_controller/reference", rclcpp::SystemDefaultsQoS()); } static void TearDownTestCase() {} @@ -135,28 +120,26 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test controller_interface::return_type::OK); std::vector command_ifs; - command_itfs_.reserve(joint_command_values_.size()); - command_ifs.reserve(joint_command_values_.size()); + command_itfs_.reserve(command_values_.size()); + command_ifs.reserve(command_values_.size()); - for (size_t i = 0; i < joint_command_values_.size(); ++i) + for (size_t i = 0; i < command_values_.size(); ++i) { command_itfs_.emplace_back(hardware_interface::CommandInterface( - joint_names_[i], interface_name_, &joint_command_values_[i])); + interface_namespace_, command_interface_names_[i], &command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } - // TODO(anyone): Add other command interfaces, if any std::vector state_ifs; - state_itfs_.reserve(joint_state_values_.size()); - state_ifs.reserve(joint_state_values_.size()); + state_itfs_.reserve(state_values_.size()); + state_ifs.reserve(state_values_.size()); - for (size_t i = 0; i < joint_state_values_.size(); ++i) + for (size_t i = 0; i < state_values_.size(); ++i) { state_itfs_.emplace_back(hardware_interface::StateInterface( - joint_names_[i], interface_name_, &joint_state_values_[i])); + interface_namespace_, state_interface_names_[i], &state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } - // TODO(anyone): Add other state interfaces, if any controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } @@ -195,12 +178,15 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test rclcpp::MessageInfo msg_info; ASSERT_TRUE(subscription->take(msg, msg_info)); } - - // TODO(anyone): add/remove arguments as it suites your command message type + void publish_commands( - const std::vector & displacements = {0.45}, - const std::vector & velocities = {0.0}, const double duration = 1.25) + const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, + double velocity = 0.7, + double acceleration = 1.0, + double move_time = 2.0, + double blend_radius = 3.0) { + std::cout << "Publishing command message ..." << std::endl; auto wait_for_topic = [&](const auto topic_name) { size_t wait_count = 0; @@ -215,57 +201,83 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::this_thread::sleep_for(std::chrono::milliseconds(100)); ++wait_count; } + std::cout << "Found subscriber for topic: " << topic_name << std::endl; }; - wait_for_topic(command_publisher_->get_topic_name()); + auto topic_name = command_publisher_->get_topic_name(); + std::cout << "Waiting for subscriber on topic: " << topic_name << std::endl; + wait_for_topic(topic_name); ControllerReferenceMsg msg; - msg.joint_names = joint_names_; - msg.displacements = displacements; - msg.velocities = velocities; - msg.duration = duration; - command_publisher_->publish(msg); - } - - std::shared_ptr call_service( - const bool slow_control, rclcpp::Executor & executor) - { - auto request = std::make_shared(); - request->data = slow_control; + // TODO(mathias31415): Add other tests for other motion types + msg.type = MotionType::LINEAR_JOINT; + msg.joint_positions = joint_positions; + msg.blend_radius = blend_radius; - bool wait_for_service_ret = - slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); - EXPECT_TRUE(wait_for_service_ret); - if (!wait_for_service_ret) - { - throw std::runtime_error("Services is not available!"); - } - auto result = slow_control_service_client_->async_send_request(request); - EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + msg.additional_arguments.resize(3); + msg.additional_arguments[0].argument_name = "velocity"; + msg.additional_arguments[0].argument_value = velocity; + msg.additional_arguments[1].argument_name = "acceleration"; + msg.additional_arguments[1].argument_value = acceleration; + msg.additional_arguments[2].argument_name = "move_time"; + msg.additional_arguments[2].argument_value = move_time; - return result.get(); + command_publisher_->publish(msg); } + protected: - // TODO(anyone): adjust the members as needed - - // Controller-related parameters - std::vector joint_names_ = {"joint1"}; - std::vector state_joint_names_ = {"joint1state"}; - std::string interface_name_ = "acceleration"; - std::array joint_state_values_ = {1.1}; - std::array joint_command_values_ = {101.101}; - - std::vector state_itfs_; - std::vector command_itfs_; - - // Test related parameters - std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; - rclcpp::Client::SharedPtr slow_control_service_client_; + // Controller-related parameters + std::vector command_interface_names_ = { + "motion_type", + "q1", + "q2", + "q3", + "q4", + "q5", + "q6", + "pos_x", + "pos_y", + "pos_z", + "pos_qx", + "pos_qy", + "pos_qz", + "pos_qw", + "pos_via_x", + "pos_via_y", + "pos_via_z", + "pos_via_qx", + "pos_via_qy", + "pos_via_qz", + "pos_via_qw", + "blend_radius", + "velocity", + "acceleration", + "move_time"}; + + std::vector state_interface_names_ = { + "execution_status", + "ready_for_new_primitive"}; + + std::string interface_namespace_ = "motion_primitive"; + std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array command_values_ = { + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101 + }; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; }; #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From d9d4c67a3e9fc971991b7550b1b3839575c9151c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:54:33 +0200 Subject: [PATCH 026/128] uncommented test_motion_primitives_forward_controller_preceeding implementation --- .../CMakeLists.txt | 16 +-- ...imitives_forward_controller_preceeding.cpp | 98 +++++++++---------- 2 files changed, 57 insertions(+), 57 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 3dd291754b..b19a955925 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -89,14 +89,14 @@ if(BUILD_TESTING) hardware_interface ) - # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) - # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) - # target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) - # ament_target_dependencies( - # test_motion_primitives_forward_controller_preceeding - # controller_interface - # hardware_interface - # ) + add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) + target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) + target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + ament_target_dependencies( + test_motion_primitives_forward_controller_preceeding + controller_interface + hardware_interface + ) endif() ament_export_include_directories( diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 1182c14ea1..ac3dd3f305 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -14,64 +14,64 @@ // // Authors: -// #include "test_motion_primitives_forward_controller.hpp" +#include "test_motion_primitives_forward_controller.hpp" -// #include -// #include -// #include -// #include -// #include +#include +#include +#include +#include +#include -// using motion_primitives_forward_controller::CMD_MY_ITFS; -// using motion_primitives_forward_controller::control_mode_type; -// using motion_primitives_forward_controller::STATE_MY_ITFS; +using motion_primitives_forward_controller::CMD_MY_ITFS; +using motion_primitives_forward_controller::control_mode_type; +using motion_primitives_forward_controller::STATE_MY_ITFS; -// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture -// { -// }; +class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +{ +}; -// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) -// { -// SetUpController(); +TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +{ + SetUpController(); -// ASSERT_TRUE(controller_->params_.joints.empty()); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.joints.empty()); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.interface_name.empty()); -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); -// ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); -// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); -// ASSERT_EQ(controller_->params_.interface_name, interface_name_); -// } + ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); + ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); + ASSERT_EQ(controller_->params_.interface_name, interface_name_); +} -// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) -// { -// SetUpController(); +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +{ + SetUpController(); -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// auto command_intefaces = controller_->command_interface_configuration(); -// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); -// for (size_t i = 0; i < command_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } + auto command_intefaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { + EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } -// auto state_intefaces = controller_->state_interface_configuration(); -// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); -// for (size_t i = 0; i < state_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); -// } -// } + auto state_intefaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { + EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); + } +} -// int main(int argc, char ** argv) -// { -// ::testing::InitGoogleTest(&argc, argv); -// rclcpp::init(argc, argv); -// int result = RUN_ALL_TESTS(); -// rclcpp::shutdown(); -// return result; -// } +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} From e76a8d07fa0cb470464e06f84bf3e78e22bdb4fb Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:59:58 +0200 Subject: [PATCH 027/128] changed test_motion_primitives_forward_controller_preceeding implementation from rtw template to fit the controller implementation --- ..._forward_controller_preceeding_params.yaml | 38 +++++++++++++++---- ...imitives_forward_controller_preceeding.cpp | 24 ++++++------ 2 files changed, 42 insertions(+), 20 deletions(-) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index e3113c2042..d01d9bfdea 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,9 +1,33 @@ test_motion_primitives_forward_controller: ros__parameters: - joints: - - joint1 - - interface_name: acceleration - - state_joints: - - joint1state + name: motion_primitive + command_interfaces: + - motion_type + - q1 + - q2 + - q3 + - q4 + - q5 + - q6 + - pos_x + - pos_y + - pos_z + - pos_qx + - pos_qy + - pos_qz + - pos_qw + - pos_via_x + - pos_via_y + - pos_via_z + - pos_via_qx + - pos_via_qy + - pos_via_qz + - pos_via_qw + - blend_radius + - velocity + - acceleration + - move_time + state_interfaces: + - execution_status + - ready_for_new_primitive + queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index ac3dd3f305..348f10fbdb 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #include "test_motion_primitives_forward_controller.hpp" @@ -23,7 +23,6 @@ #include using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::control_mode_type; using motion_primitives_forward_controller::STATE_MY_ITFS; class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture @@ -34,16 +33,15 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.command_interfaces.empty()); + ASSERT_TRUE(controller_->params_.state_interfaces.empty()); + ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); - ASSERT_EQ(controller_->params_.interface_name, interface_name_); + ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) @@ -53,17 +51,17 @@ TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } From 11bec4d2c835792087dd665951863d844a11830d Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:18:33 +0200 Subject: [PATCH 028/128] moved reset_controller_reference_msg into motion_primitives_forward_controller namespace --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 47 +++++++++---------- 2 files changed, 23 insertions(+), 25 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 8357c39825..58aa43a996 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,6 +90,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle // std::atomic new_msg_available_ = false; // flag to indicate if new message is available void reset_command_interfaces(); // Reset all command interfaces to NaN() bool set_command_interfaces(); // Set command interfaces from the message + void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a17ee48a3a..5e603ba82e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -43,31 +43,6 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; -using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; - -// reset the controller reference message to NaN -void reset_controller_reference_msg(std::shared_ptr & msg) -{ - msg->type = 0; - msg->blend_radius = std::numeric_limits::quiet_NaN(); - - for (auto & arg : msg->additional_arguments) { - arg.argument_name = ""; - arg.argument_value = std::numeric_limits::quiet_NaN(); - } - - for (auto & pose : msg->poses) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); - } -} - } // namespace @@ -427,6 +402,28 @@ bool MotionPrimitivesForwardController::set_command_interfaces() return true; } +// reset the controller reference message to NaN +void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shared_ptr & msg) +{ + msg->type = 0; + msg->blend_radius = std::numeric_limits::quiet_NaN(); + + for (auto & arg : msg->additional_arguments) { + arg.argument_name = ""; + arg.argument_value = std::numeric_limits::quiet_NaN(); + } + + for (auto & pose : msg->poses) { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + } +} } // namespace motion_primitives_forward_controller From 6c98434de963a93a05a0a849a7c55ee387f2ff08 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:19:23 +0200 Subject: [PATCH 029/128] changed get_value() to get_optional() --- .../src/motion_primitives_forward_controller.cpp | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 5e603ba82e..92d3f57a80 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -254,7 +254,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { // read the status from the state interface // TODO(mathias31415) Is check needed if the value is .0? - uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + auto opt_value_execution = state_interfaces_[0].get_optional(); + if (!opt_value_execution.has_value()) { + RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); + return controller_interface::return_type::ERROR; + } + uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); switch (execution_status) { case ExecutionState::IDLE: @@ -289,7 +294,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->unlockAndPublish(); // TODO(mathias31415) Is check needed if the value is .0? - uint8_t ready_for_new_primitive = static_cast(std::round(state_interfaces_[1].get_value())); + auto opt_value_ready = state_interfaces_[1].get_optional(); + if (!opt_value_ready.has_value()) { + RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); + return controller_interface::return_type::ERROR; + } + uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); // sending new command? if(!msg_queue_.empty()) // check if new command is available From d2ef095c66fb2e948456d5e36facd77b9945b17f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:33:44 +0200 Subject: [PATCH 030/128] cleanup on comments and commented code --- .../CMakeLists.txt | 7 ----- .../motion_primitives_forward_controller.hpp | 15 +++------ .../motion_type.hpp | 7 ++--- ...imitives_forward_controller_parameters.hpp | 2 -- .../motion_primitives_forward_controller.cpp | 31 ++++++------------- ...d_motion_primitives_forward_controller.cpp | 3 +- 6 files changed, 17 insertions(+), 48 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index b19a955925..9dfb4ccb26 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -5,7 +5,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() -# find dependencies set(THIS_PACKAGE_INCLUDE_DEPENDS control_msgs controller_interface @@ -28,7 +27,6 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() -# Add motion_primitives_forward_controller library related compile commands generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -59,11 +57,6 @@ install( LIBRARY DESTINATION lib ) -# install( -# DIRECTORY include/ -# DESTINATION include/${PROJECT_NAME} -# ) - install( DIRECTORY include/ DESTINATION include diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 58aa43a996..1014caeb2e 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -64,7 +64,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - // state and command message types using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ControllerStateMsg = std_msgs::msg::Int8; @@ -73,9 +72,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; - // realtime_tools::RealtimeBuffer> input_ref_; using ControllerStatePublisher = realtime_tools::RealtimePublisher; @@ -85,18 +82,14 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; private: - // callback for topic interface - void reference_callback(const std::shared_ptr msg); // callback for reference message - // std::atomic new_msg_available_ = false; // flag to indicate if new message is available - void reset_command_interfaces(); // Reset all command interfaces to NaN() - bool set_command_interfaces(); // Set command interfaces from the message + void reference_callback(const std::shared_ptr msg); + void reset_command_interfaces(); + bool set_command_interfaces(); void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; - std::mutex command_mutex_; - - bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR + bool print_error_once_ = true; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 9074f4d45b..e4f779db6f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -25,9 +25,8 @@ namespace MotionType static constexpr uint8_t CIRCULAR_CARTESIAN = 51; // Helper types - static constexpr uint8_t STOP_MOTION = 66; // added to stop motion - static constexpr uint8_t MOTION_SEQUENCE_START = 100; // added to indicate motion sequence instead of executing single primitives - static constexpr uint8_t MOTION_SEQUENCE_END = 101; // added to indicate end of motion sequence + static constexpr uint8_t STOP_MOTION = 66; + static constexpr uint8_t MOTION_SEQUENCE_START = 100; //indicate motion sequence instead of executing single primitives + static constexpr uint8_t MOTION_SEQUENCE_END = 101; } - #endif // MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index aad3111815..28078ca83c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -11,8 +11,6 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// Authors: #ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 92d3f57a80..f95887168c 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -13,7 +13,6 @@ // limitations under the License. // // Authors: Mathias Fuhrer -// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" @@ -42,7 +41,6 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; - } // namespace @@ -101,6 +99,8 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi ref_subscriber_ = get_node()->create_subscription( "~/reference", subscribers_qos, std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); + RCLCPP_INFO(get_node()->get_logger(), "Subscribed to reference topic: %s", ref_subscriber_->get_topic_name()); + std::shared_ptr msg = std::make_shared(); reset_controller_reference_msg(msg); @@ -138,9 +138,9 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr { case MotionType::STOP_MOTION:{ RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver + (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command immediately to the hw-interface while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } @@ -149,7 +149,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - // Check if joint positions are provided if (msg->joint_positions.empty()) { RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); return; @@ -158,7 +157,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::LINEAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - // Check if poses are provided if (msg->poses.empty()) { RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); return; @@ -167,7 +165,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::CIRCULAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - // Check if poses are provided if (msg->poses.size() != 2) { RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); return; @@ -182,13 +179,11 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); break; - // Additional motion types can be added here default: RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); return; } - // Check if the queue size is exceeded if (msg_queue_.size() >= queue_size_) { RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); return; @@ -203,13 +198,11 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - // Reserve memory for the command interfaces command_interfaces_config.names.reserve(params_.command_interfaces.size()); // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - // Combine the joint with the interface name and add it to the list command_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return command_interfaces_config; @@ -220,13 +213,11 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - // Reserve memory for the state interfaces state_interfaces_config.names.reserve(params_.state_interfaces.size()); // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - // Combine the joint with the interface name and add it to the list state_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return state_interfaces_config; @@ -235,7 +226,7 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -243,7 +234,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -253,7 +244,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { // read the status from the state interface - // TODO(mathias31415) Is check needed if the value is .0? auto opt_value_execution = state_interfaces_[0].get_optional(); if (!opt_value_execution.has_value()) { RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); @@ -293,7 +283,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->msg_.data = execution_status; state_publisher_->unlockAndPublish(); - // TODO(mathias31415) Is check needed if the value is .0? auto opt_value_ready = state_interfaces_[1].get_optional(); if (!opt_value_ready.has_value()) { RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); @@ -301,15 +290,14 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - // sending new command? if(!msg_queue_.empty()) // check if new command is available { switch (ready_for_new_primitive) { - case ReadyForNewPrimitive::NOT_READY:{ // hw-interface is not ready for a new command + case ReadyForNewPrimitive::NOT_READY:{ return controller_interface::return_type::OK; } - case ReadyForNewPrimitive::READY:{ // hw-interface is ready for a new command - if(!set_command_interfaces()){ // Set the command interfaces with next motion primitive + case ReadyForNewPrimitive::READY:{ + if(!set_command_interfaces()){ RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); return controller_interface::return_type::ERROR; } @@ -386,7 +374,6 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - // Set blend_radius (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius // Read additional arguments diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index a7bb555bd0..f80bf960f0 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -11,8 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// Authors: + #include #include From 7c4f1674a032ddc8ee3541f24d0a7cab18926ada Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:44:09 +0200 Subject: [PATCH 031/128] clarified motion primitive publishing to ~/reference topic --- motion_primitives_forward_controller/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 0d5215e491..0426f7839f 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -26,7 +26,8 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot 1. **Command Reception** - Python scripts can publish motion primitives to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. 2. **Command Handling Logic** - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. From 59ecb5babc13d8c28d711c0638372e54e53cf1d9 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 6 May 2025 08:56:46 +0200 Subject: [PATCH 032/128] pre-commit fixes --- .../CMakeLists.txt | 38 ++- .../README.md | 12 +- .../execution_state.hpp | 19 +- .../motion_primitives_forward_controller.hpp | 14 +- .../motion_type.hpp | 29 +-- .../ready_for_new_primitive.hpp | 15 +- ...imitives_forward_controller_parameters.hpp | 8 +- .../motion_primitives_forward_controller.cpp | 238 ++++++++++-------- ..._primitives_forward_controller_params.yaml | 2 +- ..._forward_controller_preceeding_params.yaml | 2 +- ...d_motion_primitives_forward_controller.cpp | 7 +- ...t_motion_primitives_forward_controller.cpp | 16 +- ...t_motion_primitives_forward_controller.hpp | 117 ++++----- ...imitives_forward_controller_preceeding.cpp | 11 +- 14 files changed, 284 insertions(+), 244 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 9dfb4ccb26..5c11dd3850 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -63,9 +63,13 @@ install( ) if(BUILD_TESTING) - - ament_add_gmock(test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp) - target_include_directories(test_load_motion_primitives_forward_controller PRIVATE include) + ament_add_gmock( + test_load_motion_primitives_forward_controller + test/test_load_motion_primitives_forward_controller.cpp + ) + target_include_directories( + test_load_motion_primitives_forward_controller PRIVATE include + ) ament_target_dependencies( test_load_motion_primitives_forward_controller controller_manager @@ -73,18 +77,34 @@ if(BUILD_TESTING) ros2_control_test_assets ) - add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) - target_include_directories(test_motion_primitives_forward_controller PRIVATE include) - target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + add_rostest_with_parameters_gmock( + test_motion_primitives_forward_controller + test/test_motion_primitives_forward_controller.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml + ) + target_include_directories( + test_motion_primitives_forward_controller PRIVATE include + ) + target_link_libraries( + test_motion_primitives_forward_controller motion_primitives_forward_controller + ) ament_target_dependencies( test_motion_primitives_forward_controller controller_interface hardware_interface ) - add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) - target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) - target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + add_rostest_with_parameters_gmock( + test_motion_primitives_forward_controller_preceeding + test/test_motion_primitives_forward_controller_preceeding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml + ) + target_include_directories( + test_motion_primitives_forward_controller_preceeding PRIVATE include + ) + target_link_libraries( + test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller + ) ament_target_dependencies( test_motion_primitives_forward_controller_preceeding controller_interface diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 0426f7839f..e301e690fb 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -25,20 +25,20 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png) -1. **Command Reception** - Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. +1. **Command Reception** + Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. -2. **Command Handling Logic** +2. **Command Handling Logic** - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. -3. **Motion Execution Flow** +3. **Motion Execution Flow** The `update()` method in the controller: - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. -4. **Sequencing Logic** +4. **Sequencing Logic** Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. @@ -46,4 +46,4 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) - [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file +- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index 38c1458365..df8ca79f45 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,16 +14,15 @@ // // Authors: Mathias Fuhrer -#ifndef EXECUTION_STATE_HPP -#define EXECUTION_STATE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ namespace ExecutionState { - static constexpr uint8_t IDLE = 0; - static constexpr uint8_t EXECUTING = 1; - static constexpr uint8_t SUCCESS = 2; - static constexpr uint8_t ERROR = 3; -} +static constexpr uint8_t IDLE = 0; +static constexpr uint8_t EXECUTING = 1; +static constexpr uint8_t SUCCESS = 2; +static constexpr uint8_t ERROR = 3; +} // namespace ExecutionState -#endif // EXECUTION_STATE_HPP +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 1014caeb2e..e7f1a4a01c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -18,12 +18,12 @@ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include +#include #include #include -#include -#include "controller_interface/controller_interface.hpp" #include +#include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -32,7 +32,6 @@ #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" #include "std_msgs/msg/int8.hpp" - namespace motion_primitives_forward_controller { // name constants for state interfaces @@ -64,9 +63,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - using ControllerStateMsg = std_msgs::msg::Int8; - + using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using ControllerStateMsg = std_msgs::msg::Int8; protected: std::shared_ptr param_listener_; @@ -87,7 +85,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool set_command_interfaces(); void reset_controller_reference_msg(std::shared_ptr & msg); - size_t queue_size_ = 0; + size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; }; diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index e4f779db6f..38fa3cfe46 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,19 +14,20 @@ // // Authors: Mathias Fuhrer -#ifndef MOTION_TYPE_HPP -#define MOTION_TYPE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ namespace MotionType -{ // Motion Primitives - static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value - static constexpr uint8_t LINEAR_CARTESIAN = 50; - static constexpr uint8_t CIRCULAR_CARTESIAN = 51; +{ +// Motion Primitives +static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value +static constexpr uint8_t LINEAR_CARTESIAN = 50; +static constexpr uint8_t CIRCULAR_CARTESIAN = 51; - // Helper types - static constexpr uint8_t STOP_MOTION = 66; - static constexpr uint8_t MOTION_SEQUENCE_START = 100; //indicate motion sequence instead of executing single primitives - static constexpr uint8_t MOTION_SEQUENCE_END = 101; -} -#endif // MOTION_TYPE_HPP +// Helper types +static constexpr uint8_t STOP_MOTION = 66; +// indicate motion sequence instead of executing single primitives +static constexpr uint8_t MOTION_SEQUENCE_START = 100; +static constexpr uint8_t MOTION_SEQUENCE_END = 101; +} // namespace MotionType +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp index f8054f3dbc..3a487b7463 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,14 +14,13 @@ // // Authors: Mathias Fuhrer -#ifndef READY_FOR_NEW_PRIMITIVE_HPP -#define READY_FOR_NEW_PRIMITIVE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ namespace ReadyForNewPrimitive { - static constexpr uint8_t NOT_READY = 0; - static constexpr uint8_t READY = 1; -} +static constexpr uint8_t NOT_READY = 0; +static constexpr uint8_t READY = 1; +} // namespace ReadyForNewPrimitive -#endif // READY_FOR_NEW_PRIMITIVE_HPP +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index 28078ca83c..c2ff279035 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #include @@ -35,4 +35,4 @@ Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) } // namespace parameter_traits -#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f95887168c..a32993bc03 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -22,8 +22,8 @@ #include #include "controller_interface/helpers.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace @@ -43,10 +43,12 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { false}; } // namespace - namespace motion_primitives_forward_controller { -MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} +MotionPrimitivesForwardController::MotionPrimitivesForwardController() +: controller_interface::ControllerInterface() +{ +} controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() { @@ -54,7 +56,8 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( try { - param_listener_ = std::make_shared(get_node()); + param_listener_ = + std::make_shared(get_node()); } catch (const std::exception & e) { @@ -73,20 +76,24 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi params_ = param_listener_->get_params(); // Check if the name is not empty - if (params_.name.empty()) { + if (params_.name.empty()) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); return controller_interface::CallbackReturn::ERROR; } // Check if there are exactly 25 command interfaces - if (params_.command_interfaces.size() !=25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time - RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); + if (params_.command_interfaces.size() != 25) + { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } // Check if there are exactly 2 state interfaces - if (params_.state_interfaces.size() != 2) { // execution_status + ready_for_new_primitive - RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); + if (params_.state_interfaces.size() != 2) + { // execution_status + ready_for_new_primitive + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly two state interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } @@ -99,14 +106,16 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi ref_subscriber_ = get_node()->create_subscription( "~/reference", subscribers_qos, std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); - RCLCPP_INFO(get_node()->get_logger(), "Subscribed to reference topic: %s", ref_subscriber_->get_topic_name()); - + RCLCPP_INFO( + get_node()->get_logger(), "Subscribed to reference topic: %s", + ref_subscriber_->get_topic_name()); std::shared_ptr msg = std::make_shared(); reset_controller_reference_msg(msg); queue_size_ = params_.queue_size; - if (queue_size_ == 0) { + if (queue_size_ == 0) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); return controller_interface::CallbackReturn::ERROR; } @@ -131,42 +140,52 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi } // Function gets called when a new message is received -void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg) +void MotionPrimitivesForwardController::reference_callback( + const std::shared_ptr msg) { // Check if the type is one of the allowed motion types switch (msg->type) { - case MotionType::STOP_MOTION:{ + case MotionType::STOP_MOTION: + { RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command immediately to the hw-interface - while (!msg_queue_.empty()) { // clear the queue - msg_queue_.pop(); + (void)command_interfaces_[0].set_value( + static_cast(msg->type)); // send stop command immediately to the hw-interface + while (!msg_queue_.empty()) + { // clear the queue + msg_queue_.pop(); } return; } case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - if (msg->joint_positions.empty()) { - RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); + if (msg->joint_positions.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); return; - } + } break; case MotionType::LINEAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - if (msg->poses.empty()) { - RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); + if (msg->poses.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); return; } break; case MotionType::CIRCULAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - if (msg->poses.size() != 2) { - RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); + if (msg->poses.size() != 2) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); return; } break; @@ -184,7 +203,8 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr return; } - if (msg_queue_.size() >= queue_size_) { + if (msg_queue_.size() >= queue_size_) + { RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); return; } @@ -192,8 +212,8 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg_queue_.push(msg); } - -controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const +controller_interface::InterfaceConfiguration +MotionPrimitivesForwardController::command_interface_configuration() const { controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; @@ -203,12 +223,13 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + command_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return command_interfaces_config; } -controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::state_interface_configuration() const +controller_interface::InterfaceConfiguration +MotionPrimitivesForwardController::state_interface_configuration() const { controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; @@ -218,7 +239,7 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + state_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return state_interfaces_config; } @@ -239,19 +260,21 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact return controller_interface::CallbackReturn::SUCCESS; } - controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { // read the status from the state interface auto opt_value_execution = state_interfaces_[0].get_optional(); - if (!opt_value_execution.has_value()) { - RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); + if (!opt_value_execution.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); - switch (execution_status) { + switch (execution_status) + { case ExecutionState::IDLE: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); print_error_once_ = true; @@ -267,14 +290,16 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::ERROR: - if (print_error_once_) { + if (print_error_once_) + { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); print_error_once_ = false; } break; - + default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); return controller_interface::return_type::ERROR; } @@ -284,27 +309,35 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->unlockAndPublish(); auto opt_value_ready = state_interfaces_[1].get_optional(); - if (!opt_value_ready.has_value()) { - RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); + if (!opt_value_ready.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); return controller_interface::return_type::ERROR; } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - if(!msg_queue_.empty()) // check if new command is available - { - switch (ready_for_new_primitive) { - case ReadyForNewPrimitive::NOT_READY:{ + if (!msg_queue_.empty()) // check if new command is available + { + switch (ready_for_new_primitive) + { + case ReadyForNewPrimitive::NOT_READY: + { return controller_interface::return_type::OK; } - case ReadyForNewPrimitive::READY:{ - if(!set_command_interfaces()){ + case ReadyForNewPrimitive::READY: + { + if (!set_command_interfaces()) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); return controller_interface::return_type::ERROR; } return controller_interface::return_type::OK; } default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", ready_for_new_primitive); + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", + ready_for_new_primitive); return controller_interface::return_type::ERROR; } } @@ -316,7 +349,8 @@ void MotionPrimitivesForwardController::reset_command_interfaces() { for (size_t i = 0; i < command_interfaces_.size(); ++i) { - if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) { + if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) + { RCLCPP_ERROR(get_node()->get_logger(), "Failed to reset command interface %ld", i); } } @@ -331,94 +365,99 @@ bool MotionPrimitivesForwardController::set_command_interfaces() msg_queue_.pop(); // Check if the message is valid - if (!current_ref){ + if (!current_ref) + { RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); // Process joint positions if available if (!current_ref->joint_positions.empty()) { for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 } } - + // Process Cartesian poses if available if (!current_ref->poses.empty()) { - const auto & goal_pose = current_ref->poses[0].pose; // goal pose - (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x - (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y - (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z - (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx - (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy - (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz - (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw + const auto & goal_pose = current_ref->poses[0].pose; // goal pose + (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x + (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y + (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z + (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx + (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy + (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz + (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) { - const auto & via_pose = current_ref->poses[1].pose; // via pose - (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x - (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y - (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z - (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx - (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy - (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz - (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw + const auto & via_pose = current_ref->poses[1].pose; // via pose + (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x + (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y + (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z + (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx + (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy + (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz + (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw } } - (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius // Read additional arguments - for (const auto &arg : current_ref->additional_arguments) + for (const auto & arg : current_ref->additional_arguments) { - if (arg.argument_name == "velocity") - { - (void)command_interfaces_[22].set_value(arg.argument_value); - } - else if (arg.argument_name == "acceleration") - { - (void)command_interfaces_[23].set_value(arg.argument_value); - } - else if (arg.argument_name == "move_time") - { - (void)command_interfaces_[24].set_value(arg.argument_value); - } - else - { - RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); - } + if (arg.argument_name == "velocity") + { + (void)command_interfaces_[22].set_value(arg.argument_value); + } + else if (arg.argument_name == "acceleration") + { + (void)command_interfaces_[23].set_value(arg.argument_value); + } + else if (arg.argument_name == "move_time") + { + (void)command_interfaces_[24].set_value(arg.argument_value); + } + else + { + RCLCPP_WARN( + get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + } } return true; } // reset the controller reference message to NaN -void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shared_ptr & msg) +void MotionPrimitivesForwardController::reset_controller_reference_msg( + std::shared_ptr & msg) { msg->type = 0; msg->blend_radius = std::numeric_limits::quiet_NaN(); - - for (auto & arg : msg->additional_arguments) { + + for (auto & arg : msg->additional_arguments) + { arg.argument_name = ""; arg.argument_value = std::numeric_limits::quiet_NaN(); } - for (auto & pose : msg->poses) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + for (auto & pose : msg->poses) + { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); } } @@ -427,4 +466,5 @@ void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shar #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - motion_primitives_forward_controller::MotionPrimitivesForwardController, controller_interface::ControllerInterface) + motion_primitives_forward_controller::MotionPrimitivesForwardController, + controller_interface::ControllerInterface) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index d01d9bfdea..aaa5ef1638 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -30,4 +30,4 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file + queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index d01d9bfdea..aaa5ef1638 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -30,4 +30,4 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file + queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index f80bf960f0..5024c67cad 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -32,8 +32,9 @@ TEST(TestLoadMotionPrimitivesForwardController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); - ASSERT_NO_THROW( - cm.load_controller("test_motion_primitives_forward_controller", "motion_primitives_forward_controller/MotionPrimitivesForwardController")); + ASSERT_NO_THROW(cm.load_controller( + "test_motion_primitives_forward_controller", + "motion_primitives_forward_controller/MotionPrimitivesForwardController")); rclcpp::shutdown(); } diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index db31b27dc0..f9d71b55c7 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -26,7 +26,8 @@ using motion_primitives_forward_controller::CMD_MY_ITFS; using motion_primitives_forward_controller::STATE_MY_ITFS; -class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +class MotionPrimitivesForwardControllerTest +: public MotionPrimitivesForwardControllerFixture { }; @@ -40,8 +41,10 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); - ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_THAT( + controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT( + controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); ASSERT_EQ(controller_->params_.name, interface_namespace_); } @@ -120,7 +123,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) controller_interface::return_type::OK); } - TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) { SetUpController(); @@ -163,8 +165,8 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type - EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 EXPECT_EQ(command_values_[2], 0.2); EXPECT_EQ(command_values_[3], 0.3); EXPECT_EQ(command_values_[4], 0.4); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 9e3beec17c..b259d3cdc0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,8 +14,8 @@ // // Authors: Mathias Fuhrer -#ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -#define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include #include @@ -25,11 +25,11 @@ #include #include -#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" #include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include "rclcpp/executor.hpp" #include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" @@ -37,10 +37,10 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "std_msgs/msg/int8.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" +#include "std_msgs/msg/int8.hpp" using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ControllerStateMsg = std_msgs::msg::Int8; @@ -52,18 +52,20 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; } // namespace // subclassing and friending so we can access member variables -class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController +class TestableMotionPrimitivesForwardController +: public motion_primitives_forward_controller::MotionPrimitivesForwardController { FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); - + public: controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override { - return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); + return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure( + previous_state); } /** @@ -113,7 +115,8 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test void TearDown() { controller_.reset(nullptr); } protected: - void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") + void SetUpController( + const std::string controller_name = "test_motion_primitives_forward_controller") { ASSERT_EQ( controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), @@ -125,8 +128,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test for (size_t i = 0; i < command_values_.size(); ++i) { - command_itfs_.emplace_back(hardware_interface::CommandInterface( - interface_namespace_, command_interface_names_[i], &command_values_[i])); + command_itfs_.emplace_back( + hardware_interface::CommandInterface( + interface_namespace_, command_interface_names_[i], &command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } @@ -136,8 +140,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test for (size_t i = 0; i < state_values_.size(); ++i) { - state_itfs_.emplace_back(hardware_interface::StateInterface( - interface_namespace_, state_interface_names_[i], &state_values_[i])); + state_itfs_.emplace_back( + hardware_interface::StateInterface( + interface_namespace_, state_interface_names_[i], &state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } @@ -178,12 +183,10 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test rclcpp::MessageInfo msg_info; ASSERT_TRUE(subscription->take(msg, msg_info)); } - + void publish_commands( const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, - double velocity = 0.7, - double acceleration = 1.0, - double move_time = 2.0, + double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, double blend_radius = 3.0) { std::cout << "Publishing command message ..." << std::endl; @@ -226,58 +229,32 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_publisher_->publish(msg); } - protected: - // Controller-related parameters - std::vector command_interface_names_ = { - "motion_type", - "q1", - "q2", - "q3", - "q4", - "q5", - "q6", - "pos_x", - "pos_y", - "pos_z", - "pos_qx", - "pos_qy", - "pos_qz", - "pos_qw", - "pos_via_x", - "pos_via_y", - "pos_via_z", - "pos_via_qx", - "pos_via_qy", - "pos_via_qz", - "pos_via_qw", - "blend_radius", - "velocity", - "acceleration", - "move_time"}; - - std::vector state_interface_names_ = { - "execution_status", - "ready_for_new_primitive"}; - - std::string interface_namespace_ = "motion_primitive"; - std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; - std::array command_values_ = { - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101 - }; - - std::vector state_itfs_; - std::vector command_itfs_; - - // Test related parameters - std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; + // Controller-related parameters + std::vector command_interface_names_ = { + "motion_type", "q1", "q2", "q3", "q4", + "q5", "q6", "pos_x", "pos_y", "pos_z", + "pos_qx", "pos_qy", "pos_qz", "pos_qw", "pos_via_x", + "pos_via_y", "pos_via_z", "pos_via_qx", "pos_via_qy", "pos_via_qz", + "pos_via_qw", "blend_radius", "velocity", "acceleration", "move_time"}; + + std::vector state_interface_names_ = {"execution_status", "ready_for_new_primitive"}; + + std::string interface_namespace_ = "motion_primitive"; + std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array command_values_ = { + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101}; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; }; -#endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#endif // TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 348f10fbdb..c83f658be0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -25,7 +25,8 @@ using motion_primitives_forward_controller::CMD_MY_ITFS; using motion_primitives_forward_controller::STATE_MY_ITFS; -class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +class MotionPrimitivesForwardControllerTest +: public MotionPrimitivesForwardControllerFixture { }; @@ -39,8 +40,10 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); - ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_THAT( + controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT( + controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); ASSERT_EQ(controller_->params_.name, interface_namespace_); } From a2eaaea7404e5880d97dc3e5e1d7c3e07f793412 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 8 May 2025 09:21:03 +0200 Subject: [PATCH 033/128] added ExecutionState STOPPED and MotionType RESET_STOP --- .../execution_state.hpp | 1 + .../motion_type.hpp | 1 + .../src/motion_primitives_forward_controller.cpp | 15 +++++++++++++++ 3 files changed, 17 insertions(+) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index df8ca79f45..3557c56101 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -23,6 +23,7 @@ static constexpr uint8_t IDLE = 0; static constexpr uint8_t EXECUTING = 1; static constexpr uint8_t SUCCESS = 2; static constexpr uint8_t ERROR = 3; +static constexpr uint8_t STOPPED = 4; } // namespace ExecutionState #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 38fa3cfe46..3eb70221f5 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -26,6 +26,7 @@ static constexpr uint8_t CIRCULAR_CARTESIAN = 51; // Helper types static constexpr uint8_t STOP_MOTION = 66; +static constexpr uint8_t RESET_STOP = 67; // indicate motion sequence instead of executing single primitives static constexpr uint8_t MOTION_SEQUENCE_START = 100; static constexpr uint8_t MOTION_SEQUENCE_END = 101; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a32993bc03..822ae6c6c9 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -160,6 +160,16 @@ void MotionPrimitivesForwardController::reference_callback( return; } + case MotionType::RESET_STOP: + { + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: RESET_STOP"); + reset_command_interfaces(); + std::lock_guard guard(command_mutex_); + (void)command_interfaces_[0].set_value( + static_cast(msg->type)); // send reset stop command immediately to the hw-interface + return; + } + case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); if (msg->joint_positions.empty()) @@ -288,6 +298,11 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; + + case ExecutionState::STOPPED: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); + print_error_once_ = true; + break; case ExecutionState::ERROR: if (print_error_once_) From 558de3805cba36f3bba1df739305199bc24acaee Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 12 May 2025 16:08:47 +0200 Subject: [PATCH 034/128] discard new commands while robot is stopped --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 17 +++++++++++++---- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index e7f1a4a01c..623be1b52b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -88,6 +88,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; + bool robot_stopped_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 822ae6c6c9..9122d72cf0 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -150,6 +150,7 @@ void MotionPrimitivesForwardController::reference_callback( { RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); + robot_stopped_ = true; std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value( static_cast(msg->type)); // send stop command immediately to the hw-interface @@ -167,6 +168,7 @@ void MotionPrimitivesForwardController::reference_callback( std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value( static_cast(msg->type)); // send reset stop command immediately to the hw-interface + robot_stopped_ = false; return; } @@ -213,13 +215,20 @@ void MotionPrimitivesForwardController::reference_callback( return; } - if (msg_queue_.size() >= queue_size_) + if(!robot_stopped_) { - RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + if (msg_queue_.size() >= queue_size_) + { + RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + return; + } + msg_queue_.push(msg); + } + else + { + RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); return; } - - msg_queue_.push(msg); } controller_interface::InterfaceConfiguration From 29356d52c2ae63d62e95cb43b0037b565e399a95 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 21 May 2025 09:41:26 +0200 Subject: [PATCH 035/128] added missing test_depend's to package.xml --- motion_primitives_forward_controller/package.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index eb107bd920..506d4ef4d5 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -32,6 +32,11 @@ realtime_tools std_srvs + ament_cmake_gmock + controller_manager + hardware_interface + ros2_control_test_assets + ament_cmake From 48dd4f1d8d814e1f089ce14f752ea4479e22b5d6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 21 May 2025 09:43:34 +0200 Subject: [PATCH 036/128] moved test dependencies to if(BUILD_TESTING) block in CMakeLists.txt --- .../CMakeLists.txt | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 5c11dd3850..53588db555 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -14,15 +14,11 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp_lifecycle realtime_tools std_srvs + industrial_robot_motion_interfaces ) find_package(ament_cmake REQUIRED) find_package(generate_parameter_library REQUIRED) -find_package(ament_cmake_gmock REQUIRED) -find_package(controller_manager REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(ros2_control_test_assets REQUIRED) -find_package(industrial_robot_motion_interfaces REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() @@ -42,7 +38,6 @@ target_include_directories(motion_primitives_forward_controller PUBLIC target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) ament_target_dependencies(motion_primitives_forward_controller ${THIS_PACKAGE_INCLUDE_DEPENDS} - industrial_robot_motion_interfaces ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") @@ -51,7 +46,7 @@ pluginlib_export_plugin_description_file( install( TARGETS - motion_primitives_forward_controller + motion_primitives_forward_controller RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib @@ -63,6 +58,11 @@ install( ) if(BUILD_TESTING) + find_package(ament_cmake_gmock REQUIRED) + find_package(controller_manager REQUIRED) + find_package(hardware_interface REQUIRED) + find_package(ros2_control_test_assets REQUIRED) + ament_add_gmock( test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp From c96da9769f0b1f339584bd002434257aca44a082 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 08:17:22 +0200 Subject: [PATCH 037/128] changed reference topic to action --- .../motion_primitives_forward_controller.hpp | 30 +- .../motion_primitives_forward_controller.cpp | 384 ++++++++++-------- 2 files changed, 238 insertions(+), 176 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 623be1b52b..b71ad4064a 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -29,8 +29,9 @@ #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" +#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "std_msgs/msg/int8.hpp" +#include "rclcpp_action/rclcpp_action.hpp" namespace motion_primitives_forward_controller { @@ -63,32 +64,33 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - using ControllerStateMsg = std_msgs::msg::Int8; - protected: std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; - - using ControllerStatePublisher = realtime_tools::RealtimePublisher; - - rclcpp::Publisher::SharedPtr s_publisher_; - std::unique_ptr state_publisher_; + using MotionPrimitiveMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + std::queue> moprim_queue_; - std::queue> msg_queue_; + using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; + rclcpp_action::Server::SharedPtr action_server_; + rclcpp_action::GoalResponse goal_received_callback( + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + rclcpp_action::CancelResponse goal_cancelled_callback( + const std::shared_ptr> goal_handle); + void goal_accepted_callback( + const std::shared_ptr> goal_handle); + void execute_goal( + const std::shared_ptr> goal_handle); -private: - void reference_callback(const std::shared_ptr msg); void reset_command_interfaces(); bool set_command_interfaces(); - void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; bool robot_stopped_ = false; + bool was_executing_ = false; + uint8_t execution_status_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 9122d72cf0..821a8ac0e2 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -97,21 +97,17 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - // topics QoS - auto subscribers_qos = rclcpp::SystemDefaultsQoS(); - subscribers_qos.keep_last(1); - subscribers_qos.best_effort(); - - // Reference Subscriber - ref_subscriber_ = get_node()->create_subscription( - "~/reference", subscribers_qos, - std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); - RCLCPP_INFO( - get_node()->get_logger(), "Subscribed to reference topic: %s", - ref_subscriber_->get_topic_name()); - - std::shared_ptr msg = std::make_shared(); - reset_controller_reference_msg(msg); + action_server_ = rclcpp_action::create_server( + get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), + get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), + std::string(get_node()->get_name()) + "/motion_sequence", + std::bind( + &MotionPrimitivesForwardController::goal_received_callback, this, std::placeholders::_1, + std::placeholders::_2), + std::bind( + &MotionPrimitivesForwardController::goal_cancelled_callback, this, std::placeholders::_1), + std::bind( + &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); queue_size_ = params_.queue_size; if (queue_size_ == 0) @@ -120,117 +116,10 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - try - { - // State publisher - s_publisher_ = - get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); - state_publisher_ = std::make_unique(s_publisher_); - } - catch (const std::exception & e) - { - fprintf( - stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", - e.what()); - return controller_interface::CallbackReturn::ERROR; - } - RCLCPP_INFO(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } -// Function gets called when a new message is received -void MotionPrimitivesForwardController::reference_callback( - const std::shared_ptr msg) -{ - // Check if the type is one of the allowed motion types - switch (msg->type) - { - case MotionType::STOP_MOTION: - { - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); - reset_command_interfaces(); - robot_stopped_ = true; - std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value( - static_cast(msg->type)); // send stop command immediately to the hw-interface - while (!msg_queue_.empty()) - { // clear the queue - msg_queue_.pop(); - } - return; - } - - case MotionType::RESET_STOP: - { - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: RESET_STOP"); - reset_command_interfaces(); - std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value( - static_cast(msg->type)); // send reset stop command immediately to the hw-interface - robot_stopped_ = false; - return; - } - - case MotionType::LINEAR_JOINT: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - if (msg->joint_positions.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); - return; - } - break; - - case MotionType::LINEAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - if (msg->poses.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); - return; - } - break; - - case MotionType::CIRCULAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - if (msg->poses.size() != 2) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); - return; - } - break; - - case MotionType::MOTION_SEQUENCE_START: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_START"); - break; - - case MotionType::MOTION_SEQUENCE_END: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); - break; - - default: - RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); - return; - } - - if(!robot_stopped_) - { - if (msg_queue_.size() >= queue_size_) - { - RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); - return; - } - msg_queue_.push(msg); - } - else - { - RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); - return; - } -} - controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const { @@ -290,9 +179,9 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } - uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); + execution_status_ = static_cast(std::round(opt_value_execution.value())); - switch (execution_status) + switch (execution_status_) { case ExecutionState::IDLE: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); @@ -300,6 +189,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::EXECUTING: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); + if (!was_executing_) + { + was_executing_ = true; + } print_error_once_ = true; break; @@ -307,7 +200,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; - + case ExecutionState::STOPPED: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); print_error_once_ = true; @@ -323,15 +216,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( - get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status_); return controller_interface::return_type::ERROR; } - // publish the execution_status - state_publisher_->lock(); - state_publisher_->msg_.data = execution_status; - state_publisher_->unlockAndPublish(); - auto opt_value_ready = state_interfaces_[1].get_optional(); if (!opt_value_ready.has_value()) { @@ -341,7 +229,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - if (!msg_queue_.empty()) // check if new command is available + if (!moprim_queue_.empty()) // check if new command is available { switch (ready_for_new_primitive) { @@ -385,32 +273,32 @@ bool MotionPrimitivesForwardController::set_command_interfaces() { std::lock_guard guard(command_mutex_); // Get the oldest message from the queue - std::shared_ptr current_ref = msg_queue_.front(); - msg_queue_.pop(); + std::shared_ptr current_moprim = moprim_queue_.front(); + moprim_queue_.pop(); // Check if the message is valid - if (!current_ref) + if (!current_moprim) { RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); // Process joint positions if available - if (!current_ref->joint_positions.empty()) + if (!current_moprim->joint_positions.empty()) { - for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_ref->poses.empty()) + if (!current_moprim->poses.empty()) { - const auto & goal_pose = current_ref->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim->poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -420,9 +308,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) + if (current_moprim->type == MotionType::CIRCULAR_CARTESIAN && current_moprim->poses.size() == 2) { - const auto & via_pose = current_ref->poses[1].pose; // via pose + const auto & via_pose = current_moprim->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -433,10 +321,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_ref->additional_arguments) + for (const auto & arg : current_moprim->additional_arguments) { if (arg.argument_name == "velocity") { @@ -459,32 +347,204 @@ bool MotionPrimitivesForwardController::set_command_interfaces() return true; } -// reset the controller reference message to NaN -void MotionPrimitivesForwardController::reset_controller_reference_msg( - std::shared_ptr & msg) +rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_callback( + const rclcpp_action::GoalUUID &, std::shared_ptr goal) { - msg->type = 0; - msg->blend_radius = std::numeric_limits::quiet_NaN(); + RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); + + const auto & primitives = goal->trajectory.motions; - for (auto & arg : msg->additional_arguments) + if (primitives.empty()) { - arg.argument_name = ""; - arg.argument_value = std::numeric_limits::quiet_NaN(); + RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); + return rclcpp_action::GoalResponse::REJECT; } - for (auto & pose : msg->poses) + for (size_t i = 0; i < primitives.size(); ++i) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + const auto & primitive = primitives[i]; + + switch (primitive.type) + { + case MotionType::LINEAR_JOINT: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); + if (primitive.joint_positions.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::LINEAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); + if (primitive.poses.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::CIRCULAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); + if (primitive.poses.size() != 2) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + default: + RCLCPP_ERROR( + get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, + primitive.type); + return rclcpp_action::GoalResponse::REJECT; + } } + + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } +rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( + const std::shared_ptr>) +{ + RCLCPP_INFO(get_node()->get_logger(), "Canceling goal"); + + std::lock_guard guard(command_mutex_); + reset_command_interfaces(); + robot_stopped_ = true; + // send stop command immediately to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + while (!moprim_queue_.empty()) + { // clear the queue + moprim_queue_.pop(); + } + + RCLCPP_INFO(get_node()->get_logger(), "Waiting for Robot to stop..."); + while (execution_status_ != ExecutionState::STOPPED) + { + // Small sleep to prevent busy waiting + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + reset_command_interfaces(); + // send reset stop command to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + robot_stopped_ = false; + + RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + return rclcpp_action::CancelResponse::ACCEPT; +} + +void MotionPrimitivesForwardController::goal_accepted_callback( + const std::shared_ptr> goal_handle) +{ + std::thread{std::bind(&MotionPrimitivesForwardController::execute_goal, this, goal_handle)} + .detach(); +} + +void MotionPrimitivesForwardController::execute_goal( + const std::shared_ptr> goal_handle) +{ + const auto & goal = goal_handle->get_goal(); + + if (robot_stopped_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); + return; + } + + const auto & primitives = goal->trajectory.motions; + + if (primitives.empty()) + { + RCLCPP_WARN(get_node()->get_logger(), "Received goal with no motion primitives. Ignoring."); + return; + } + + size_t required_queue_space = primitives.size(); + // add sequence markers only if there are multiple primitives + bool add_sequence_wrappers = primitives.size() > 1; + if (add_sequence_wrappers) + { + required_queue_space += 2; // start + end + } + + // Check if queue has enough space + if (moprim_queue_.size() + required_queue_space > queue_size_) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Received more motion primitives than queue can store. " + "Current queue size: %zu, required space: %zu. " + "Please increase the queue size in the controller parameters.", + moprim_queue_.size(), required_queue_space); + return; + } + + // Add sequence start marker + if (add_sequence_wrappers) + { + std::shared_ptr start_marker = std::make_shared(); + start_marker->type = MotionType::MOTION_SEQUENCE_START; + moprim_queue_.push(start_marker); + } + + // Add motion primitives to the queue + for (const auto & primitive : primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + + // Add sequence end marker + if (add_sequence_wrappers) + { + std::shared_ptr end_marker = std::make_shared(); + end_marker->type = MotionType::MOTION_SEQUENCE_END; + moprim_queue_.push(end_marker); + } + + RCLCPP_INFO( + get_node()->get_logger(), "Accepted goal with %zu motion primitives%s.", primitives.size(), + add_sequence_wrappers ? " (wrapped in sequence markers)" : ""); + + ExecuteMotion::Result result; + rclcpp::Rate rate(50); + while (rclcpp::ok()) + { + auto execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + if (execution_status == ExecutionState::SUCCESS && was_executing_) + { + RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); + result.error_code = ExecuteMotion::Result::SUCCESSFUL; + result.error_string = "Trajectory executed successfully"; + was_executing_ = false; + break; + } + else if (execution_status == ExecutionState::ERROR) + { + RCLCPP_ERROR(get_node()->get_logger(), "Execution failed with an error."); + result.error_code = ExecuteMotion::Result::FAILED; + result.error_string = "Trajectory execution failed"; + break; + } + else if (execution_status == ExecutionState::STOPPED) + { + RCLCPP_INFO(get_node()->get_logger(), "Execution stopped."); + result.error_code = ExecuteMotion::Result::CANCELED; + result.error_string = "Trajectory execution stopped"; + break; + } + rate.sleep(); + } + + goal_handle->succeed(std::make_shared(result)); +} } // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" From 53147b9f42b57ad4a9c3b3ee8e1fbe52269f8aad Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 15:00:20 +0200 Subject: [PATCH 038/128] modified tests for action based controller --- ...t_motion_primitives_forward_controller.cpp | 44 ++-- ...t_motion_primitives_forward_controller.hpp | 202 +++++++----------- 2 files changed, 93 insertions(+), 153 deletions(-) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index f9d71b55c7..3af7371dd0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -77,8 +77,8 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); // check that the message queue is reset - auto msg_queue = controller_->msg_queue_; - ASSERT_TRUE(msg_queue.empty()); + auto moprim_queue_ = controller_->moprim_queue_; + ASSERT_TRUE(moprim_queue_.empty()); } TEST_F(MotionPrimitivesForwardControllerTest, update_success) @@ -123,7 +123,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) controller_interface::return_type::OK); } -TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +TEST_F(MotionPrimitivesForwardControllerTest, receive_single_action_goal) { SetUpController(); @@ -134,32 +134,16 @@ TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - ControllerStateMsg msg; - subscribe_and_get_messages(msg); + send_single_motion_sequence_goal(); // filling with default values from the function - ASSERT_EQ(msg.data, ExecutionState::IDLE); -} - -TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - ControllerStateMsg msg; - subscribe_and_get_messages(msg); - - ASSERT_EQ(msg.data, ExecutionState::IDLE); - - publish_commands(); - controller_->wait_for_commands(executor); + // Wait for the command value to be set + // This is necessary because the action server might take some time to process the goal + auto start = std::chrono::steady_clock::now(); + while (std::isnan(command_values_[1]) && + (std::chrono::steady_clock::now() - start) < std::chrono::seconds(5)) + { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), @@ -176,10 +160,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update EXPECT_EQ(command_values_[22], 0.7); // velocity EXPECT_EQ(command_values_[23], 1.0); // acceleration EXPECT_EQ(command_values_[24], 2.0); // move time - - subscribe_and_get_messages(msg); - - ASSERT_EQ(msg.data, ExecutionState::IDLE); } int main(int argc, char ** argv) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index b259d3cdc0..31fbae6e12 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -18,9 +18,12 @@ #define TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include +#include +#include #include #include #include +#include #include #include #include @@ -34,16 +37,18 @@ #include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" -#include "std_msgs/msg/int8.hpp" -using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; -using ControllerStateMsg = std_msgs::msg::Int8; +using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; namespace { @@ -58,7 +63,7 @@ class TestableMotionPrimitivesForwardController FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_single_action_goal); public: controller_interface::CallbackReturn on_configure( @@ -67,62 +72,55 @@ class TestableMotionPrimitivesForwardController return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure( previous_state); } - - /** - * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. - * Requires that the executor is not spinned elsewhere between the - * message publication and the call to this function. - */ - void wait_for_command( - rclcpp::Executor & executor, - const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) - { - auto until = get_node()->get_clock()->now() + timeout; - while (get_node()->get_clock()->now() < until) - { - executor.spin_some(); - std::this_thread::sleep_for(std::chrono::microseconds(10)); - } - } - - void wait_for_commands( - rclcpp::Executor & executor, - const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) - { - return wait_for_command(executor, timeout); - } }; - // We are using template class here for easier reuse of Fixture in specializations of controllers template class MotionPrimitivesForwardControllerFixture : public ::testing::Test { public: - static void SetUpTestCase() {} - - void SetUp() + void SetUp() override { - // initialize controller controller_ = std::make_unique(); + ASSERT_EQ( + controller_->init( + "test_motion_primitives_forward_controller", "", 0, "", + controller_->define_custom_node_options()), + controller_interface::return_type::OK); - command_publisher_node_ = std::make_shared("command_publisher"); - command_publisher_ = command_publisher_node_->create_publisher( - "/test_motion_primitives_forward_controller/reference", rclcpp::SystemDefaultsQoS()); - } + node_ = std::make_shared("test_node"); + + executor_ = std::make_shared(); + executor_->add_node(node_); + executor_->add_node(controller_->get_node()->get_node_base_interface()); - static void TearDownTestCase() {} + executor_thread_ = std::thread([this]() { executor_->spin(); }); - void TearDown() { controller_.reset(nullptr); } + action_client_ = rclcpp_action::create_client( + node_->get_node_base_interface(), node_->get_node_graph_interface(), + node_->get_node_logging_interface(), node_->get_node_waitables_interface(), + "/test_motion_primitives_forward_controller/motion_sequence"); + } + + void TearDown() override + { + executor_->cancel(); + if (executor_thread_.joinable()) + { + executor_thread_.join(); + } + controller_.reset(); + node_.reset(); + executor_.reset(); + } protected: void SetUpController( const std::string controller_name = "test_motion_primitives_forward_controller") { - ASSERT_EQ( - controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), - controller_interface::return_type::OK); - std::vector command_ifs; + std::vector state_ifs; + + command_itfs_.clear(); command_itfs_.reserve(command_values_.size()); command_ifs.reserve(command_values_.size()); @@ -134,7 +132,7 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_ifs.emplace_back(command_itfs_.back()); } - std::vector state_ifs; + state_itfs_.clear(); state_itfs_.reserve(state_values_.size()); state_ifs.reserve(state_values_.size()); @@ -149,88 +147,50 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } - void subscribe_and_get_messages(ControllerStateMsg & msg) + void send_single_motion_sequence_goal( + const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, + double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, + double blend_radius = 3.0) { - // create a new subscriber - rclcpp::Node test_subscription_node("test_subscription_node"); - auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; - auto subscription = test_subscription_node.create_subscription( - "/test_motion_primitives_forward_controller/state", 10, subs_callback); + std::cout << "Send motion sequence goal..." << std::endl; - // call update to publish the test value - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - // call update to publish the test value - // since update doesn't guarantee a published message, republish until received - int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop - rclcpp::WaitSet wait_set; // block used to wait on message - wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) + if (!action_client_->wait_for_action_server(std::chrono::seconds(5))) { - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); - // check if message has been received - if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) - { - break; - } + throw std::runtime_error("Action server not available"); } - ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " - "controller/broadcaster update loop"; - // take message from subscription - rclcpp::MessageInfo msg_info; - ASSERT_TRUE(subscription->take(msg, msg_info)); - } + auto goal_msg = ExecuteMotion::Goal(); + MotionPrimitive primitive; + primitive.type = MotionType::LINEAR_JOINT; + primitive.joint_positions = joint_positions; + primitive.blend_radius = blend_radius; - void publish_commands( - const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, - double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, - double blend_radius = 3.0) - { - std::cout << "Publishing command message ..." << std::endl; - auto wait_for_topic = [&](const auto topic_name) + primitive.additional_arguments.resize(3); + primitive.additional_arguments[0].argument_name = "velocity"; + primitive.additional_arguments[0].argument_value = velocity; + primitive.additional_arguments[1].argument_name = "acceleration"; + primitive.additional_arguments[1].argument_value = acceleration; + primitive.additional_arguments[2].argument_name = "move_time"; + primitive.additional_arguments[2].argument_value = move_time; + + goal_msg.trajectory.motions.push_back(primitive); + + auto goal_future = action_client_->async_send_goal(goal_msg); + + if (goal_future.wait_for(std::chrono::seconds(5)) != std::future_status::ready) { - size_t wait_count = 0; - while (command_publisher_node_->count_subscribers(topic_name) == 0) - { - if (wait_count >= 5) - { - auto error_msg = - std::string("publishing to ") + topic_name + " but no node subscribes to it"; - throw std::runtime_error(error_msg); - } - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - ++wait_count; - } - std::cout << "Found subscriber for topic: " << topic_name << std::endl; - }; - - auto topic_name = command_publisher_->get_topic_name(); - std::cout << "Waiting for subscriber on topic: " << topic_name << std::endl; - wait_for_topic(topic_name); - - ControllerReferenceMsg msg; - - // TODO(mathias31415): Add other tests for other motion types - msg.type = MotionType::LINEAR_JOINT; - msg.joint_positions = joint_positions; - msg.blend_radius = blend_radius; - - msg.additional_arguments.resize(3); - msg.additional_arguments[0].argument_name = "velocity"; - msg.additional_arguments[0].argument_value = velocity; - msg.additional_arguments[1].argument_name = "acceleration"; - msg.additional_arguments[1].argument_value = acceleration; - msg.additional_arguments[2].argument_name = "move_time"; - msg.additional_arguments[2].argument_value = move_time; - - command_publisher_->publish(msg); + throw std::runtime_error("Failed to send goal (future timeout)"); + } + + auto goal_handle = goal_future.get(); + if (!goal_handle) + { + throw std::runtime_error("Goal was rejected by the action server"); + } + + std::cout << "Goal accepted by the action server." << std::endl; } -protected: - // Controller-related parameters std::vector command_interface_names_ = { "motion_type", "q1", "q2", "q3", "q4", "q5", "q6", "pos_x", "pos_y", "pos_z", @@ -250,11 +210,11 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::vector state_itfs_; std::vector command_itfs_; - // Test related parameters std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; + rclcpp_action::Client::SharedPtr action_client_; + rclcpp::Node::SharedPtr node_; + std::shared_ptr executor_; + std::thread executor_thread_; }; #endif // TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From 7a8bcb2ef9cf212eb0bddc27879baaef63555b73 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 16:38:39 +0200 Subject: [PATCH 039/128] updated readme --- .../README.md | 47 +++++++----------- ...s2_control_motion_primitives_ur.drawio.png | Bin 458182 -> 0 bytes ...motion_primitives_ur_integrated.drawio.png | Bin 0 -> 374313 bytes ...n_primitives_ur_whiteBackground.drawio.png | Bin 441153 -> 0 bytes 4 files changed, 18 insertions(+), 29 deletions(-) delete mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_integrated.drawio.png delete mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index e301e690fb..be910fd651 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,44 +6,33 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. -## Features - -- Support for basic motion primitives: +- Supported motion primitives: - `LINEAR_JOINT` - `LINEAR_CARTESIAN` - `CIRCULAR_CARTESIAN` -- Additional helper types: - - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue. - - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. - -## Architecture Overview -The following diagram shows the architecture for a UR robot. -For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. -![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png) +If multiple motion primitives are passed to the controller via the action, the controller forwards them to the hardware interface as a sequence. To do this, it first sends `MOTION_SEQUENCE_START`, followed by each individual primitive, and finally `MOTION_SEQUENCE_END`. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. +The action interface also allows stopping the current execution of motion primitives. When a stop request is received, the controller sends `STOP_MOTION` to the hardware interface, which then halts the robot's movement. Once the controller receives confirmation that the robot has stopped, it sends `RESET_STOP` to the hardware interface. After that, new commands can be sent. -1. **Command Reception** - Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. - This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. +This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. -2. **Command Handling Logic** - - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. - - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. - -3. **Motion Execution Flow** - The `update()` method in the controller: - - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. - - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. +## Architecture Overview +The following diagram shows the architecture for a UR robot. +For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. -4. **Sequencing Logic** - Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. +![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) # Related packages/ repos -- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) +- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) +- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) + +# TODOs/ improvements +- Extend the tests + - Test for a sequence of multiple primitives + - Test for canceling movement diff --git a/motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png b/motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png deleted file mode 100644 index a33053b6b206bfc0cba7726589a8d7c79e1c6c1c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 458182 zcmeFZ$?o%BwZZj#lZ{og>Cyco$#5FMI8W=KW 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zm<=ojm2&BpH9B_zOAY=H$qxi8A)`5m>3g| Date: Thu, 26 Jun 2025 14:10:06 +0200 Subject: [PATCH 040/128] Update motion_primitives_forward_controller/CMakeLists.txt Co-authored-by: Felix Exner (fexner) --- motion_primitives_forward_controller/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 53588db555..033507db30 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -54,7 +54,7 @@ install( install( DIRECTORY include/ - DESTINATION include + DESTINATION include/${PROJECT_NAME} ) if(BUILD_TESTING) From e670fdd37c1ddd50b7ecf16388ab9a3b4db765a4 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 15:22:30 +0200 Subject: [PATCH 041/128] removed ament_target_dependencies from CMakeLists.txt --- .../CMakeLists.txt | 62 +++++++++---------- 1 file changed, 29 insertions(+), 33 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 033507db30..6cb6c58f30 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -33,12 +33,22 @@ add_library( src/motion_primitives_forward_controller.cpp ) target_include_directories(motion_primitives_forward_controller PUBLIC - "$" - "$") -target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) -ament_target_dependencies(motion_primitives_forward_controller - ${THIS_PACKAGE_INCLUDE_DEPENDS} + $ + $ +) +target_link_libraries(motion_primitives_forward_controller PUBLIC + motion_primitives_forward_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} + ${industrial_robot_motion_interfaces_TARGETS} ) + target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") pluginlib_export_plugin_description_file( @@ -67,14 +77,10 @@ if(BUILD_TESTING) test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp ) - target_include_directories( - test_load_motion_primitives_forward_controller PRIVATE include - ) - ament_target_dependencies( - test_load_motion_primitives_forward_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_motion_primitives_forward_controller + motion_primitives_forward_controller + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -82,16 +88,11 @@ if(BUILD_TESTING) test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml ) - target_include_directories( - test_motion_primitives_forward_controller PRIVATE include - ) - target_link_libraries( - test_motion_primitives_forward_controller motion_primitives_forward_controller - ) - ament_target_dependencies( - test_motion_primitives_forward_controller - controller_interface - hardware_interface + target_link_libraries(test_motion_primitives_forward_controller + motion_primitives_forward_controller + controller_interface::controller_interface + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -99,16 +100,11 @@ if(BUILD_TESTING) test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml ) - target_include_directories( - test_motion_primitives_forward_controller_preceeding PRIVATE include - ) - target_link_libraries( - test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller - ) - ament_target_dependencies( - test_motion_primitives_forward_controller_preceeding - controller_interface - hardware_interface + target_link_libraries(test_motion_primitives_forward_controller_preceeding + motion_primitives_forward_controller + controller_interface::controller_interface + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) endif() From a49cbb5b0b9bf1afff7cd66a685db4034c8e7e14 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 15:32:10 +0200 Subject: [PATCH 042/128] reference the final package destinations in redme and added shematic of the action --- motion_primitives_forward_controller/README.md | 14 +++++--------- ..._Controller_ExecuteMotion_Action.drawio.png | Bin 0 -> 212574 bytes 2 files changed, 5 insertions(+), 9 deletions(-) create mode 100644 motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index be910fd651..921fd3fd98 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,7 +6,7 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. - Supported motion primitives: - `LINEAR_JOINT` @@ -17,21 +17,17 @@ If multiple motion primitives are passed to the controller via the action, the c The action interface also allows stopping the current execution of motion primitives. When a stop request is received, the controller sends `STOP_MOTION` to the hardware interface, which then halts the robot's movement. Once the controller receives confirmation that the robot has stopped, it sends `RESET_STOP` to the hardware interface. After that, new commands can be sent. -This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. +![Action Image](doc/Moprim_Controller_ExecuteMotion_Action.drawio.png) + +This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. ## Architecture Overview The following diagram shows the architecture for a UR robot. -For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. +For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) is used. ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) -# Related packages/ repos -- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) - # TODOs/ improvements - Extend the tests - Test for a sequence of multiple primitives diff --git 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z?BKfcoPWBZACHF_)UEfW&A((pV8g+U(32ef365lm{UG#%)db`Dt@$t6U(4|Sqb^G7 z_ZEW#@e0rX`gufP(i@CR>#sQ|rsF4Py+E44-!L<)_O9jG{PSfgM8nGyPJRq=U;W%)z Date: Thu, 26 Jun 2025 15:50:57 +0200 Subject: [PATCH 043/128] Removed STATE_MY_ITFS and CMD_MY_ITFS. References to command and state interfaces need to be added in the future for better readability and safety. --- motion_primitives_forward_controller/README.md | 1 + .../motion_primitives_forward_controller.hpp | 5 ----- .../test/test_motion_primitives_forward_controller.cpp | 7 ++----- ...est_motion_primitives_forward_controller_preceeding.cpp | 3 --- 4 files changed, 3 insertions(+), 13 deletions(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 921fd3fd98..54a62d5b14 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -29,6 +29,7 @@ For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver # TODOs/ improvements +- Use references for command and state interfaces to improve code readability and less error-prone. - Extend the tests - Test for a sequence of multiple primitives - Test for canceling movement diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index b71ad4064a..6092bbeca1 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -35,11 +35,6 @@ namespace motion_primitives_forward_controller { -// name constants for state interfaces -static constexpr size_t STATE_MY_ITFS = 0; - -// name constants for command interfaces -static constexpr size_t CMD_MY_ITFS = 0; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 3af7371dd0..b59bebcdc5 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -23,9 +23,6 @@ #include "rclcpp/rclcpp.hpp" #include "test_motion_primitives_forward_controller.hpp" -using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::STATE_MY_ITFS; - class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture { @@ -110,12 +107,12 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + auto val_opt = controller_->command_interfaces_[0].get_optional(); ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + val_opt = controller_->command_interfaces_[0].get_optional(); ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ( diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index c83f658be0..1a43a6982a 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -22,9 +22,6 @@ #include #include -using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::STATE_MY_ITFS; - class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture { From 123cdb13098f238070b1e868c16868ee6dfb41af Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 16:14:24 +0200 Subject: [PATCH 044/128] removed static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all... --- .../motion_primitives_forward_controller.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 821a8ac0e2..93827fa2cd 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -26,23 +26,6 @@ #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" -namespace -{ // utility - -// TODO(destogl): remove this when merged upstream -// Changed services history QoS to keep all so we don't lose any client service calls -static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { - RMW_QOS_POLICY_HISTORY_KEEP_ALL, - 1, // message queue depth - RMW_QOS_POLICY_RELIABILITY_RELIABLE, - RMW_QOS_POLICY_DURABILITY_VOLATILE, - RMW_QOS_DEADLINE_DEFAULT, - RMW_QOS_LIFESPAN_DEFAULT, - RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, - RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, - false}; -} // namespace - namespace motion_primitives_forward_controller { MotionPrimitivesForwardController::MotionPrimitivesForwardController() From cb2e1d648445ce50510cc6bb101e16075b98cd65 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 17:06:11 +0200 Subject: [PATCH 045/128] changed ExecutionState, MotionType and ReadyForNewPrimitive to enum --- .../execution_state.hpp | 29 ---------------- .../motion_primitives_forward_controller.hpp | 30 +++++++++++++++- .../motion_type.hpp | 34 ------------------- .../ready_for_new_primitive.hpp | 26 -------------- .../motion_primitives_forward_controller.cpp | 32 ++++++++--------- ...t_motion_primitives_forward_controller.cpp | 7 ++-- ...t_motion_primitives_forward_controller.hpp | 10 +++--- 7 files changed, 55 insertions(+), 113 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp deleted file mode 100644 index 3557c56101..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ - -namespace ExecutionState -{ -static constexpr uint8_t IDLE = 0; -static constexpr uint8_t EXECUTING = 1; -static constexpr uint8_t SUCCESS = 2; -static constexpr uint8_t ERROR = 3; -static constexpr uint8_t STOPPED = 4; -} // namespace ExecutionState - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 6092bbeca1..80a4778c6d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -35,6 +35,33 @@ namespace motion_primitives_forward_controller { +enum class ExecutionState : uint8_t +{ + IDLE = 0, + EXECUTING = 1, + SUCCESS = 2, + ERROR = 3, + STOPPED = 4 +}; + +enum class MotionType : uint8_t +{ + LINEAR_JOINT = 10, + LINEAR_CARTESIAN = 50, + CIRCULAR_CARTESIAN = 51, + + STOP_MOTION = 66, + RESET_STOP = 67, + + MOTION_SEQUENCE_START = 100, + MOTION_SEQUENCE_END = 101 +}; + +enum class ReadyForNewPrimitive : uint8_t +{ + NOT_READY = 0, + READY = 1 +}; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { @@ -85,7 +112,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool print_error_once_ = true; bool robot_stopped_ = false; bool was_executing_ = false; - uint8_t execution_status_; + ExecutionState execution_status_; + ReadyForNewPrimitive ready_for_new_primitive_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp deleted file mode 100644 index 3eb70221f5..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ - -namespace MotionType -{ -// Motion Primitives -static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value -static constexpr uint8_t LINEAR_CARTESIAN = 50; -static constexpr uint8_t CIRCULAR_CARTESIAN = 51; - -// Helper types -static constexpr uint8_t STOP_MOTION = 66; -static constexpr uint8_t RESET_STOP = 67; -// indicate motion sequence instead of executing single primitives -static constexpr uint8_t MOTION_SEQUENCE_START = 100; -static constexpr uint8_t MOTION_SEQUENCE_END = 101; -} // namespace MotionType -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp deleted file mode 100644 index 3a487b7463..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ - -namespace ReadyForNewPrimitive -{ -static constexpr uint8_t NOT_READY = 0; -static constexpr uint8_t READY = 1; -} // namespace ReadyForNewPrimitive - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 93827fa2cd..8bd156955d 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -15,16 +15,11 @@ // Authors: Mathias Fuhrer #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" - #include #include #include #include - #include "controller_interface/helpers.hpp" -#include "motion_primitives_forward_controller/execution_state.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" -#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace motion_primitives_forward_controller { @@ -162,8 +157,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } - execution_status_ = static_cast(std::round(opt_value_execution.value())); - + execution_status_ = + static_cast(static_cast(std::round(opt_value_execution.value()))); switch (execution_status_) { case ExecutionState::IDLE: @@ -199,7 +194,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( - get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status_); + get_node()->get_logger(), "Error: Unknown execution status: %d", + static_cast(execution_status_)); return controller_interface::return_type::ERROR; } @@ -210,11 +206,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); return controller_interface::return_type::ERROR; } - uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); + ready_for_new_primitive_ = + static_cast(static_cast(std::round(opt_value_ready.value()))); if (!moprim_queue_.empty()) // check if new command is available { - switch (ready_for_new_primitive) + switch (ready_for_new_primitive_) { case ReadyForNewPrimitive::NOT_READY: { @@ -232,7 +229,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", - ready_for_new_primitive); + static_cast(ready_for_new_primitive_)); return controller_interface::return_type::ERROR; } } @@ -291,7 +288,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if (current_moprim->type == MotionType::CIRCULAR_CARTESIAN && current_moprim->poses.size() == 2) + if ( + current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim->poses.size() == 2) { const auto & via_pose = current_moprim->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x @@ -347,7 +346,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { const auto & primitive = primitives[i]; - switch (primitive.type) + switch (static_cast(primitive.type)) { case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); @@ -474,7 +473,7 @@ void MotionPrimitivesForwardController::execute_goal( if (add_sequence_wrappers) { std::shared_ptr start_marker = std::make_shared(); - start_marker->type = MotionType::MOTION_SEQUENCE_START; + start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); moprim_queue_.push(start_marker); } @@ -488,7 +487,7 @@ void MotionPrimitivesForwardController::execute_goal( if (add_sequence_wrappers) { std::shared_ptr end_marker = std::make_shared(); - end_marker->type = MotionType::MOTION_SEQUENCE_END; + end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); moprim_queue_.push(end_marker); } @@ -500,7 +499,8 @@ void MotionPrimitivesForwardController::execute_goal( rclcpp::Rate rate(50); while (rclcpp::ok()) { - auto execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + ExecutionState execution_status = static_cast( + static_cast(std::round(state_interfaces_[0].get_value()))); if (execution_status == ExecutionState::SUCCESS && was_executing_) { RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index b59bebcdc5..55a17fe03a 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -146,8 +146,11 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_single_action_goal) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type - EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ( + command_values_[0], + static_cast( + motion_primitives_forward_controller::MotionType::LINEAR_JOINT)); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 EXPECT_EQ(command_values_[2], 0.2); EXPECT_EQ(command_values_[3], 0.3); EXPECT_EQ(command_values_[4], 0.4); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 31fbae6e12..d0e06ace19 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -43,9 +43,6 @@ #include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "motion_primitives_forward_controller/execution_state.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" -#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; @@ -161,7 +158,8 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test auto goal_msg = ExecuteMotion::Goal(); MotionPrimitive primitive; - primitive.type = MotionType::LINEAR_JOINT; + primitive.type = + static_cast(motion_primitives_forward_controller::MotionType::LINEAR_JOINT); primitive.joint_positions = joint_positions; primitive.blend_radius = blend_radius; @@ -201,7 +199,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::vector state_interface_names_ = {"execution_status", "ready_for_new_primitive"}; std::string interface_namespace_ = "motion_primitive"; - std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array state_values_ = { + static_cast(motion_primitives_forward_controller::ExecutionState::IDLE), + static_cast(motion_primitives_forward_controller::ReadyForNewPrimitive::READY)}; std::array command_values_ = { 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, From f19e43ead0e7a4e5dce85fe2e818e667b6dd8390 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 08:52:08 +0200 Subject: [PATCH 046/128] removed validate_motion_primitives_forward_controller_parameters.hpp --- .../CMakeLists.txt | 1 - ...imitives_forward_controller_parameters.hpp | 38 ------------------- 2 files changed, 39 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 6cb6c58f30..0f5ab87f9d 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -25,7 +25,6 @@ endforeach() generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml - include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp ) add_library( motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp deleted file mode 100644 index c2ff279035..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ - -#include - -#include "parameter_traits/parameter_traits.hpp" - -namespace parameter_traits -{ -Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) -{ - auto const & interface_name = parameter.as_string(); - - if (interface_name.rfind("blup_", 0) == 0) - { - return ERROR("'interface_name' parameter can not start with 'blup_'"); - } - - return OK; -} - -} // namespace parameter_traits - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ From 06ba279d78c420596d42d4141dde35ca227b1a66 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 09:29:19 +0200 Subject: [PATCH 047/128] Changed some RCLCPP_INFO prints to _DEBUG to reduce output --- .../src/motion_primitives_forward_controller.cpp | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 8bd156955d..72a0d3b763 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -30,7 +30,7 @@ MotionPrimitivesForwardController::MotionPrimitivesForwardController() controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() { - RCLCPP_INFO(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); + RCLCPP_DEBUG(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); try { @@ -49,7 +49,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( controller_interface::CallbackReturn MotionPrimitivesForwardController::on_configure( const rclcpp_lifecycle::State & /*previous_state*/) { - RCLCPP_INFO(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); + RCLCPP_DEBUG(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); params_ = param_listener_->get_params(); @@ -94,7 +94,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - RCLCPP_INFO(get_node()->get_logger(), "configure successful"); + RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } @@ -134,7 +134,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -142,7 +142,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller deactivated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -162,11 +162,9 @@ controller_interface::return_type MotionPrimitivesForwardController::update( switch (execution_status_) { case ExecutionState::IDLE: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); print_error_once_ = true; break; case ExecutionState::EXECUTING: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); if (!was_executing_) { was_executing_ = true; @@ -175,12 +173,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::SUCCESS: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; case ExecutionState::STOPPED: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); print_error_once_ = true; break; From cd95fde7da13d8ead758da5b4aa98bb22234a620 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 09:49:39 +0200 Subject: [PATCH 048/128] renamed robot_stopped_ to robot_stop_requested_ and changed it from bool to std::atomic --- .../motion_primitives_forward_controller.hpp | 2 +- .../src/motion_primitives_forward_controller.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 80a4778c6d..2dea0b2955 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -110,7 +110,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; - bool robot_stopped_ = false; + std::atomic robot_stop_requested_ = false; bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 72a0d3b763..4a5f2d9836 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -395,7 +395,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ std::lock_guard guard(command_mutex_); reset_command_interfaces(); - robot_stopped_ = true; + robot_stop_requested_ = true; // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); while (!moprim_queue_.empty()) @@ -413,7 +413,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ reset_command_interfaces(); // send reset stop command to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); - robot_stopped_ = false; + robot_stop_requested_ = false; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); return rclcpp_action::CancelResponse::ACCEPT; @@ -431,9 +431,9 @@ void MotionPrimitivesForwardController::execute_goal( { const auto & goal = goal_handle->get_goal(); - if (robot_stopped_) + if (robot_stop_requested_) { - RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); return; } From 14adc0efb2cce58feda54456800289dcfa5e848f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 10:17:53 +0200 Subject: [PATCH 049/128] removed queue_size_ parameter --- .../motion_primitives_forward_controller.hpp | 1 - .../motion_primitives_forward_controller.cpp | 19 ------------------- .../motion_primitives_forward_controller.yaml | 6 ------ ..._primitives_forward_controller_params.yaml | 1 - ..._forward_controller_preceeding_params.yaml | 1 - 5 files changed, 28 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 2dea0b2955..875fba5100 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -107,7 +107,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void reset_command_interfaces(); bool set_command_interfaces(); - size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; std::atomic robot_stop_requested_ = false; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4a5f2d9836..4cbcf62e6b 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -87,13 +87,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi std::bind( &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); - queue_size_ = params_.queue_size; - if (queue_size_ == 0) - { - RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); - return controller_interface::CallbackReturn::ERROR; - } - RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } @@ -453,18 +446,6 @@ void MotionPrimitivesForwardController::execute_goal( required_queue_space += 2; // start + end } - // Check if queue has enough space - if (moprim_queue_.size() + required_queue_space > queue_size_) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Received more motion primitives than queue can store. " - "Current queue size: %zu, required space: %zu. " - "Please increase the queue size in the controller parameters.", - moprim_queue_.size(), required_queue_space); - return; - } - // Add sequence start marker if (add_sequence_wrappers) { diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index 62db1ccb09..cd100b7be4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -25,9 +25,3 @@ motion_primitives_forward_controller: not_empty<>: null, } } - queue_size: { - type: int, - default_value: 10, - description: "Queue size to buffer incoming commands", - read_only: true, - } diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index aaa5ef1638..916a6abbb8 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -30,4 +30,3 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index aaa5ef1638..916a6abbb8 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -30,4 +30,3 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands From c47834cd80e204a3361b57b04fe5b0b4c13711ea Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 11:12:22 +0200 Subject: [PATCH 050/128] wrapped moprim_queue_.push with start and end marker into a lambda --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 38 ++++++++----------- 2 files changed, 18 insertions(+), 24 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 875fba5100..199dd0466b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,8 +90,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - using MotionPrimitiveMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - std::queue> moprim_queue_; + using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; + std::queue> moprim_queue_; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4cbcf62e6b..cf6b0dde3f 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -242,7 +242,7 @@ bool MotionPrimitivesForwardController::set_command_interfaces() { std::lock_guard guard(command_mutex_); // Get the oldest message from the queue - std::shared_ptr current_moprim = moprim_queue_.front(); + std::shared_ptr current_moprim = moprim_queue_.front(); moprim_queue_.pop(); // Check if the message is valid @@ -438,39 +438,33 @@ void MotionPrimitivesForwardController::execute_goal( return; } - size_t required_queue_space = primitives.size(); - // add sequence markers only if there are multiple primitives - bool add_sequence_wrappers = primitives.size() > 1; - if (add_sequence_wrappers) + auto add_motions = [this](const std::vector & motion_primitives) { - required_queue_space += 2; // start + end - } + for (const auto & primitive : motion_primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + }; - // Add sequence start marker - if (add_sequence_wrappers) + if (primitives.size() > 1) { - std::shared_ptr start_marker = std::make_shared(); + std::shared_ptr start_marker = std::make_shared(); start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); moprim_queue_.push(start_marker); - } - // Add motion primitives to the queue - for (const auto & primitive : primitives) - { - moprim_queue_.push(std::make_shared(primitive)); - } + add_motions(primitives); - // Add sequence end marker - if (add_sequence_wrappers) - { - std::shared_ptr end_marker = std::make_shared(); + std::shared_ptr end_marker = std::make_shared(); end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); moprim_queue_.push(end_marker); } + else + { + add_motions(primitives); + } RCLCPP_INFO( - get_node()->get_logger(), "Accepted goal with %zu motion primitives%s.", primitives.size(), - add_sequence_wrappers ? " (wrapped in sequence markers)" : ""); + get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); ExecuteMotion::Result result; rclcpp::Rate rate(50); From 1e2691a3bfcefd20fbd6ea4b3463095c8772a17e Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 12:03:48 +0200 Subject: [PATCH 051/128] Moved functionallity to cancle movement from goal_cancelled_callback() to update(). Only cancel_requested_ = true gets set in goal_cancelled_callback() --- .../motion_primitives_forward_controller.hpp | 3 ++ .../motion_primitives_forward_controller.cpp | 49 +++++++++---------- 2 files changed, 27 insertions(+), 25 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 199dd0466b..ec6867469f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -109,6 +109,9 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::mutex command_mutex_; bool print_error_once_ = true; + // cancel requested by the action server + std::atomic cancel_requested_ = false; + // robot stop command sent to the hardware interface std::atomic robot_stop_requested_ = false; bool was_executing_ = false; ExecutionState execution_status_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index cf6b0dde3f..423b967a30 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -142,6 +142,20 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { + if (cancel_requested_) + { + RCLCPP_INFO(get_node()->get_logger(), "Cancel requested, stopping execution."); + cancel_requested_ = false; + reset_command_interfaces(); + // send stop command immediately to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + while (!moprim_queue_.empty()) + { // clear the queue + moprim_queue_.pop(); + } + robot_stop_requested_ = true; + } + // read the status from the state interface auto opt_value_execution = state_interfaces_[0].get_optional(); if (!opt_value_execution.has_value()) @@ -171,6 +185,15 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::STOPPED: print_error_once_ = true; + if (robot_stop_requested_) + { + // If the robot was stopped by a stop command, reset the command interfaces + // to allow new motion primitives to be sent. + reset_command_interfaces(); + (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + robot_stop_requested_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + } break; case ExecutionState::ERROR: @@ -384,31 +407,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( const std::shared_ptr>) { - RCLCPP_INFO(get_node()->get_logger(), "Canceling goal"); - - std::lock_guard guard(command_mutex_); - reset_command_interfaces(); - robot_stop_requested_ = true; - // send stop command immediately to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (!moprim_queue_.empty()) - { // clear the queue - moprim_queue_.pop(); - } - - RCLCPP_INFO(get_node()->get_logger(), "Waiting for Robot to stop..."); - while (execution_status_ != ExecutionState::STOPPED) - { - // Small sleep to prevent busy waiting - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - - reset_command_interfaces(); - // send reset stop command to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); - robot_stop_requested_ = false; - - RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + cancel_requested_ = true; return rclcpp_action::CancelResponse::ACCEPT; } From 5e953407889607277897cb03fbbd16c436bba48a Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 15:07:15 +0200 Subject: [PATCH 052/128] removed execute_goal() in extra thread. Integrated it into goal_accepted_callback() and updtae() --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 101 ++++++++---------- 2 files changed, 47 insertions(+), 58 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index ec6867469f..3a6299c0a0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -101,13 +101,11 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle const std::shared_ptr> goal_handle); void goal_accepted_callback( const std::shared_ptr> goal_handle); - void execute_goal( - const std::shared_ptr> goal_handle); + std::shared_ptr> pending_action_goal_; void reset_command_interfaces(); bool set_command_interfaces(); - std::mutex command_mutex_; bool print_error_once_ = true; // cancel requested by the action server std::atomic cancel_requested_ = false; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 423b967a30..525a8026e4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -170,6 +170,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { case ExecutionState::IDLE: print_error_once_ = true; + was_executing_ = false; break; case ExecutionState::EXECUTING: if (!was_executing_) @@ -181,10 +182,34 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; + + if (pending_action_goal_ && was_executing_) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + } + break; case ExecutionState::STOPPED: print_error_once_ = true; + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::CANCELED; + result->error_string = "Motion primitives execution canceled"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + } + if (robot_stop_requested_) { // If the robot was stopped by a stop command, reset the command interfaces @@ -197,6 +222,18 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::ERROR: + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::FAILED; + result->error_string = "Motion primitives execution failed"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); + } + if (print_error_once_) { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); @@ -263,7 +300,6 @@ void MotionPrimitivesForwardController::reset_command_interfaces() // Set command interfaces from the message, gets called in the update function bool MotionPrimitivesForwardController::set_command_interfaces() { - std::lock_guard guard(command_mutex_); // Get the oldest message from the queue std::shared_ptr current_moprim = moprim_queue_.front(); moprim_queue_.pop(); @@ -348,6 +384,12 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal const auto & primitives = goal->trajectory.motions; + if (robot_stop_requested_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -414,28 +456,9 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ void MotionPrimitivesForwardController::goal_accepted_callback( const std::shared_ptr> goal_handle) { - std::thread{std::bind(&MotionPrimitivesForwardController::execute_goal, this, goal_handle)} - .detach(); -} - -void MotionPrimitivesForwardController::execute_goal( - const std::shared_ptr> goal_handle) -{ - const auto & goal = goal_handle->get_goal(); + pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - if (robot_stop_requested_) - { - RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); - return; - } - - const auto & primitives = goal->trajectory.motions; - - if (primitives.empty()) - { - RCLCPP_WARN(get_node()->get_logger(), "Received goal with no motion primitives. Ignoring."); - return; - } + const auto & primitives = goal_handle->get_goal()->trajectory.motions; auto add_motions = [this](const std::vector & motion_primitives) { @@ -464,40 +487,8 @@ void MotionPrimitivesForwardController::execute_goal( RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); - - ExecuteMotion::Result result; - rclcpp::Rate rate(50); - while (rclcpp::ok()) - { - ExecutionState execution_status = static_cast( - static_cast(std::round(state_interfaces_[0].get_value()))); - if (execution_status == ExecutionState::SUCCESS && was_executing_) - { - RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); - result.error_code = ExecuteMotion::Result::SUCCESSFUL; - result.error_string = "Trajectory executed successfully"; - was_executing_ = false; - break; - } - else if (execution_status == ExecutionState::ERROR) - { - RCLCPP_ERROR(get_node()->get_logger(), "Execution failed with an error."); - result.error_code = ExecuteMotion::Result::FAILED; - result.error_string = "Trajectory execution failed"; - break; - } - else if (execution_status == ExecutionState::STOPPED) - { - RCLCPP_INFO(get_node()->get_logger(), "Execution stopped."); - result.error_code = ExecuteMotion::Result::CANCELED; - result.error_string = "Trajectory execution stopped"; - break; - } - rate.sleep(); - } - - goal_handle->succeed(std::make_shared(result)); } + } // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" From 55a59a312ec53c0ff26018a409e6729961a5759b Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 15:27:27 +0200 Subject: [PATCH 053/128] updated action draw.io --- ...Controller_ExecuteMotion_Action.drawio.png | Bin 212574 -> 77709 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio.png 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z?BKfcoPWBZACHF_)UEfW&A((pV8g+U(32ef365lm{UG#%)db`Dt@$t6U(4|Sqb^G7 z_ZEW#@e0rX`gufP(i@CR>#sQ|rsF4Py+E44-!L<)_O9jG{PSfgM8nGyPJRq=U;W%)z Date: Mon, 30 Jun 2025 15:30:50 +0200 Subject: [PATCH 054/128] changed version to match the other controllers --- motion_primitives_forward_controller/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 506d4ef4d5..d4406cc736 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -2,7 +2,7 @@ motion_primitives_forward_controller - 4.23.0 + 5.2.0 Package to control robots using motion primitives like PTP, LIN and CIRC Bence Magyar From fddc82480be5382d1ff01b65eb8f46f05226cb98 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 16:13:40 +0200 Subject: [PATCH 055/128] removed name parameter for the moprim controller --- .../src/motion_primitives_forward_controller.cpp | 11 ++--------- .../src/motion_primitives_forward_controller.yaml | 6 ------ .../motion_primitives_forward_controller_params.yaml | 1 - ...imitives_forward_controller_preceeding_params.yaml | 1 - .../test_motion_primitives_forward_controller.cpp | 2 -- ...otion_primitives_forward_controller_preceeding.cpp | 2 -- 6 files changed, 2 insertions(+), 21 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 525a8026e4..bf98755aad 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -53,13 +53,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi params_ = param_listener_->get_params(); - // Check if the name is not empty - if (params_.name.empty()) - { - RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); - return controller_interface::CallbackReturn::ERROR; - } - // Check if there are exactly 25 command interfaces if (params_.command_interfaces.size() != 25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time @@ -102,7 +95,7 @@ MotionPrimitivesForwardController::command_interface_configuration() const // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + command_interfaces_config.names.push_back("motion_primitive/" + interface_name); } return command_interfaces_config; } @@ -118,7 +111,7 @@ MotionPrimitivesForwardController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + state_interfaces_config.names.push_back("motion_primitive/" + interface_name); } return state_interfaces_config; } diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index cd100b7be4..b0c0aaa38d 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,10 +1,4 @@ motion_primitives_forward_controller: - name: { - type: string, - default_value: "", - description: "Name for /", - read_only: true, - } command_interfaces: { type: string_array, default_value: [], diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 916a6abbb8..6a46535909 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,6 +1,5 @@ test_motion_primitives_forward_controller: ros__parameters: - name: motion_primitive command_interfaces: - motion_type - q1 diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index 916a6abbb8..6a46535909 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,6 +1,5 @@ test_motion_primitives_forward_controller: ros__parameters: - name: motion_primitive command_interfaces: - motion_type - q1 diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 55a17fe03a..c1c980c021 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -34,7 +34,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_TRUE(controller_->params_.command_interfaces.empty()); ASSERT_TRUE(controller_->params_.state_interfaces.empty()); - ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -42,7 +41,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); ASSERT_THAT( controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); - ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 1a43a6982a..c738b31c5c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -33,7 +33,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_TRUE(controller_->params_.command_interfaces.empty()); ASSERT_TRUE(controller_->params_.state_interfaces.empty()); - ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -41,7 +40,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); ASSERT_THAT( controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); - ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) From 332f00d9b1be76b12005b794924b17d7dc1e1a75 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 2 Jul 2025 13:18:32 +0200 Subject: [PATCH 056/128] copied controller hpp, cpp and plugin xml file and modified them to run --- .../CMakeLists.txt | 26 + ..._primitives_from_trajectory_controller.hpp | 121 +++++ ..._primitives_from_trajectory_controller.xml | 8 + ..._primitives_from_trajectory_controller.cpp | 495 ++++++++++++++++++ 4 files changed, 650 insertions(+) create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp create mode 100644 motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.xml create mode 100644 motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 0f5ab87f9d..b71c411295 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -31,10 +31,19 @@ add_library( SHARED src/motion_primitives_forward_controller.cpp ) +add_library( + motion_primitives_from_trajectory_controller + SHARED + src/motion_primitives_from_trajectory_controller.cpp +) target_include_directories(motion_primitives_forward_controller PUBLIC $ $ ) +target_include_directories(motion_primitives_from_trajectory_controller PUBLIC + $ + $ +) target_link_libraries(motion_primitives_forward_controller PUBLIC motion_primitives_forward_controller_parameters controller_interface::controller_interface @@ -47,15 +56,31 @@ target_link_libraries(motion_primitives_forward_controller PUBLIC ${std_srvs_TARGETS} ${industrial_robot_motion_interfaces_TARGETS} ) +target_link_libraries(motion_primitives_from_trajectory_controller PUBLIC + motion_primitives_forward_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} + ${industrial_robot_motion_interfaces_TARGETS} +) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") pluginlib_export_plugin_description_file( controller_interface motion_primitives_forward_controller.xml) +pluginlib_export_plugin_description_file( + controller_interface motion_primitives_from_trajectory_controller.xml) + install( TARGETS motion_primitives_forward_controller + motion_primitives_from_trajectory_controller RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib @@ -115,6 +140,7 @@ ament_export_dependencies( ) ament_export_libraries( motion_primitives_forward_controller + motion_primitives_from_trajectory_controller ) ament_package() diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp new file mode 100644 index 0000000000..67652f8a82 --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -0,0 +1,121 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ + +#include +#include +#include +#include + +#include +#include "controller_interface/controller_interface.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "realtime_tools/realtime_buffer.hpp" +#include "realtime_tools/realtime_publisher.hpp" + +#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "rclcpp_action/rclcpp_action.hpp" + +namespace motion_primitives_from_trajectory_controller +{ +enum class ExecutionState : uint8_t +{ + IDLE = 0, + EXECUTING = 1, + SUCCESS = 2, + ERROR = 3, + STOPPED = 4 +}; + +enum class MotionType : uint8_t +{ + LINEAR_JOINT = 10, + LINEAR_CARTESIAN = 50, + CIRCULAR_CARTESIAN = 51, + + STOP_MOTION = 66, + RESET_STOP = 67, + + MOTION_SEQUENCE_START = 100, + MOTION_SEQUENCE_END = 101 +}; + +enum class ReadyForNewPrimitive : uint8_t +{ + NOT_READY = 0, + READY = 1 +}; + +class MotionPrimitivesFromTrajectoryController : public controller_interface::ControllerInterface +{ +public: + MotionPrimitivesFromTrajectoryController(); + + controller_interface::CallbackReturn on_init() override; + + controller_interface::InterfaceConfiguration command_interface_configuration() const override; + + controller_interface::InterfaceConfiguration state_interface_configuration() const override; + + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + +protected: + std::shared_ptr param_listener_; + motion_primitives_forward_controller::Params params_; + + using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; + std::queue> moprim_queue_; + + using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; + rclcpp_action::Server::SharedPtr action_server_; + rclcpp_action::GoalResponse goal_received_callback( + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + rclcpp_action::CancelResponse goal_cancelled_callback( + const std::shared_ptr> goal_handle); + void goal_accepted_callback( + const std::shared_ptr> goal_handle); + std::shared_ptr> pending_action_goal_; + + void reset_command_interfaces(); + bool set_command_interfaces(); + + bool print_error_once_ = true; + // cancel requested by the action server + std::atomic cancel_requested_ = false; + // robot stop command sent to the hardware interface + std::atomic robot_stop_requested_ = false; + bool was_executing_ = false; + ExecutionState execution_status_; + ReadyForNewPrimitive ready_for_new_primitive_; +}; + +} // namespace motion_primitives_from_trajectory_controller + +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.xml b/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.xml new file mode 100644 index 0000000000..d4485d3a9e --- /dev/null +++ b/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.xml @@ -0,0 +1,8 @@ + + + + MotionPrimitivesFromTrajectoryController ros2_control controller. + + + diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp new file mode 100644 index 0000000000..8c25655f87 --- /dev/null +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -0,0 +1,495 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#include "motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp" +#include +#include +#include +#include +#include "controller_interface/helpers.hpp" + +namespace motion_primitives_from_trajectory_controller +{ +MotionPrimitivesFromTrajectoryController::MotionPrimitivesFromTrajectoryController() +: controller_interface::ControllerInterface() +{ +} + +controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::on_init() +{ + RCLCPP_DEBUG( + get_node()->get_logger(), "Initializing Motion Primitives From Trajectory Controller"); + + try + { + param_listener_ = + std::make_shared(get_node()); + } + catch (const std::exception & e) + { + fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + RCLCPP_DEBUG( + get_node()->get_logger(), "Configuring Motion Primitives From Trajectory Controller"); + + params_ = param_listener_->get_params(); + + // Check if there are exactly 25 command interfaces + if (params_.command_interfaces.size() != 25) + { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // Check if there are exactly 2 state interfaces + if (params_.state_interfaces.size() != 2) + { // execution_status + ready_for_new_primitive + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly two state interfaces must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + action_server_ = rclcpp_action::create_server( + get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), + get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), + std::string(get_node()->get_name()) + "/motion_sequence", + std::bind( + &MotionPrimitivesFromTrajectoryController::goal_received_callback, this, + std::placeholders::_1, std::placeholders::_2), + std::bind( + &MotionPrimitivesFromTrajectoryController::goal_cancelled_callback, this, + std::placeholders::_1), + std::bind( + &MotionPrimitivesFromTrajectoryController::goal_accepted_callback, this, + std::placeholders::_1)); + + RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::InterfaceConfiguration +MotionPrimitivesFromTrajectoryController::command_interface_configuration() const +{ + controller_interface::InterfaceConfiguration command_interfaces_config; + command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + command_interfaces_config.names.reserve(params_.command_interfaces.size()); + + // Iterate over all command interfaces from the config yaml file + for (const auto & interface_name : params_.command_interfaces) + { + command_interfaces_config.names.push_back("motion_primitive/" + interface_name); + } + return command_interfaces_config; +} + +controller_interface::InterfaceConfiguration +MotionPrimitivesFromTrajectoryController::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration state_interfaces_config; + state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + state_interfaces_config.names.reserve(params_.state_interfaces.size()); + + // Iterate over all state interfaces from the config yaml file + for (const auto & interface_name : params_.state_interfaces) + { + state_interfaces_config.names.push_back("motion_primitive/" + interface_name); + } + return state_interfaces_config; +} + +controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller deactivated"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::return_type MotionPrimitivesFromTrajectoryController::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + if (cancel_requested_) + { + RCLCPP_INFO(get_node()->get_logger(), "Cancel requested, stopping execution."); + cancel_requested_ = false; + reset_command_interfaces(); + // send stop command immediately to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + while (!moprim_queue_.empty()) + { // clear the queue + moprim_queue_.pop(); + } + robot_stop_requested_ = true; + } + + // read the status from the state interface + auto opt_value_execution = state_interfaces_[0].get_optional(); + if (!opt_value_execution.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); + return controller_interface::return_type::ERROR; + } + execution_status_ = + static_cast(static_cast(std::round(opt_value_execution.value()))); + switch (execution_status_) + { + case ExecutionState::IDLE: + print_error_once_ = true; + was_executing_ = false; + break; + case ExecutionState::EXECUTING: + if (!was_executing_) + { + was_executing_ = true; + } + print_error_once_ = true; + break; + + case ExecutionState::SUCCESS: + print_error_once_ = true; + + if (pending_action_goal_ && was_executing_) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + } + + break; + + case ExecutionState::STOPPED: + print_error_once_ = true; + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::CANCELED; + result->error_string = "Motion primitives execution canceled"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + } + + if (robot_stop_requested_) + { + // If the robot was stopped by a stop command, reset the command interfaces + // to allow new motion primitives to be sent. + reset_command_interfaces(); + (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + robot_stop_requested_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + } + break; + + case ExecutionState::ERROR: + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::FAILED; + result->error_string = "Motion primitives execution failed"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); + } + + if (print_error_once_) + { + RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); + print_error_once_ = false; + } + break; + + default: + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown execution status: %d", + static_cast(execution_status_)); + return controller_interface::return_type::ERROR; + } + + auto opt_value_ready = state_interfaces_[1].get_optional(); + if (!opt_value_ready.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); + return controller_interface::return_type::ERROR; + } + ready_for_new_primitive_ = + static_cast(static_cast(std::round(opt_value_ready.value()))); + + if (!moprim_queue_.empty()) // check if new command is available + { + switch (ready_for_new_primitive_) + { + case ReadyForNewPrimitive::NOT_READY: + { + return controller_interface::return_type::OK; + } + case ReadyForNewPrimitive::READY: + { + if (!set_command_interfaces()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + return controller_interface::return_type::OK; + } + default: + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", + static_cast(ready_for_new_primitive_)); + return controller_interface::return_type::ERROR; + } + } + return controller_interface::return_type::OK; +} + +// Reset Command-Interfaces to nan +void MotionPrimitivesFromTrajectoryController::reset_command_interfaces() +{ + for (size_t i = 0; i < command_interfaces_.size(); ++i) + { + if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) + { + RCLCPP_ERROR(get_node()->get_logger(), "Failed to reset command interface %ld", i); + } + } +} + +// Set command interfaces from the message, gets called in the update function +bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() +{ + // Get the oldest message from the queue + std::shared_ptr current_moprim = moprim_queue_.front(); + moprim_queue_.pop(); + + // Check if the message is valid + if (!current_moprim) + { + RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + return false; + } + + // Set the motion_type + (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); + + // Process joint positions if available + if (!current_moprim->joint_positions.empty()) + { + for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) + { + (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 + } + } + + // Process Cartesian poses if available + if (!current_moprim->poses.empty()) + { + const auto & goal_pose = current_moprim->poses[0].pose; // goal pose + (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x + (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y + (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z + (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx + (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy + (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz + (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw + + // Process via poses if available (only for circular motion) + if ( + current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim->poses.size() == 2) + { + const auto & via_pose = current_moprim->poses[1].pose; // via pose + (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x + (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y + (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z + (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx + (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy + (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz + (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw + } + } + + (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius + + // Read additional arguments + for (const auto & arg : current_moprim->additional_arguments) + { + if (arg.argument_name == "velocity") + { + (void)command_interfaces_[22].set_value(arg.argument_value); + } + else if (arg.argument_name == "acceleration") + { + (void)command_interfaces_[23].set_value(arg.argument_value); + } + else if (arg.argument_name == "move_time") + { + (void)command_interfaces_[24].set_value(arg.argument_value); + } + else + { + RCLCPP_WARN( + get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + } + } + return true; +} + +rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_received_callback( + const rclcpp_action::GoalUUID &, std::shared_ptr goal) +{ + RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); + + const auto & primitives = goal->trajectory.motions; + + if (robot_stop_requested_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + + if (primitives.empty()) + { + RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); + return rclcpp_action::GoalResponse::REJECT; + } + + for (size_t i = 0; i < primitives.size(); ++i) + { + const auto & primitive = primitives[i]; + + switch (static_cast(primitive.type)) + { + case MotionType::LINEAR_JOINT: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); + if (primitive.joint_positions.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::LINEAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); + if (primitive.poses.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::CIRCULAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); + if (primitive.poses.size() != 2) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + default: + RCLCPP_ERROR( + get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, + primitive.type); + return rclcpp_action::GoalResponse::REJECT; + } + } + + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; +} + +rclcpp_action::CancelResponse MotionPrimitivesFromTrajectoryController::goal_cancelled_callback( + const std::shared_ptr>) +{ + cancel_requested_ = true; + return rclcpp_action::CancelResponse::ACCEPT; +} + +void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( + const std::shared_ptr> goal_handle) +{ + pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback + + const auto & primitives = goal_handle->get_goal()->trajectory.motions; + + auto add_motions = [this](const std::vector & motion_primitives) + { + for (const auto & primitive : motion_primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + }; + + if (primitives.size() > 1) + { + std::shared_ptr start_marker = std::make_shared(); + start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); + moprim_queue_.push(start_marker); + + add_motions(primitives); + + std::shared_ptr end_marker = std::make_shared(); + end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); + moprim_queue_.push(end_marker); + } + else + { + add_motions(primitives); + } + + RCLCPP_INFO( + get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); +} + +} // namespace motion_primitives_from_trajectory_controller + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + motion_primitives_from_trajectory_controller::MotionPrimitivesFromTrajectoryController, + controller_interface::ControllerInterface) From b1f1537cbf4a7e0f1fa4b2decc49520cc1fe5467 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 2 Jul 2025 15:19:29 +0200 Subject: [PATCH 057/128] changed action to FollowJTrajAction, goal_received_callback() and goal_accepted_callback() getting called succesfully on click execute in RViz. Bunctionallity to aprox primitives not implemented yet. --- ..._primitives_from_trajectory_controller.hpp | 15 +- ..._primitives_from_trajectory_controller.cpp | 208 +++++++++--------- 2 files changed, 114 insertions(+), 109 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 67652f8a82..7cdec636c8 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -23,7 +23,9 @@ #include #include +#include "control_msgs/action/follow_joint_trajectory.hpp" #include "controller_interface/controller_interface.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -31,7 +33,6 @@ #include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "rclcpp_action/rclcpp_action.hpp" namespace motion_primitives_from_trajectory_controller { @@ -93,15 +94,15 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; std::queue> moprim_queue_; - using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; - rclcpp_action::Server::SharedPtr action_server_; + using FollowJTrajAction = control_msgs::action::FollowJointTrajectory; + rclcpp_action::Server::SharedPtr action_server_; rclcpp_action::GoalResponse goal_received_callback( - const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); rclcpp_action::CancelResponse goal_cancelled_callback( - const std::shared_ptr> goal_handle); + const std::shared_ptr> goal_handle); void goal_accepted_callback( - const std::shared_ptr> goal_handle); - std::shared_ptr> pending_action_goal_; + const std::shared_ptr> goal_handle); + std::shared_ptr> pending_action_goal_; void reset_command_interfaces(); bool set_command_interfaces(); diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 8c25655f87..253c574462 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -70,10 +70,10 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o return controller_interface::CallbackReturn::ERROR; } - action_server_ = rclcpp_action::create_server( + action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), - std::string(get_node()->get_name()) + "/motion_sequence", + std::string(get_node()->get_name()) + "/follow_joint_trajectory", std::bind( &MotionPrimitivesFromTrajectoryController::goal_received_callback, this, std::placeholders::_1, std::placeholders::_2), @@ -183,8 +183,8 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda if (pending_action_goal_ && was_executing_) { was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::SUCCESSFUL; + auto result = std::make_shared(); + result->error_code = FollowJTrajAction::Result::SUCCESSFUL; result->error_string = "Motion primitives executed successfully"; pending_action_goal_->succeed(result); pending_action_goal_.reset(); @@ -199,8 +199,9 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda if (pending_action_goal_) { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::CANCELED; + auto result = std::make_shared(); + // result->error_code = FollowJTrajAction::Result::CANCELED; + result->error_code = 69; result->error_string = "Motion primitives execution canceled"; pending_action_goal_->succeed(result); pending_action_goal_.reset(); @@ -223,8 +224,9 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda if (pending_action_goal_) { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::FAILED; + auto result = std::make_shared(); + // result->error_code = FollowJTrajAction::Result::FAILED; + result->error_code = 404; result->error_string = "Motion primitives execution failed"; pending_action_goal_->succeed(result); pending_action_goal_.reset(); @@ -375,115 +377,117 @@ bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() } rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_received_callback( - const rclcpp_action::GoalUUID &, std::shared_ptr goal) + const rclcpp_action::GoalUUID &, std::shared_ptr goal) { RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); - const auto & primitives = goal->trajectory.motions; - - if (robot_stop_requested_) - { - RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); - return rclcpp_action::GoalResponse::REJECT; - } - - if (primitives.empty()) - { - RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); - return rclcpp_action::GoalResponse::REJECT; - } - - for (size_t i = 0; i < primitives.size(); ++i) - { - const auto & primitive = primitives[i]; - - switch (static_cast(primitive.type)) - { - case MotionType::LINEAR_JOINT: - RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); - if (primitive.joint_positions.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); - return rclcpp_action::GoalResponse::REJECT; - } - break; - - case MotionType::LINEAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); - if (primitive.poses.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); - return rclcpp_action::GoalResponse::REJECT; - } - break; - - case MotionType::CIRCULAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); - if (primitive.poses.size() != 2) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); - return rclcpp_action::GoalResponse::REJECT; - } - break; - - default: - RCLCPP_ERROR( - get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, - primitive.type); - return rclcpp_action::GoalResponse::REJECT; - } - } + // const auto & primitives = goal->trajectory.motions; + + // if (robot_stop_requested_) + // { + // RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new + // command."); return rclcpp_action::GoalResponse::REJECT; + // } + + // if (primitives.empty()) + // { + // RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); + // return rclcpp_action::GoalResponse::REJECT; + // } + + // for (size_t i = 0; i < primitives.size(); ++i) + // { + // const auto & primitive = primitives[i]; + + // switch (static_cast(primitive.type)) + // { + // case MotionType::LINEAR_JOINT: + // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); + // if (primitive.joint_positions.empty()) + // { + // RCLCPP_ERROR( + // get_node()->get_logger(), + // "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); + // return rclcpp_action::GoalResponse::REJECT; + // } + // break; + + // case MotionType::LINEAR_CARTESIAN: + // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); + // if (primitive.poses.empty()) + // { + // RCLCPP_ERROR( + // get_node()->get_logger(), + // "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); + // return rclcpp_action::GoalResponse::REJECT; + // } + // break; + + // case MotionType::CIRCULAR_CARTESIAN: + // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); + // if (primitive.poses.size() != 2) + // { + // RCLCPP_ERROR( + // get_node()->get_logger(), + // "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); + // return rclcpp_action::GoalResponse::REJECT; + // } + // break; + + // default: + // RCLCPP_ERROR( + // get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, + // primitive.type); + // return rclcpp_action::GoalResponse::REJECT; + // } + // } return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } rclcpp_action::CancelResponse MotionPrimitivesFromTrajectoryController::goal_cancelled_callback( - const std::shared_ptr>) + const std::shared_ptr>) { cancel_requested_ = true; return rclcpp_action::CancelResponse::ACCEPT; } void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( - const std::shared_ptr> goal_handle) + const std::shared_ptr> goal_handle) { - pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - - const auto & primitives = goal_handle->get_goal()->trajectory.motions; - - auto add_motions = [this](const std::vector & motion_primitives) - { - for (const auto & primitive : motion_primitives) - { - moprim_queue_.push(std::make_shared(primitive)); - } - }; - - if (primitives.size() > 1) - { - std::shared_ptr start_marker = std::make_shared(); - start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); - moprim_queue_.push(start_marker); - - add_motions(primitives); - - std::shared_ptr end_marker = std::make_shared(); - end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); - moprim_queue_.push(end_marker); - } - else - { - add_motions(primitives); - } - - RCLCPP_INFO( - get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); + RCLCPP_INFO(get_node()->get_logger(), "Accepted goal"); + + // pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback + + // const auto & primitives = goal_handle->get_goal()->trajectory.motions; + + // auto add_motions = [this](const std::vector & motion_primitives) + // { + // for (const auto & primitive : motion_primitives) + // { + // moprim_queue_.push(std::make_shared(primitive)); + // } + // }; + + // if (primitives.size() > 1) + // { + // std::shared_ptr start_marker = std::make_shared(); + // start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); + // moprim_queue_.push(start_marker); + + // add_motions(primitives); + + // std::shared_ptr end_marker = std::make_shared(); + // end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); + // moprim_queue_.push(end_marker); + // } + // else + // { + // add_motions(primitives); + // } + + // RCLCPP_INFO( + // get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); } } // namespace motion_primitives_from_trajectory_controller From cf104d4e01d2019081fa87cc1251c77b55b2ffb3 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 09:35:52 +0200 Subject: [PATCH 058/128] added std::atomic moprim_queue_write_enabled_ --- .../motion_primitives_forward_controller.hpp | 2 ++ .../motion_primitives_forward_controller.cpp | 31 ++++++++++++++++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 3a6299c0a0..d6363cacc0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -114,6 +114,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + + std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index bf98755aad..a3ea102f39 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -120,6 +120,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); + moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -210,8 +211,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; + moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } + break; case ExecutionState::ERROR: @@ -251,7 +254,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_.empty()) // check if new command is available + if (!moprim_queue_write_enabled_ && !cancel_requested_) { switch (ready_for_new_primitive_) { @@ -261,12 +264,21 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } case ReadyForNewPrimitive::READY: { - if (!set_command_interfaces()) + if (moprim_queue_.empty()) // check if new command is available { - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; + // all primitives read, queue ready to get filled with new primitives + moprim_queue_write_enabled_ = true; + return controller_interface::return_type::OK; + } + else + { + if (!set_command_interfaces()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + return controller_interface::return_type::OK; } - return controller_interface::return_type::OK; } default: RCLCPP_ERROR( @@ -383,6 +395,13 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } + if (!moprim_queue_write_enabled_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -443,6 +462,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ const std::shared_ptr>) { cancel_requested_ = true; + moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -477,6 +497,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { add_motions(primitives); } + moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); From 632ca1a8bed64656e0a4171e61b50490c8ee79fd Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 10:15:04 +0200 Subject: [PATCH 059/128] added std::atomic moprim_queue_write_enabled_ --- .../motion_primitives_forward_controller.hpp | 2 ++ .../motion_primitives_forward_controller.cpp | 31 ++++++++++++++++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 3a6299c0a0..d6363cacc0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -114,6 +114,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + + std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index bf98755aad..a3ea102f39 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -120,6 +120,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); + moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -210,8 +211,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; + moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } + break; case ExecutionState::ERROR: @@ -251,7 +254,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_.empty()) // check if new command is available + if (!moprim_queue_write_enabled_ && !cancel_requested_) { switch (ready_for_new_primitive_) { @@ -261,12 +264,21 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } case ReadyForNewPrimitive::READY: { - if (!set_command_interfaces()) + if (moprim_queue_.empty()) // check if new command is available { - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; + // all primitives read, queue ready to get filled with new primitives + moprim_queue_write_enabled_ = true; + return controller_interface::return_type::OK; + } + else + { + if (!set_command_interfaces()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + return controller_interface::return_type::OK; } - return controller_interface::return_type::OK; } default: RCLCPP_ERROR( @@ -383,6 +395,13 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } + if (!moprim_queue_write_enabled_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -443,6 +462,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ const std::shared_ptr>) { cancel_requested_ = true; + moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -477,6 +497,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { add_motions(primitives); } + moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); From cb328212b7c06e5f523ddca9b14b35bbd2c6e4cc Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 11:07:11 +0200 Subject: [PATCH 060/128] added std::atomic moprim_queue_write_enabled_ to moprim_from_traj_controller --- ..._primitives_from_trajectory_controller.hpp | 2 ++ ..._primitives_from_trajectory_controller.cpp | 35 +++++++++++++++---- 2 files changed, 30 insertions(+), 7 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 7cdec636c8..13c70becb2 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -115,6 +115,8 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + + std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_from_trajectory_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 253c574462..d75ccace00 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -124,6 +124,7 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); + moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -215,6 +216,7 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; + moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } break; @@ -257,7 +259,7 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_.empty()) // check if new command is available + if (!moprim_queue_write_enabled_ && !cancel_requested_) { switch (ready_for_new_primitive_) { @@ -267,12 +269,21 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda } case ReadyForNewPrimitive::READY: { - if (!set_command_interfaces()) + if (moprim_queue_.empty()) // check if new command is available { - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; + // all primitives read, queue ready to get filled with new primitives + moprim_queue_write_enabled_ = true; + return controller_interface::return_type::OK; + } + else + { + if (!set_command_interfaces()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + return controller_interface::return_type::OK; } - return controller_interface::return_type::OK; } default: RCLCPP_ERROR( @@ -385,8 +396,16 @@ rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_recei // if (robot_stop_requested_) // { - // RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new - // command."); return rclcpp_action::GoalResponse::REJECT; + // RCLCPP_WARN(get_node()->get_logger(), + // "Robot requested to stop. Discarding the new command."); + // return rclcpp_action::GoalResponse::REJECT; + // } + + // if (!moprim_queue_write_enabled_) + // { + // RCLCPP_WARN( + // get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); + // return rclcpp_action::GoalResponse::REJECT; // } // if (primitives.empty()) @@ -449,6 +468,7 @@ rclcpp_action::CancelResponse MotionPrimitivesFromTrajectoryController::goal_can const std::shared_ptr>) { cancel_requested_ = true; + moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -485,6 +505,7 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( // { // add_motions(primitives); // } + // moprim_queue_write_enabled_ = false; // RCLCPP_INFO( // get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); From 02ac151d7278bf33c52535caf2d434c1226ef1a0 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 11:48:12 +0200 Subject: [PATCH 061/128] added files from https://github.com/mathias31415/motion_primitives_from_planned_trajectory (+ pre-commit stuff) --- .../approx_primitives_with_rdp.hpp | 56 ++++ .../fk_client.hpp | 42 +++ .../rdp.hpp | 55 ++++ .../src/approx_primitives_with_rdp.cpp | 253 ++++++++++++++++++ .../src/fk_client.cpp | 67 +++++ .../src/rdp.cpp | 124 +++++++++ 6 files changed, 597 insertions(+) create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp create mode 100644 motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp create mode 100644 motion_primitives_forward_controller/src/fk_client.cpp create mode 100644 motion_primitives_forward_controller/src/rdp.cpp diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp new file mode 100644 index 0000000000..d738cdb1f0 --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -0,0 +1,56 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ + +#include +#include +#include "geometry_msgs/msg/pose.hpp" +#include "industrial_robot_motion_interfaces/msg/motion_argument.hpp" +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "industrial_robot_motion_interfaces/msg/motion_sequence.hpp" +#include "motion_primitives_forward_controller/rdp.hpp" + +using MotionSequence = industrial_robot_motion_interfaces::msg::MotionSequence; + +namespace approx_primitives_with_rdp +{ + +struct PlannedTrajectoryPoint +{ + double time_from_start; + std::vector joint_positions; + geometry_msgs::msg::Pose pose; +}; + +// Approximate with LIN Primitives in Cartesian Space +MotionSequence approxLinPrimitivesWithRDP( + const std::vector & trajectory, double epsilon, + bool use_time_not_vel_and_acc = false); + +// Approximate with PTP Primitives in Joint Space +MotionSequence approxPtpPrimitivesWithRDP( + const std::vector & trajectory, double epsilon, + bool use_time_not_vel_and_acc = false); + +double calculateBlendRadius( + const rdp::Point & previous_point, const rdp::Point & current_point, + const rdp::Point & next_point); + +} // namespace approx_primitives_with_rdp + +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp new file mode 100644 index 0000000000..e7b2d5c673 --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp @@ -0,0 +1,42 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ + +#include +#include +#include + +#include +#include +#include + +class FKClient +{ +public: + explicit FKClient(const rclcpp::Node::SharedPtr & node); + + std::optional computeFK( + const std::vector & joint_names, const std::vector & joint_positions, + const std::string & from_frame = "base", const std::string & to_link = "tool0"); + +private: + rclcpp::Node::SharedPtr node_; + rclcpp::Client::SharedPtr client_; +}; + +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp new file mode 100644 index 0000000000..f5190e246d --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp @@ -0,0 +1,55 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__RDP_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__RDP_HPP_ + +#include +#include + +namespace rdp +{ + +using Point = std::vector; +using PointList = std::vector; + +/** + * Computes the shortest distance from a point to a line in N-dimensional space. + * + * @param point The point to measure from. + * @param start The start of the line segment. + * @param end The end of the line segment. + * @return Distance from the point to the line segment. + */ +double pointLineDistanceND(const Point & point, const Point & start, const Point & end); + +/** + * Recursive implementation of the Ramer-Douglas-Peucker algorithm + * for simplifying a series of N-dimensional points. + * + * @param points The list of input points. + * @param epsilon Tolerance value: points closer than this distance to the line will be removed. + * @param offset Offset for original indices (used in recursion). + * @return A pair consisting of: + * - The simplified list of points. + * - The list of indices (from the original input) corresponding to the retained points. + */ +std::pair> rdpRecursive( + const PointList & points, double epsilon, std::size_t offset = 0); + +} // namespace rdp + +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__RDP_HPP_ diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp new file mode 100644 index 0000000000..72c87ae9b9 --- /dev/null +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -0,0 +1,253 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#include "motion_primitives_forward_controller/approx_primitives_with_rdp.hpp" +#include +#include +#include + +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseStamped; +using industrial_robot_motion_interfaces::msg::MotionArgument; +using industrial_robot_motion_interfaces::msg::MotionPrimitive; +using industrial_robot_motion_interfaces::msg::MotionSequence; + +namespace approx_primitives_with_rdp +{ + +MotionSequence approxLinPrimitivesWithRDP( + const std::vector & trajectory, + double epsilon, bool use_time_not_vel_and_acc) +{ + MotionSequence motion_sequence; + std::vector motion_primitives; + + if (trajectory.empty()) + { + std::cerr << "[approxLinPrimitivesWithRDP] Warning: trajectory is empty." << std::endl; + return motion_sequence; + } + + rdp::PointList points; + for (const auto & point : trajectory) + { + points.push_back({point.pose.position.x, point.pose.position.y, point.pose.position.z}); + } + + auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon); + + for (size_t i = 1; i < reduced_points.size(); ++i) + { + MotionPrimitive primitive; + primitive.type = MotionPrimitive::LINEAR_CARTESIAN; + + if (i == reduced_points.size() - 1) + { + primitive.blend_radius = 0.0; + } + else + { + primitive.blend_radius = + calculateBlendRadius(reduced_points[i - 1], reduced_points[i], reduced_points[i + 1]); + } + double velocity = -1.0; + double acceleration = -1.0; + double move_time = -1.0; + if (use_time_not_vel_and_acc) + { + double prev_time = trajectory[reduced_indices[i - 1]].time_from_start; + double curr_time = trajectory[reduced_indices[i]].time_from_start; + move_time = curr_time - prev_time; + MotionArgument arg_time; + arg_time.argument_name = "move_time"; + arg_time.argument_value = move_time; + primitive.additional_arguments.push_back(arg_time); + } + else + { + // TODO(mathias31415): Calculate vel and acc based on time_from_start + velocity = 1.0; + acceleration = 1.0; + + MotionArgument arg_vel; + arg_vel.argument_name = "velocity"; + arg_vel.argument_value = velocity; + primitive.additional_arguments.push_back(arg_vel); + + MotionArgument arg_acc; + arg_acc.argument_name = "acceleration"; + arg_acc.argument_value = acceleration; + primitive.additional_arguments.push_back(arg_acc); + } + + PoseStamped pose_stamped; + pose_stamped.pose.position.x = reduced_points[i][0]; + pose_stamped.pose.position.y = reduced_points[i][1]; + pose_stamped.pose.position.z = reduced_points[i][2]; + // TODO(mathias31415): Also use RDP for orientation + pose_stamped.pose.orientation = trajectory[reduced_indices[i]].pose.orientation; + + primitive.poses.push_back(pose_stamped); + motion_primitives.push_back(primitive); + + std::cout << "Added LIN Primitive [" << i << "]: (x,y,z,qx,qy,qz,qw) = (" + << pose_stamped.pose.position.x << ", " << pose_stamped.pose.position.y << ", " + << pose_stamped.pose.position.z << ", " << pose_stamped.pose.orientation.x << ", " + << pose_stamped.pose.orientation.y << ", " << pose_stamped.pose.orientation.z << ", " + << pose_stamped.pose.orientation.w << "), " + << "blend_radius = " << primitive.blend_radius << ", " + << "move_time = " << move_time << ", " + << "velocity = " << velocity << ", " + << "acceleration = " << acceleration << std::endl; + } + + motion_sequence.motions = motion_primitives; + std::cout << "Reduced " << points.size() << " points to " << (reduced_points.size() - 1) + << " LIN primitives with epsilon=" << epsilon << std::endl; + + return motion_sequence; +} + +MotionSequence approxPtpPrimitivesWithRDP( + const std::vector & trajectory, + double epsilon, bool use_time_not_vel_and_acc) +{ + MotionSequence motion_sequence; + std::vector motion_primitives; + + if (trajectory.empty()) + { + std::cerr << "[approxPtpPrimitivesWithRDP] Warning: trajectory is empty." << std::endl; + return motion_sequence; + } + + rdp::PointList points; + for (const auto & pt : trajectory) + { + points.push_back(pt.joint_positions); + } + + auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon); + + for (size_t i = 1; i < reduced_points.size(); ++i) + { + MotionPrimitive primitive; + primitive.type = MotionPrimitive::LINEAR_JOINT; + + if (i == reduced_points.size() - 1) + { + primitive.blend_radius = 0.0; + } + else + { + size_t prev_index = reduced_indices[i - 1]; + size_t curr_index = reduced_indices[i]; + size_t next_index = reduced_indices[i + 1]; + + rdp::Point prev_xyz = { + trajectory[prev_index].pose.position.x, trajectory[prev_index].pose.position.y, + trajectory[prev_index].pose.position.z}; + rdp::Point curr_xyz = { + trajectory[curr_index].pose.position.x, trajectory[curr_index].pose.position.y, + trajectory[curr_index].pose.position.z}; + rdp::Point next_xyz = { + trajectory[next_index].pose.position.x, trajectory[next_index].pose.position.y, + trajectory[next_index].pose.position.z}; + primitive.blend_radius = calculateBlendRadius(prev_xyz, curr_xyz, next_xyz); + } + + double velocity = -1.0; + double acceleration = -1.0; + double move_time = -1.0; + if (use_time_not_vel_and_acc) + { + double prev_time = trajectory[reduced_indices[i - 1]].time_from_start; + double curr_time = trajectory[reduced_indices[i]].time_from_start; + move_time = curr_time - prev_time; + MotionArgument arg_time; + arg_time.argument_name = "move_time"; + arg_time.argument_value = move_time; + primitive.additional_arguments.push_back(arg_time); + } + else + { + // TODO(mathias31415): Calculate vel and acc based on time_from_start + velocity = 1.0; + acceleration = 1.0; + + MotionArgument arg_vel; + arg_vel.argument_name = "velocity"; + arg_vel.argument_value = velocity; + primitive.additional_arguments.push_back(arg_vel); + + MotionArgument arg_acc; + arg_acc.argument_name = "acceleration"; + arg_acc.argument_value = acceleration; + primitive.additional_arguments.push_back(arg_acc); + } + + primitive.joint_positions = reduced_points[i]; + motion_primitives.push_back(primitive); + + std::cout << "Added PTP Primitive [" << i << "]: joints = ("; + for (size_t j = 0; j < reduced_points[i].size(); ++j) + { + std::cout << reduced_points[i][j]; + if (j + 1 < reduced_points[i].size()) std::cout << ", "; + } + std::cout << "), blend_radius = " << primitive.blend_radius << ", " + << "move_time = " << move_time << ", " + << "velocity = " << velocity << ", " + << "acceleration = " << acceleration << std::endl; + } + + motion_sequence.motions = motion_primitives; + std::cout << "Reduced " << points.size() << " joint points to " << (reduced_points.size() - 1) + << " PTP primitives with epsilon=" << epsilon << std::endl; + + return motion_sequence; +} + +double calculateBlendRadius( + const rdp::Point & previous_point, const rdp::Point & current_point, + const rdp::Point & next_point) +{ + double dist_prev = std::sqrt( + std::pow(current_point[0] - previous_point[0], 2) + + std::pow(current_point[1] - previous_point[1], 2) + + std::pow(current_point[2] - previous_point[2], 2)); + + double dist_next = std::sqrt( + std::pow(next_point[0] - current_point[0], 2) + std::pow(next_point[1] - current_point[1], 2) + + std::pow(next_point[2] - current_point[2], 2)); + + double min_dist = std::min(dist_prev, dist_next); + double blend = 0.1 * min_dist; + + // Clamp blend radius to [0, 0.1] with minimum threshold 0.001 + if (blend < 0.001) + { + blend = 0.0; + } + else if (blend > 0.1) + { + blend = 0.1; + } + + return blend; +} + +} // namespace approx_primitives_with_rdp diff --git a/motion_primitives_forward_controller/src/fk_client.cpp b/motion_primitives_forward_controller/src/fk_client.cpp new file mode 100644 index 0000000000..7694fb53a3 --- /dev/null +++ b/motion_primitives_forward_controller/src/fk_client.cpp @@ -0,0 +1,67 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#include "motion_primitives_forward_controller/fk_client.hpp" +#include + +using namespace std::chrono_literals; + +FKClient::FKClient(const rclcpp::Node::SharedPtr & node) : node_(node) +{ + client_ = node_->create_client("/compute_fk"); + + while (!client_->wait_for_service(1s)) + { + RCLCPP_INFO(node_->get_logger(), "Waiting for /compute_fk service..."); + if (!rclcpp::ok()) + { + RCLCPP_ERROR(node_->get_logger(), "Interrupted while waiting for the service."); + return; + } + } +} + +std::optional FKClient::computeFK( + const std::vector & joint_names, const std::vector & joint_positions, + const std::string & from_frame, const std::string & to_link) +{ + auto request = std::make_shared(); + request->header.frame_id = from_frame; + request->fk_link_names.push_back(to_link); + request->robot_state.joint_state.name = joint_names; + request->robot_state.joint_state.position = joint_positions; + + auto future = client_->async_send_request(request); + + if (rclcpp::spin_until_future_complete(node_, future, 3s) == rclcpp::FutureReturnCode::SUCCESS) + { + auto result = future.get(); + if (result->error_code.val == result->error_code.SUCCESS) + { + return result->pose_stamped[0].pose; + } + else + { + RCLCPP_WARN(node_->get_logger(), "FK error: code=%d", result->error_code.val); + } + } + else + { + RCLCPP_ERROR(node_->get_logger(), "FK call timed out"); + } + + return std::nullopt; +} diff --git a/motion_primitives_forward_controller/src/rdp.cpp b/motion_primitives_forward_controller/src/rdp.cpp new file mode 100644 index 0000000000..4ef0dc85a6 --- /dev/null +++ b/motion_primitives_forward_controller/src/rdp.cpp @@ -0,0 +1,124 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + +#include "motion_primitives_forward_controller/rdp.hpp" +#include +#include + +namespace rdp +{ + +// Computes the dot product of two vectors +double dot(const Point & a, const Point & b) +{ + double result = 0.0; + for (std::size_t i = 0; i < a.size(); ++i) result += a[i] * b[i]; + return result; +} + +// Computes the Euclidean norm (length) of a vector +double norm(const Point & v) { return std::sqrt(dot(v, v)); } + +// Subtracts two vectors +Point operator-(const Point & a, const Point & b) +{ + Point result(a.size()); + for (std::size_t i = 0; i < a.size(); ++i) result[i] = a[i] - b[i]; + return result; +} + +// Adds two vectors +Point operator+(const Point & a, const Point & b) +{ + Point result(a.size()); + for (std::size_t i = 0; i < a.size(); ++i) result[i] = a[i] + b[i]; + return result; +} + +// Multiplies a vector by a scalar +Point operator*(double scalar, const Point & v) +{ + Point result(v.size()); + for (std::size_t i = 0; i < v.size(); ++i) result[i] = scalar * v[i]; + return result; +} + +// Computes the perpendicular distance from a point to a line in N-dimensional space +double pointLineDistanceND(const Point & point, const Point & start, const Point & end) +{ + Point lineVec = end - start; + Point pointVec = point - start; + double len = norm(lineVec); + + if (len == 0.0) return norm(point - start); + + double projection = dot(pointVec, lineVec) / len; + Point closest = start + (projection / len) * lineVec; + return norm(point - closest); +} + +// Recursive implementation of the Ramer-Douglas-Peucker algorithm +std::pair> rdpRecursive( + const PointList & points, double epsilon, std::size_t offset) +{ + if (points.size() < 2) + { + std::vector indices; + for (std::size_t i = 0; i < points.size(); ++i) + { + indices.push_back(offset + i); + } + return {points, indices}; + } + + double dmax = 0.0; + std::size_t index = 0; + + // Find the point with the maximum distance from the line segment + for (std::size_t i = 1; i < points.size() - 1; ++i) + { + double d = pointLineDistanceND(points[i], points.front(), points.back()); + if (d > dmax) + { + index = i; + dmax = d; + } + } + + // If the max distance is greater than epsilon, recursively simplify + if (dmax > epsilon) + { + auto rec1 = + rdpRecursive(PointList(points.begin(), points.begin() + index + 1), epsilon, offset); + auto rec2 = + rdpRecursive(PointList(points.begin() + index, points.end()), epsilon, offset + index); + + // Remove duplicate in res1 + rec1.first.pop_back(); + rec1.second.pop_back(); + + // Merge + rec1.first.insert(rec1.first.end(), rec2.first.begin(), rec2.first.end()); + rec1.second.insert(rec1.second.end(), rec2.second.begin(), rec2.second.end()); + return rec1; + } + else + { + return {{points.front(), points.back()}, {offset, offset + points.size() - 1}}; + } +} + +} // namespace rdp From 9b8e261eba80a7940cb96e89b8a414fdf3b6f375 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 13:01:12 +0200 Subject: [PATCH 062/128] working with hardcoded primitives in goal_accepted_callback() --- ..._primitives_from_trajectory_controller.cpp | 190 ++++++++---------- 1 file changed, 86 insertions(+), 104 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index d75ccace00..289575a8bc 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -390,77 +390,30 @@ bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_received_callback( const rclcpp_action::GoalUUID &, std::shared_ptr goal) { - RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); - - // const auto & primitives = goal->trajectory.motions; - - // if (robot_stop_requested_) - // { - // RCLCPP_WARN(get_node()->get_logger(), - // "Robot requested to stop. Discarding the new command."); - // return rclcpp_action::GoalResponse::REJECT; - // } - - // if (!moprim_queue_write_enabled_) - // { - // RCLCPP_WARN( - // get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); - // return rclcpp_action::GoalResponse::REJECT; - // } - - // if (primitives.empty()) - // { - // RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); - // return rclcpp_action::GoalResponse::REJECT; - // } - - // for (size_t i = 0; i < primitives.size(); ++i) - // { - // const auto & primitive = primitives[i]; - - // switch (static_cast(primitive.type)) - // { - // case MotionType::LINEAR_JOINT: - // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); - // if (primitive.joint_positions.empty()) - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); - // return rclcpp_action::GoalResponse::REJECT; - // } - // break; - - // case MotionType::LINEAR_CARTESIAN: - // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); - // if (primitive.poses.empty()) - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); - // return rclcpp_action::GoalResponse::REJECT; - // } - // break; - - // case MotionType::CIRCULAR_CARTESIAN: - // RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); - // if (primitive.poses.size() != 2) - // { - // RCLCPP_ERROR( - // get_node()->get_logger(), - // "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); - // return rclcpp_action::GoalResponse::REJECT; - // } - // break; - - // default: - // RCLCPP_ERROR( - // get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, - // primitive.type); - // return rclcpp_action::GoalResponse::REJECT; - // } - // } + RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); + if (robot_stop_requested_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + + if (!moprim_queue_write_enabled_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + + if (goal->trajectory.points.empty()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received."); + return rclcpp_action::GoalResponse::REJECT; + } + + // TODO(mathias31415): Check if first trajectory point matches the current robot state + + RCLCPP_INFO(get_node()->get_logger(), "Accepted new action goal"); return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } @@ -475,40 +428,69 @@ rclcpp_action::CancelResponse MotionPrimitivesFromTrajectoryController::goal_can void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( const std::shared_ptr> goal_handle) { - RCLCPP_INFO(get_node()->get_logger(), "Accepted goal"); - - // pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - - // const auto & primitives = goal_handle->get_goal()->trajectory.motions; - - // auto add_motions = [this](const std::vector & motion_primitives) - // { - // for (const auto & primitive : motion_primitives) - // { - // moprim_queue_.push(std::make_shared(primitive)); - // } - // }; - - // if (primitives.size() > 1) - // { - // std::shared_ptr start_marker = std::make_shared(); - // start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); - // moprim_queue_.push(start_marker); - - // add_motions(primitives); - - // std::shared_ptr end_marker = std::make_shared(); - // end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); - // moprim_queue_.push(end_marker); - // } - // else - // { - // add_motions(primitives); - // } - // moprim_queue_write_enabled_ = false; - - // RCLCPP_INFO( - // get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); + RCLCPP_INFO(get_node()->get_logger(), "Processing accepted goal ..."); + + pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback + + const auto & planned_trajectory = goal_handle->get_goal()->trajectory.points; + RCLCPP_INFO( + get_node()->get_logger(), "Received trajectory with %zu points.", planned_trajectory.size()); + + // TODO(mathias31415): Process the trajectory points and convert them to motion primitives + + // dummy primitives + MotionPrimitive moprim1; + moprim1.type = MotionPrimitive::LINEAR_JOINT; + moprim1.blend_radius = 0.0; + moprim1.joint_positions = {1.57, -1.57, 1.57, -1.57, -1.57, -1.57}; + industrial_robot_motion_interfaces::msg::MotionArgument arg_time1; + arg_time1.argument_name = "move_time"; + arg_time1.argument_value = 2.0; + moprim1.additional_arguments.push_back(arg_time1); + + MotionPrimitive moprim2; + moprim2.type = MotionPrimitive::LINEAR_JOINT; + moprim2.blend_radius = 0.0; + moprim2.joint_positions = {0.9, -1.57, 1.57, -1.57, -1.57, -1.57}; + industrial_robot_motion_interfaces::msg::MotionArgument arg_time2; + arg_time2.argument_name = "move_time"; + arg_time2.argument_value = 2.0; + moprim2.additional_arguments.push_back(arg_time2); + + std::vector primitives; + primitives.push_back(moprim1); + primitives.push_back(moprim2); + + auto add_motions = [this](const std::vector & motion_primitives) + { + for (const auto & primitive : motion_primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + }; + + if (primitives.size() > 1) + { + std::shared_ptr start_marker = std::make_shared(); + start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); + moprim_queue_.push(start_marker); + + add_motions(primitives); + + std::shared_ptr end_marker = std::make_shared(); + end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); + moprim_queue_.push(end_marker); + } + else + { + add_motions(primitives); + } + moprim_queue_write_enabled_ = false; + + RCLCPP_INFO( + get_node()->get_logger(), + "Reduced planned joint trajectory from %zu points to %zu motion primitives.", + planned_trajectory.size(), primitives.size()); } } // namespace motion_primitives_from_trajectory_controller From 992898352a5ebb77ae30887dedd74332ce955d7a Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 15:27:33 +0200 Subject: [PATCH 063/128] integrated fk, not working yet --- .../CMakeLists.txt | 5 +++++ .../fk_client.hpp | 15 ++++++------- ..._primitives_from_trajectory_controller.hpp | 4 ++++ .../package.xml | 2 ++ .../src/fk_client.cpp | 19 ++++++++++++++--- ..._primitives_from_trajectory_controller.cpp | 21 +++++++++++++++++++ 6 files changed, 56 insertions(+), 10 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index b71c411295..674538f17b 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -14,6 +14,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp_lifecycle realtime_tools std_srvs + moveit_msgs + geometry_msgs industrial_robot_motion_interfaces ) @@ -35,6 +37,7 @@ add_library( motion_primitives_from_trajectory_controller SHARED src/motion_primitives_from_trajectory_controller.cpp + src/fk_client.cpp ) target_include_directories(motion_primitives_forward_controller PUBLIC $ @@ -65,6 +68,8 @@ target_link_libraries(motion_primitives_from_trajectory_controller PUBLIC rclcpp_lifecycle::rclcpp_lifecycle realtime_tools::realtime_tools ${control_msgs_TARGETS} + ${geometry_msgs_TARGETS} + ${moveit_msgs_TARGETS} ${std_srvs_TARGETS} ${industrial_robot_motion_interfaces_TARGETS} ) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp index e7b2d5c673..eda8822d5e 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp @@ -17,25 +17,26 @@ #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ +#include +#include #include -#include #include -#include -#include -#include +#include "geometry_msgs/msg/pose.hpp" +#include "moveit_msgs/srv/get_position_fk.hpp" +#include "rclcpp_lifecycle/lifecycle_node.hpp" class FKClient { public: - explicit FKClient(const rclcpp::Node::SharedPtr & node); + explicit FKClient(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node); std::optional computeFK( const std::vector & joint_names, const std::vector & joint_positions, - const std::string & from_frame = "base", const std::string & to_link = "tool0"); + const std::string & from_frame, const std::string & to_link); private: - rclcpp::Node::SharedPtr node_; + rclcpp_lifecycle::LifecycleNode::SharedPtr node_; rclcpp::Client::SharedPtr client_; }; diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 13c70becb2..5d4cf3d3cf 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -34,6 +34,8 @@ #include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "motion_primitives_forward_controller/fk_client.hpp" + namespace motion_primitives_from_trajectory_controller { enum class ExecutionState : uint8_t @@ -117,6 +119,8 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co ReadyForNewPrimitive ready_for_new_primitive_; std::atomic moprim_queue_write_enabled_ = false; + + std::unique_ptr fk_client_; }; } // namespace motion_primitives_from_trajectory_controller diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index d4406cc736..cb3ead0355 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -31,6 +31,8 @@ rclcpp_lifecycle realtime_tools std_srvs + geometry_msgs + moveit_msgs ament_cmake_gmock controller_manager diff --git a/motion_primitives_forward_controller/src/fk_client.cpp b/motion_primitives_forward_controller/src/fk_client.cpp index 7694fb53a3..27fe2a1d4e 100644 --- a/motion_primitives_forward_controller/src/fk_client.cpp +++ b/motion_primitives_forward_controller/src/fk_client.cpp @@ -16,10 +16,11 @@ #include "motion_primitives_forward_controller/fk_client.hpp" #include +#include "rclcpp/executors.hpp" using namespace std::chrono_literals; -FKClient::FKClient(const rclcpp::Node::SharedPtr & node) : node_(node) +FKClient::FKClient(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node) : node_(node) { client_ = node_->create_client("/compute_fk"); @@ -46,7 +47,19 @@ std::optional FKClient::computeFK( auto future = client_->async_send_request(request); - if (rclcpp::spin_until_future_complete(node_, future, 3s) == rclcpp::FutureReturnCode::SUCCESS) + auto start_time = node_->now(); + + while (rclcpp::ok() && future.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) + { + if ((node_->now() - start_time).seconds() > 3.0) + { + RCLCPP_ERROR(node_->get_logger(), "FK call timed out"); + return std::nullopt; + } + std::this_thread::sleep_for(std::chrono::milliseconds(1)); + } + + if (future.valid()) { auto result = future.get(); if (result->error_code.val == result->error_code.SUCCESS) @@ -60,7 +73,7 @@ std::optional FKClient::computeFK( } else { - RCLCPP_ERROR(node_->get_logger(), "FK call timed out"); + RCLCPP_ERROR(node_->get_logger(), "FK future invalid"); } return std::nullopt; diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 289575a8bc..9a2ca278a6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -70,6 +70,8 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o return controller_interface::CallbackReturn::ERROR; } + fk_client_ = std::make_unique(get_node()); + action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), @@ -436,6 +438,25 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( RCLCPP_INFO( get_node()->get_logger(), "Received trajectory with %zu points.", planned_trajectory.size()); + const auto & joint_names = goal_handle->get_goal()->trajectory.joint_names; + + // Get endefector pose for each trajectory point + for (const auto & point : planned_trajectory) + { + auto tool0_pose_opt = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); + if (tool0_pose_opt) + { + const auto & pose = tool0_pose_opt.value(); + RCLCPP_INFO( + get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f)", pose.position.x, + pose.position.y, pose.position.z); + } + else + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to compute FK for a trajectory point."); + } + } + // TODO(mathias31415): Process the trajectory points and convert them to motion primitives // dummy primitives From 9b1986384a0b5d4c51348a2df781f7bc4b1745e2 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 17:39:10 +0200 Subject: [PATCH 064/128] PTP working, but code needs cleanup (FK for LIN still not working) --- .../CMakeLists.txt | 2 + ..._primitives_from_trajectory_controller.hpp | 42 ++++ .../src/fk_client.cpp | 2 +- ..._primitives_from_trajectory_controller.cpp | 185 ++++++++++++++---- 4 files changed, 188 insertions(+), 43 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 674538f17b..e7c6e25b15 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -38,6 +38,8 @@ add_library( SHARED src/motion_primitives_from_trajectory_controller.cpp src/fk_client.cpp + src/rdp.cpp + src/approx_primitives_with_rdp.cpp ) target_include_directories(motion_primitives_forward_controller PUBLIC $ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 5d4cf3d3cf..eede5ad4c3 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -34,6 +34,7 @@ #include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "motion_primitives_forward_controller/approx_primitives_with_rdp.hpp" #include "motion_primitives_forward_controller/fk_client.hpp" namespace motion_primitives_from_trajectory_controller @@ -121,8 +122,49 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co std::atomic moprim_queue_write_enabled_ = false; std::unique_ptr fk_client_; + + MotionType approx_type_ = MotionType::LINEAR_JOINT; + + // ############ Function copied from JointTrajectoryController ############ + // TODO(mathias31415): Is there a cleaner solution? + void sort_to_local_joint_order( + std::shared_ptr trajectory_msg) const; }; +// ############ Function copied from JointTrajectoryController ############ +// TODO(mathias31415): Is there a cleaner solution? +/** + * \return The map between \p t1 indices (implicitly encoded in return vector indices) to \p t2 + * indices. If \p t1 is "{C, B}" and \p t2 is "{A, B, C, D}", the associated + * mapping vector is "{2, 1}". return empty vector if \p t1 is not a subset of \p t2. + */ +template +std::vector mapping(const T & t1, const T & t2) +{ + // t1 must be a subset of t2 + if (t1.size() > t2.size()) + { + return std::vector(); + } + + std::vector mapping_vector(t1.size()); // Return value + for (auto t1_it = t1.begin(); t1_it != t1.end(); ++t1_it) + { + auto t2_it = std::find(t2.begin(), t2.end(), *t1_it); + if (t2.end() == t2_it) + { + return std::vector(); + } + else + { + const size_t t1_dist = static_cast(std::distance(t1.begin(), t1_it)); + const size_t t2_dist = static_cast(std::distance(t2.begin(), t2_it)); + mapping_vector[t1_dist] = t2_dist; + } + } + return mapping_vector; +} + } // namespace motion_primitives_from_trajectory_controller #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/src/fk_client.cpp b/motion_primitives_forward_controller/src/fk_client.cpp index 27fe2a1d4e..faebd725b2 100644 --- a/motion_primitives_forward_controller/src/fk_client.cpp +++ b/motion_primitives_forward_controller/src/fk_client.cpp @@ -16,7 +16,7 @@ #include "motion_primitives_forward_controller/fk_client.hpp" #include -#include "rclcpp/executors.hpp" +// #include "rclcpp/executors.hpp" using namespace std::chrono_literals; diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 9a2ca278a6..b4503715ce 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -434,69 +434,120 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - const auto & planned_trajectory = goal_handle->get_goal()->trajectory.points; + auto trajectory_msg = + std::make_shared(goal_handle->get_goal()->trajectory); + + sort_to_local_joint_order(trajectory_msg); + RCLCPP_INFO( - get_node()->get_logger(), "Received trajectory with %zu points.", planned_trajectory.size()); + get_node()->get_logger(), "Received trajectory with %zu points.", + trajectory_msg->points.size()); + + const auto & joint_names = trajectory_msg->joint_names; + + std::ostringstream oss; + for (const auto & name : joint_names) + { + oss << name << " "; + } + RCLCPP_INFO(get_node()->get_logger(), "Received joint names: %s", oss.str().c_str()); - const auto & joint_names = goal_handle->get_goal()->trajectory.joint_names; + // TODO(mathias31415): Make FK working // Get endefector pose for each trajectory point - for (const auto & point : planned_trajectory) + // for (const auto & point : planned_trajectory) + // { + // auto tool0_pose_opt = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); + // if (tool0_pose_opt) + // { + // const auto & pose = tool0_pose_opt.value(); + // RCLCPP_INFO( + // get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f)", pose.position.x, + // pose.position.y, pose.position.z); + // } + // else + // { + // RCLCPP_WARN(get_node()->get_logger(), "Failed to compute FK for a trajectory point."); + // } + // } + + std::vector planned_trajectory_data; + planned_trajectory_data.reserve(trajectory_msg->points.size()); + for (const auto & point : trajectory_msg->points) + { + approx_primitives_with_rdp::PlannedTrajectoryPoint pt; + pt.time_from_start = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9; + pt.joint_positions = point.positions; + // pt.pose = fk_client_->computeFK(trajectory_msg->joint_names, point.positions, "base", + // "tool0").value_or(Pose()); + planned_trajectory_data.push_back(pt); + } + industrial_robot_motion_interfaces::msg::MotionSequence motion_sequence; + double rdp_epsilon = 0.001; + bool use_time_not_vel_and_acc = true; + switch (approx_type_) { - auto tool0_pose_opt = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); - if (tool0_pose_opt) + case MotionType::LINEAR_JOINT: { - const auto & pose = tool0_pose_opt.value(); RCLCPP_INFO( - get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f)", pose.position.x, - pose.position.y, pose.position.z); + get_node()->get_logger(), "Approximating motion primitives with PTP motion primitives."); + motion_sequence = + approxPtpPrimitivesWithRDP(planned_trajectory_data, rdp_epsilon, use_time_not_vel_and_acc); + + break; } - else + case MotionType::LINEAR_CARTESIAN: { - RCLCPP_WARN(get_node()->get_logger(), "Failed to compute FK for a trajectory point."); + RCLCPP_INFO( + get_node()->get_logger(), "Approximating motion primitives with LIN motion primitives."); + + RCLCPP_WARN(get_node()->get_logger(), "Not implemented yet."); + break; } + default: + RCLCPP_WARN(get_node()->get_logger(), "Unknown motion type."); + break; } - // TODO(mathias31415): Process the trajectory points and convert them to motion primitives - - // dummy primitives - MotionPrimitive moprim1; - moprim1.type = MotionPrimitive::LINEAR_JOINT; - moprim1.blend_radius = 0.0; - moprim1.joint_positions = {1.57, -1.57, 1.57, -1.57, -1.57, -1.57}; - industrial_robot_motion_interfaces::msg::MotionArgument arg_time1; - arg_time1.argument_name = "move_time"; - arg_time1.argument_value = 2.0; - moprim1.additional_arguments.push_back(arg_time1); - - MotionPrimitive moprim2; - moprim2.type = MotionPrimitive::LINEAR_JOINT; - moprim2.blend_radius = 0.0; - moprim2.joint_positions = {0.9, -1.57, 1.57, -1.57, -1.57, -1.57}; - industrial_robot_motion_interfaces::msg::MotionArgument arg_time2; - arg_time2.argument_name = "move_time"; - arg_time2.argument_value = 2.0; - moprim2.additional_arguments.push_back(arg_time2); - - std::vector primitives; - primitives.push_back(moprim1); - primitives.push_back(moprim2); - - auto add_motions = [this](const std::vector & motion_primitives) + // // dummy primitives + // MotionPrimitive moprim1; + // moprim1.type = MotionPrimitive::LINEAR_JOINT; + // moprim1.blend_radius = 0.0; + // moprim1.joint_positions = {1.57, -1.57, 1.57, -1.57, -1.57, -1.57}; + // industrial_robot_motion_interfaces::msg::MotionArgument arg_time1; + // arg_time1.argument_name = "move_time"; + // arg_time1.argument_value = 2.0; + // moprim1.additional_arguments.push_back(arg_time1); + + // MotionPrimitive moprim2; + // moprim2.type = MotionPrimitive::LINEAR_JOINT; + // moprim2.blend_radius = 0.0; + // moprim2.joint_positions = {0.9, -1.57, 1.57, -1.57, -1.57, -1.57}; + // industrial_robot_motion_interfaces::msg::MotionArgument arg_time2; + // arg_time2.argument_name = "move_time"; + // arg_time2.argument_value = 2.0; + // moprim2.additional_arguments.push_back(arg_time2); + + // industrial_robot_motion_interfaces::msg::MotionSequence motion_sequence; + // motion_sequence.motions.push_back(moprim1); + // motion_sequence.motions.push_back(moprim2); + + auto add_motions = + [this](const industrial_robot_motion_interfaces::msg::MotionSequence & moprim_sequence) { - for (const auto & primitive : motion_primitives) + for (const auto & primitive : moprim_sequence.motions) { moprim_queue_.push(std::make_shared(primitive)); } }; - if (primitives.size() > 1) + if (motion_sequence.motions.size() > 1) { std::shared_ptr start_marker = std::make_shared(); start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); moprim_queue_.push(start_marker); - add_motions(primitives); + add_motions(motion_sequence); std::shared_ptr end_marker = std::make_shared(); end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); @@ -504,14 +555,64 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } else { - add_motions(primitives); + add_motions(motion_sequence); } moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Reduced planned joint trajectory from %zu points to %zu motion primitives.", - planned_trajectory.size(), primitives.size()); + trajectory_msg->points.size(), motion_sequence.motions.size()); +} + +// TODO(mathias31415): read local_joint_order from param instead +void MotionPrimitivesFromTrajectoryController::sort_to_local_joint_order( + std::shared_ptr trajectory_msg) const +{ + const std::vector local_joint_order = {"shoulder_pan_joint", "shoulder_lift_joint", + "elbow_joint", "wrist_1_joint", + "wrist_2_joint", "wrist_3_joint"}; + + std::vector mapping_vector = mapping(trajectory_msg->joint_names, local_joint_order); + + auto remap = [this]( + const std::vector & to_remap, + const std::vector & map_indices) -> std::vector + { + if (to_remap.empty()) return to_remap; + + if (to_remap.size() != map_indices.size()) + { + RCLCPP_WARN( + get_node()->get_logger(), "Invalid input size (%zu) for sorting", to_remap.size()); + return to_remap; + } + + std::vector output(map_indices.size(), 0.0); + + for (size_t index = 0; index < map_indices.size(); ++index) + { + size_t map_index = map_indices[index]; + if (map_index < to_remap.size()) + { + output[index] = to_remap[map_index]; + } + } + + return output; + }; + + for (auto & point : trajectory_msg->points) + { + point.positions = remap(point.positions, mapping_vector); + + if (!point.velocities.empty()) point.velocities = remap(point.velocities, mapping_vector); + + if (!point.accelerations.empty()) + point.accelerations = remap(point.accelerations, mapping_vector); + + if (!point.effort.empty()) point.effort = remap(point.effort, mapping_vector); + } } } // namespace motion_primitives_from_trajectory_controller From 9143c7176604077745e5340c7780dfaac9e1e045 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 11:14:59 +0200 Subject: [PATCH 065/128] fk call working --- .../fk_client.hpp | 18 +++--- ..._primitives_from_trajectory_controller.hpp | 2 +- .../src/fk_client.cpp | 56 +++++++------------ ..._primitives_from_trajectory_controller.cpp | 38 +++++++------ 4 files changed, 48 insertions(+), 66 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp index eda8822d5e..ec38a50851 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/fk_client.hpp @@ -17,27 +17,25 @@ #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ -#include -#include #include #include -#include "geometry_msgs/msg/pose.hpp" -#include "moveit_msgs/srv/get_position_fk.hpp" -#include "rclcpp_lifecycle/lifecycle_node.hpp" +#include +#include +#include +#include -class FKClient +class FKClient : public rclcpp::Node { public: - explicit FKClient(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node); + explicit FKClient(const std::string & node_name = "fk_client"); - std::optional computeFK( + geometry_msgs::msg::Pose computeFK( const std::vector & joint_names, const std::vector & joint_positions, const std::string & from_frame, const std::string & to_link); private: - rclcpp_lifecycle::LifecycleNode::SharedPtr node_; - rclcpp::Client::SharedPtr client_; + rclcpp::Client::SharedPtr fk_client_; }; #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__FK_CLIENT_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index eede5ad4c3..cfc9da8f2a 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -121,7 +121,7 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co std::atomic moprim_queue_write_enabled_ = false; - std::unique_ptr fk_client_; + std::shared_ptr fk_client_; MotionType approx_type_ = MotionType::LINEAR_JOINT; diff --git a/motion_primitives_forward_controller/src/fk_client.cpp b/motion_primitives_forward_controller/src/fk_client.cpp index faebd725b2..29b3850183 100644 --- a/motion_primitives_forward_controller/src/fk_client.cpp +++ b/motion_primitives_forward_controller/src/fk_client.cpp @@ -15,66 +15,48 @@ // Authors: Mathias Fuhrer #include "motion_primitives_forward_controller/fk_client.hpp" -#include -// #include "rclcpp/executors.hpp" -using namespace std::chrono_literals; - -FKClient::FKClient(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node) : node_(node) +FKClient::FKClient(const std::string & node_name) : Node(node_name) { - client_ = node_->create_client("/compute_fk"); + fk_client_ = this->create_client("/compute_fk"); - while (!client_->wait_for_service(1s)) + while (!fk_client_->wait_for_service(std::chrono::seconds(1))) { - RCLCPP_INFO(node_->get_logger(), "Waiting for /compute_fk service..."); - if (!rclcpp::ok()) - { - RCLCPP_ERROR(node_->get_logger(), "Interrupted while waiting for the service."); - return; - } + RCLCPP_INFO(this->get_logger(), "Waiting for /compute_fk service..."); } } -std::optional FKClient::computeFK( +geometry_msgs::msg::Pose FKClient::computeFK( const std::vector & joint_names, const std::vector & joint_positions, const std::string & from_frame, const std::string & to_link) { auto request = std::make_shared(); - request->header.frame_id = from_frame; request->fk_link_names.push_back(to_link); - request->robot_state.joint_state.name = joint_names; - request->robot_state.joint_state.position = joint_positions; - auto future = client_->async_send_request(request); + sensor_msgs::msg::JointState joint_state; + joint_state.name = joint_names; + joint_state.position = joint_positions; + request->robot_state.joint_state = joint_state; + request->header.frame_id = from_frame; - auto start_time = node_->now(); + auto future = fk_client_->async_send_request(request); - while (rclcpp::ok() && future.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) + if ( + rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) == + rclcpp::FutureReturnCode::SUCCESS) { - if ((node_->now() - start_time).seconds() > 3.0) + auto response = future.get(); + if (!response->pose_stamped.empty()) { - RCLCPP_ERROR(node_->get_logger(), "FK call timed out"); - return std::nullopt; - } - std::this_thread::sleep_for(std::chrono::milliseconds(1)); - } - - if (future.valid()) - { - auto result = future.get(); - if (result->error_code.val == result->error_code.SUCCESS) - { - return result->pose_stamped[0].pose; + return response->pose_stamped.front().pose; } else { - RCLCPP_WARN(node_->get_logger(), "FK error: code=%d", result->error_code.val); + throw std::runtime_error("Empty response received from FK service."); } } else { - RCLCPP_ERROR(node_->get_logger(), "FK future invalid"); + throw std::runtime_error("Error calling FK service."); } - - return std::nullopt; } diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index b4503715ce..0a6ecfe773 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -70,7 +70,7 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o return controller_interface::CallbackReturn::ERROR; } - fk_client_ = std::make_unique(get_node()); + fk_client_ = std::make_shared(); action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), @@ -135,6 +135,8 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); + action_server_.reset(); + fk_client_.reset(); RCLCPP_DEBUG(get_node()->get_logger(), "Controller deactivated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -452,24 +454,24 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } RCLCPP_INFO(get_node()->get_logger(), "Received joint names: %s", oss.str().c_str()); - // TODO(mathias31415): Make FK working - // Get endefector pose for each trajectory point - // for (const auto & point : planned_trajectory) - // { - // auto tool0_pose_opt = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); - // if (tool0_pose_opt) - // { - // const auto & pose = tool0_pose_opt.value(); - // RCLCPP_INFO( - // get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f)", pose.position.x, - // pose.position.y, pose.position.z); - // } - // else - // { - // RCLCPP_WARN(get_node()->get_logger(), "Failed to compute FK for a trajectory point."); - // } - // } + for (const auto & point : trajectory_msg->points) + { + try + { + auto tool0_pose = fk_client_->computeFK(joint_names, point.positions, "base_link", "tool0"); + RCLCPP_INFO( + get_node()->get_logger(), + "Tool0 pose: position (%.3f, %.3f, %.3f), orientation [%.3f, %.3f, %.3f, %.3f]", + tool0_pose.position.x, tool0_pose.position.y, tool0_pose.position.z, + tool0_pose.orientation.x, tool0_pose.orientation.y, tool0_pose.orientation.z, + tool0_pose.orientation.w); + } + catch (const std::exception & e) + { + RCLCPP_ERROR(get_node()->get_logger(), "FK-Error: %s", e.what()); + } + } std::vector planned_trajectory_data; planned_trajectory_data.reserve(trajectory_msg->points.size()); From d3bd21c8c6f5e60b7d6d2d58aefd1f6d5b38d66f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 12:04:15 +0200 Subject: [PATCH 066/128] LIN working --- ..._primitives_from_trajectory_controller.hpp | 2 +- ..._primitives_from_trajectory_controller.cpp | 63 ++++--------------- 2 files changed, 14 insertions(+), 51 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index cfc9da8f2a..d8ad394db6 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -123,7 +123,7 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co std::shared_ptr fk_client_; - MotionType approx_type_ = MotionType::LINEAR_JOINT; + MotionType approx_type_ = MotionType::LINEAR_CARTESIAN; // ############ Function copied from JointTrajectoryController ############ // TODO(mathias31415): Is there a cleaner solution? diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 0a6ecfe773..061a137bed 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -447,41 +447,26 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( const auto & joint_names = trajectory_msg->joint_names; - std::ostringstream oss; - for (const auto & name : joint_names) - { - oss << name << " "; - } - RCLCPP_INFO(get_node()->get_logger(), "Received joint names: %s", oss.str().c_str()); - - // Get endefector pose for each trajectory point + std::vector planned_trajectory_data; + planned_trajectory_data.reserve(trajectory_msg->points.size()); for (const auto & point : trajectory_msg->points) { + approx_primitives_with_rdp::PlannedTrajectoryPoint pt; + pt.time_from_start = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9; + pt.joint_positions = point.positions; try { - auto tool0_pose = fk_client_->computeFK(joint_names, point.positions, "base_link", "tool0"); - RCLCPP_INFO( + pt.pose = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); + RCLCPP_DEBUG( get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f), orientation [%.3f, %.3f, %.3f, %.3f]", - tool0_pose.position.x, tool0_pose.position.y, tool0_pose.position.z, - tool0_pose.orientation.x, tool0_pose.orientation.y, tool0_pose.orientation.z, - tool0_pose.orientation.w); + pt.pose.position.x, pt.pose.position.y, pt.pose.position.z, pt.pose.orientation.x, + pt.pose.orientation.y, pt.pose.orientation.z, pt.pose.orientation.w); } catch (const std::exception & e) { RCLCPP_ERROR(get_node()->get_logger(), "FK-Error: %s", e.what()); } - } - - std::vector planned_trajectory_data; - planned_trajectory_data.reserve(trajectory_msg->points.size()); - for (const auto & point : trajectory_msg->points) - { - approx_primitives_with_rdp::PlannedTrajectoryPoint pt; - pt.time_from_start = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9; - pt.joint_positions = point.positions; - // pt.pose = fk_client_->computeFK(trajectory_msg->joint_names, point.positions, "base", - // "tool0").value_or(Pose()); planned_trajectory_data.push_back(pt); } industrial_robot_motion_interfaces::msg::MotionSequence motion_sequence; @@ -495,15 +480,14 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( get_node()->get_logger(), "Approximating motion primitives with PTP motion primitives."); motion_sequence = approxPtpPrimitivesWithRDP(planned_trajectory_data, rdp_epsilon, use_time_not_vel_and_acc); - break; } case MotionType::LINEAR_CARTESIAN: { RCLCPP_INFO( get_node()->get_logger(), "Approximating motion primitives with LIN motion primitives."); - - RCLCPP_WARN(get_node()->get_logger(), "Not implemented yet."); + motion_sequence = + approxLinPrimitivesWithRDP(planned_trajectory_data, rdp_epsilon, use_time_not_vel_and_acc); break; } default: @@ -511,29 +495,6 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( break; } - // // dummy primitives - // MotionPrimitive moprim1; - // moprim1.type = MotionPrimitive::LINEAR_JOINT; - // moprim1.blend_radius = 0.0; - // moprim1.joint_positions = {1.57, -1.57, 1.57, -1.57, -1.57, -1.57}; - // industrial_robot_motion_interfaces::msg::MotionArgument arg_time1; - // arg_time1.argument_name = "move_time"; - // arg_time1.argument_value = 2.0; - // moprim1.additional_arguments.push_back(arg_time1); - - // MotionPrimitive moprim2; - // moprim2.type = MotionPrimitive::LINEAR_JOINT; - // moprim2.blend_radius = 0.0; - // moprim2.joint_positions = {0.9, -1.57, 1.57, -1.57, -1.57, -1.57}; - // industrial_robot_motion_interfaces::msg::MotionArgument arg_time2; - // arg_time2.argument_name = "move_time"; - // arg_time2.argument_value = 2.0; - // moprim2.additional_arguments.push_back(arg_time2); - - // industrial_robot_motion_interfaces::msg::MotionSequence motion_sequence; - // motion_sequence.motions.push_back(moprim1); - // motion_sequence.motions.push_back(moprim2); - auto add_motions = [this](const industrial_robot_motion_interfaces::msg::MotionSequence & moprim_sequence) { @@ -615,6 +576,8 @@ void MotionPrimitivesFromTrajectoryController::sort_to_local_joint_order( if (!point.effort.empty()) point.effort = remap(point.effort, mapping_vector); } + + trajectory_msg->joint_names = local_joint_order; } } // namespace motion_primitives_from_trajectory_controller From 4a96de5b06b5fc79de7bc0074f0c3c7e580dda88 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 14:30:35 +0200 Subject: [PATCH 067/128] changed fprintf to RCLCPP_ERROR --- .../src/motion_primitives_forward_controller.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a3ea102f39..0989159735 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -39,7 +39,9 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( } catch (const std::exception & e) { - fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + RCLCPP_ERROR( + get_node()->get_logger(), "Exception thrown during controller's init with message: %s \n", + e.what()); return controller_interface::CallbackReturn::ERROR; } From 40d78fc9882fd12a552e541470b3cb20f610200d Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 15:28:14 +0200 Subject: [PATCH 068/128] changed moprim_queue_ from std::queue to realtime_tools::LockFreeSPSCQueue --- .../motion_primitives_forward_controller.hpp | 6 +-- .../motion_primitives_forward_controller.cpp | 47 +++++++++---------- ...t_motion_primitives_forward_controller.cpp | 2 +- 3 files changed, 24 insertions(+), 31 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index d6363cacc0..64f0ef3a94 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -18,11 +18,11 @@ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include -#include #include #include #include +#include #include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" @@ -91,7 +91,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - std::queue> moprim_queue_; + realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; @@ -114,8 +114,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; - - std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 0989159735..ab8cdff00e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -122,7 +122,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -145,9 +144,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (!moprim_queue_.empty()) - { // clear the queue - moprim_queue_.pop(); + std::shared_ptr primitive; + while (moprim_queue_.pop(primitive)) + { + // clear the queue } robot_stop_requested_ = true; } @@ -213,7 +213,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; - moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } @@ -256,7 +255,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_write_enabled_ && !cancel_requested_) + if (!cancel_requested_) { switch (ready_for_new_primitive_) { @@ -268,8 +267,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { if (moprim_queue_.empty()) // check if new command is available { - // all primitives read, queue ready to get filled with new primitives - moprim_queue_write_enabled_ = true; return controller_interface::return_type::OK; } else @@ -308,13 +305,10 @@ void MotionPrimitivesForwardController::reset_command_interfaces() bool MotionPrimitivesForwardController::set_command_interfaces() { // Get the oldest message from the queue - std::shared_ptr current_moprim = moprim_queue_.front(); - moprim_queue_.pop(); - - // Check if the message is valid - if (!current_moprim) + std::shared_ptr current_moprim; + if (!moprim_queue_.pop(current_moprim)) { - RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + RCLCPP_WARN(get_node()->get_logger(), "Failed to pop motion primitive from queue."); return false; } @@ -397,13 +391,6 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } - if (!moprim_queue_write_enabled_) - { - RCLCPP_WARN( - get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); - return rclcpp_action::GoalResponse::REJECT; - } - if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -464,7 +451,6 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ const std::shared_ptr>) { cancel_requested_ = true; - moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -479,7 +465,10 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { for (const auto & primitive : motion_primitives) { - moprim_queue_.push(std::make_shared(primitive)); + if (!moprim_queue_.push(std::make_shared(primitive))) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion primitive to queue."); + } } }; @@ -487,19 +476,25 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { std::shared_ptr start_marker = std::make_shared(); start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); - moprim_queue_.push(start_marker); + if (!moprim_queue_.push(start_marker)) + { + RCLCPP_WARN( + get_node()->get_logger(), "Failed to push motion sequence start marker to queue."); + } add_motions(primitives); std::shared_ptr end_marker = std::make_shared(); end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); - moprim_queue_.push(end_marker); + if (!moprim_queue_.push(end_marker)) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); + } } else { add_motions(primitives); } - moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index c1c980c021..ed1e3317d7 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -72,7 +72,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); // check that the message queue is reset - auto moprim_queue_ = controller_->moprim_queue_; + auto & moprim_queue_ = controller_->moprim_queue_; ASSERT_TRUE(moprim_queue_.empty()); } From 29d5a5ec4cfd43939ee28cf7e055ef273266e0d3 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:23:07 +0200 Subject: [PATCH 069/128] using realtime_tools::RealtimeServerGoalHandle --- .../motion_primitives_forward_controller.hpp | 17 +++-- .../motion_primitives_forward_controller.cpp | 68 ++++++++----------- 2 files changed, 41 insertions(+), 44 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 64f0ef3a94..51d2ddf348 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -17,12 +17,14 @@ #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#include #include #include #include #include #include +#include #include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" @@ -93,15 +95,18 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; - using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; - rclcpp_action::Server::SharedPtr action_server_; + using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; + rclcpp_action::Server::SharedPtr action_server_; rclcpp_action::GoalResponse goal_received_callback( - const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); rclcpp_action::CancelResponse goal_cancelled_callback( - const std::shared_ptr> goal_handle); + const std::shared_ptr> goal_handle); void goal_accepted_callback( - const std::shared_ptr> goal_handle); - std::shared_ptr> pending_action_goal_; + std::shared_ptr> goal_handle); + using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; + std::shared_ptr realtime_goal_handle_; + rclcpp::TimerBase::SharedPtr goal_handle_timer_; + rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); void reset_command_interfaces(); bool set_command_interfaces(); diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index ab8cdff00e..aa3eae43e6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -70,17 +70,14 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - action_server_ = rclcpp_action::create_server( + using namespace std::placeholders; + action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), std::string(get_node()->get_name()) + "/motion_sequence", - std::bind( - &MotionPrimitivesForwardController::goal_received_callback, this, std::placeholders::_1, - std::placeholders::_2), - std::bind( - &MotionPrimitivesForwardController::goal_cancelled_callback, this, std::placeholders::_1), - std::bind( - &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); + std::bind(&MotionPrimitivesForwardController::goal_received_callback, this, _1, _2), + std::bind(&MotionPrimitivesForwardController::goal_cancelled_callback, this, _1), + std::bind(&MotionPrimitivesForwardController::goal_accepted_callback, this, _1)); RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; @@ -179,30 +176,27 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - if (pending_action_goal_ && was_executing_) + if (realtime_goal_handle_ && was_executing_) { was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::SUCCESSFUL; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; result->error_string = "Motion primitives executed successfully"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + realtime_goal_handle_->setSucceeded(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); } - break; case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - if (pending_action_goal_) + if (realtime_goal_handle_) { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::CANCELED; - result->error_string = "Motion primitives execution canceled"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + auto result = std::make_shared(); + realtime_goal_handle_->setCanceled(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); } @@ -220,17 +214,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::ERROR: was_executing_ = false; - - if (pending_action_goal_) - { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::FAILED; - result->error_string = "Motion primitives execution failed"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); - } - if (print_error_once_) { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); @@ -379,9 +362,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_callback( - const rclcpp_action::GoalUUID &, std::shared_ptr goal) + const rclcpp_action::GoalUUID &, std::shared_ptr goal) { - RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); + RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); const auto & primitives = goal->trajectory.motions; @@ -443,22 +426,21 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } } - + RCLCPP_INFO(get_node()->get_logger(), "Accepted new action goal"); return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( - const std::shared_ptr>) + const std::shared_ptr>) { + RCLCPP_INFO(get_node()->get_logger(), "Got request to cancel goal"); cancel_requested_ = true; return rclcpp_action::CancelResponse::ACCEPT; } void MotionPrimitivesForwardController::goal_accepted_callback( - const std::shared_ptr> goal_handle) + std::shared_ptr> goal_handle) { - pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - const auto & primitives = goal_handle->get_goal()->trajectory.motions; auto add_motions = [this](const std::vector & motion_primitives) @@ -496,6 +478,16 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); } + auto rt_goal = std::make_shared(goal_handle); + realtime_goal_handle_ = rt_goal; + + rt_goal->execute(); + + goal_handle_timer_.reset(); + goal_handle_timer_ = get_node()->create_wall_timer( + action_monitor_period_.to_chrono(), + std::bind(&RealtimeGoalHandle::runNonRealtime, rt_goal)); + RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); } From c4bc08947eb22534998e1ca5e12daec7c2cea527 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:41:33 +0200 Subject: [PATCH 070/128] Preallocate std::shared_ptr current_moprim_ --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 28 +++++++++---------- 2 files changed, 14 insertions(+), 15 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 51d2ddf348..c809e46145 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -119,6 +119,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + std::shared_ptr current_moprim_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index aa3eae43e6..9f64a555f4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -141,8 +141,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - std::shared_ptr primitive; - while (moprim_queue_.pop(primitive)) + while (moprim_queue_.pop(current_moprim_)) { // clear the queue } @@ -288,29 +287,28 @@ void MotionPrimitivesForwardController::reset_command_interfaces() bool MotionPrimitivesForwardController::set_command_interfaces() { // Get the oldest message from the queue - std::shared_ptr current_moprim; - if (!moprim_queue_.pop(current_moprim)) + if (!moprim_queue_.pop(current_moprim_)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to pop motion primitive from queue."); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim_->type)); // Process joint positions if available - if (!current_moprim->joint_positions.empty()) + if (!current_moprim_->joint_positions.empty()) { - for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim_->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim_->joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_moprim->poses.empty()) + if (!current_moprim_->poses.empty()) { - const auto & goal_pose = current_moprim->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim_->poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -321,10 +319,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() // Process via poses if available (only for circular motion) if ( - current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim->poses.size() == 2) + current_moprim_->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim_->poses.size() == 2) { - const auto & via_pose = current_moprim->poses[1].pose; // via pose + const auto & via_pose = current_moprim_->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -335,10 +333,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim_->blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_moprim->additional_arguments) + for (const auto & arg : current_moprim_->additional_arguments) { if (arg.argument_name == "velocity") { From 01a24e82ed9a931e0ed8d986ae70e1be92264e49 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:53:56 +0200 Subject: [PATCH 071/128] using get_latest instead of while(pop) --- .../src/motion_primitives_forward_controller.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 9f64a555f4..f62b173ef0 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -141,10 +141,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (moprim_queue_.pop(current_moprim_)) - { - // clear the queue - } + // clear the queue (ignore return value) + static_cast(moprim_queue_.get_latest(current_moprim_)); robot_stop_requested_ = true; } From 42542e70e871bb9f98b33fd3c53a6e2356ca54bc Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 12:17:33 +0200 Subject: [PATCH 072/128] pushing primitives directly into the q instead of using shared pointers --- .../motion_primitives_forward_controller.hpp | 4 +-- .../motion_primitives_forward_controller.cpp | 32 +++++++++---------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index c809e46145..6ed760ad2b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -93,7 +93,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; + realtime_tools::LockFreeSPSCQueue moprim_queue_; using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; @@ -119,7 +119,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; - std::shared_ptr current_moprim_; + MotionPrimitive current_moprim_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f62b173ef0..24661ba7f4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -292,21 +292,21 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_moprim_->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim_.type)); // Process joint positions if available - if (!current_moprim_->joint_positions.empty()) + if (!current_moprim_.joint_positions.empty()) { - for (size_t i = 0; i < current_moprim_->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim_.joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_moprim_->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim_.joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_moprim_->poses.empty()) + if (!current_moprim_.poses.empty()) { - const auto & goal_pose = current_moprim_->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim_.poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -317,10 +317,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() // Process via poses if available (only for circular motion) if ( - current_moprim_->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim_->poses.size() == 2) + current_moprim_.type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim_.poses.size() == 2) { - const auto & via_pose = current_moprim_->poses[1].pose; // via pose + const auto & via_pose = current_moprim_.poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -331,10 +331,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_moprim_->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim_.blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_moprim_->additional_arguments) + for (const auto & arg : current_moprim_.additional_arguments) { if (arg.argument_name == "velocity") { @@ -443,7 +443,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { for (const auto & primitive : motion_primitives) { - if (!moprim_queue_.push(std::make_shared(primitive))) + if (!moprim_queue_.push(primitive)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion primitive to queue."); } @@ -452,8 +452,8 @@ void MotionPrimitivesForwardController::goal_accepted_callback( if (primitives.size() > 1) { - std::shared_ptr start_marker = std::make_shared(); - start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); + MotionPrimitive start_marker; + start_marker.type = static_cast(MotionType::MOTION_SEQUENCE_START); if (!moprim_queue_.push(start_marker)) { RCLCPP_WARN( @@ -462,8 +462,8 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); - std::shared_ptr end_marker = std::make_shared(); - end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); + MotionPrimitive end_marker; + end_marker.type = static_cast(MotionType::MOTION_SEQUENCE_END); if (!moprim_queue_.push(end_marker)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); From a80e592b4ab36dc45aa30a51f049f7076e9e99ce Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 12:34:50 +0200 Subject: [PATCH 073/128] added check for remaining q-size before accepting the goal --- .../motion_primitives_forward_controller.cpp | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 24661ba7f4..e4c432e39e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -376,6 +376,26 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } + if ( + (primitives.size() == 1) && + primitives.size() > (moprim_queue_.capacity() - moprim_queue_.size())) + { + RCLCPP_WARN( + get_node()->get_logger(), + "Remaining queue capacity (%zu) is not enough for the requested %zu motion primitive.", + moprim_queue_.capacity() - moprim_queue_.size(), primitives.size()); + return rclcpp_action::GoalResponse::REJECT; + } + else if ((primitives.size() + 2) > (moprim_queue_.capacity() - moprim_queue_.size())) + { + RCLCPP_WARN( + get_node()->get_logger(), + "Remaining queue capacity (%zu) is not enough for the requested %zu motion primitives (+ " + "start and stop marker).", + moprim_queue_.capacity() - moprim_queue_.size(), primitives.size()); + return rclcpp_action::GoalResponse::REJECT; + } + for (size_t i = 0; i < primitives.size(); ++i) { const auto & primitive = primitives[i]; From b942ec55ec5021161e9b3eec71ce94dee0c4bbed Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 13:17:38 +0200 Subject: [PATCH 074/128] Using MotionType from msg definition and MotionHelperType from enum in the controller --- .../motion_primitives_forward_controller.hpp | 7 ++----- .../src/motion_primitives_forward_controller.cpp | 14 ++++++-------- 2 files changed, 8 insertions(+), 13 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 6ed760ad2b..86df5dbd9d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -46,12 +46,9 @@ enum class ExecutionState : uint8_t STOPPED = 4 }; -enum class MotionType : uint8_t +using MotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive; +enum class MotionHelperType : uint8_t { - LINEAR_JOINT = 10, - LINEAR_CARTESIAN = 50, - CIRCULAR_CARTESIAN = 51, - STOP_MOTION = 66, RESET_STOP = 67, diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index e4c432e39e..238c2e3b87 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -140,7 +140,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( cancel_requested_ = false; reset_command_interfaces(); // send stop command immediately to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::STOP_MOTION)); // clear the queue (ignore return value) static_cast(moprim_queue_.get_latest(current_moprim_)); robot_stop_requested_ = true; @@ -202,7 +202,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // If the robot was stopped by a stop command, reset the command interfaces // to allow new motion primitives to be sent. reset_command_interfaces(); - (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::RESET_STOP)); robot_stop_requested_ = false; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } @@ -316,9 +316,7 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if ( - current_moprim_.type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim_.poses.size() == 2) + if (current_moprim_.type == MotionType::CIRCULAR_CARTESIAN && current_moprim_.poses.size() == 2) { const auto & via_pose = current_moprim_.poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x @@ -400,7 +398,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { const auto & primitive = primitives[i]; - switch (static_cast(primitive.type)) + switch (static_cast(primitive.type)) { case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); @@ -473,7 +471,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( if (primitives.size() > 1) { MotionPrimitive start_marker; - start_marker.type = static_cast(MotionType::MOTION_SEQUENCE_START); + start_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_START); if (!moprim_queue_.push(start_marker)) { RCLCPP_WARN( @@ -483,7 +481,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); MotionPrimitive end_marker; - end_marker.type = static_cast(MotionType::MOTION_SEQUENCE_END); + end_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_END); if (!moprim_queue_.push(end_marker)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); From 1669026b6dad022292be7852b2b633bddbca31f3 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 13:23:12 +0200 Subject: [PATCH 075/128] increased moprim_queue_ capacity to 1024 --- .../motion_primitives_forward_controller.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 86df5dbd9d..55dfe3e871 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,7 +90,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - realtime_tools::LockFreeSPSCQueue moprim_queue_; + realtime_tools::LockFreeSPSCQueue moprim_queue_; using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; From a4c13673435f9e20a7b30dded9c06dce6547e885 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 18:55:41 +0200 Subject: [PATCH 076/128] using ros-controls/control_msgs#228 instead of industrial_robot_motion_interfaces --- motion_primitives_forward_controller/CMakeLists.txt | 2 -- motion_primitives_forward_controller/README.md | 2 +- .../motion_primitives_forward_controller.hpp | 10 +++++----- motion_primitives_forward_controller/package.xml | 1 - .../test/test_motion_primitives_forward_controller.hpp | 8 ++++---- ros2_controllers.rolling.repos | 4 ++-- 6 files changed, 12 insertions(+), 15 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 0f5ab87f9d..97ecb81250 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -14,7 +14,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp_lifecycle realtime_tools std_srvs - industrial_robot_motion_interfaces ) find_package(ament_cmake REQUIRED) @@ -45,7 +44,6 @@ target_link_libraries(motion_primitives_forward_controller PUBLIC realtime_tools::realtime_tools ${control_msgs_TARGETS} ${std_srvs_TARGETS} - ${industrial_robot_motion_interfaces_TARGETS} ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 54a62d5b14..94edf30d6e 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,7 +6,7 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotionPrimitiveSequence.action` action from [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action). The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. - Supported motion primitives: - `LINEAR_JOINT` diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 55dfe3e871..88b68f853d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -31,8 +31,8 @@ #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" -#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "control_msgs/action/execute_motion_primitive_sequence.hpp" +#include "control_msgs/msg/motion_primitive.hpp" #include "rclcpp_action/rclcpp_action.hpp" namespace motion_primitives_forward_controller @@ -46,7 +46,7 @@ enum class ExecutionState : uint8_t STOPPED = 4 }; -using MotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using MotionType = control_msgs::msg::MotionPrimitive; enum class MotionHelperType : uint8_t { STOP_MOTION = 66, @@ -89,10 +89,10 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using MotionPrimitive = control_msgs::msg::MotionPrimitive; realtime_tools::LockFreeSPSCQueue moprim_queue_; - using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; + using ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence; rclcpp_action::Server::SharedPtr action_server_; rclcpp_action::GoalResponse goal_received_callback( const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index d4406cc736..e4f63d8265 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -26,7 +26,6 @@ controller_interface hardware_interface pluginlib - industrial_robot_motion_interfaces rclcpp rclcpp_lifecycle realtime_tools diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index d0e06ace19..5915f37041 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -41,11 +41,11 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" -#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "control_msgs/action/execute_motion_primitive_sequence.hpp" +#include "control_msgs/msg/motion_primitive.hpp" -using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; -using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; +using MotionPrimitive = control_msgs::msg::MotionPrimitive; +using ExecuteMotion = control_msgs::action::ExecuteMotionPrimitiveSequence; namespace { diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index f6462c4b4f..d53c3fe358 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -9,8 +9,8 @@ repositories: version: master control_msgs: type: git - url: https://github.com/ros-controls/control_msgs.git - version: master + url: https://github.com/urfeex/control_msgs.git + version: motion_primitives control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git From 371fb5085600651781c49309ea49d741c95ce5e7 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 11:07:55 +0200 Subject: [PATCH 077/128] Add export and install for parameter library --- .../CMakeLists.txt | 46 ++++++++++--------- 1 file changed, 25 insertions(+), 21 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 97ecb81250..0e82e7deaf 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -35,15 +35,15 @@ target_include_directories(motion_primitives_forward_controller PUBLIC $ ) target_link_libraries(motion_primitives_forward_controller PUBLIC - motion_primitives_forward_controller_parameters - controller_interface::controller_interface - hardware_interface::hardware_interface - pluginlib::pluginlib - rclcpp::rclcpp - rclcpp_lifecycle::rclcpp_lifecycle - realtime_tools::realtime_tools - ${control_msgs_TARGETS} - ${std_srvs_TARGETS} + motion_primitives_forward_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") @@ -54,15 +54,31 @@ pluginlib_export_plugin_description_file( install( TARGETS motion_primitives_forward_controller + motion_primitives_forward_controller_parameters + EXPORT motion_primitives_forward_controller_targets RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib ) + install( DIRECTORY include/ DESTINATION include/${PROJECT_NAME} ) +ament_export_targets(motion_primitives_forward_controller_targets HAS_LIBRARY_TARGET) + +ament_export_include_directories( + include +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_export_libraries( + motion_primitives_forward_controller +) + +ament_package() if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) @@ -104,15 +120,3 @@ if(BUILD_TESTING) ros2_control_test_assets::ros2_control_test_assets ) endif() - -ament_export_include_directories( - include -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) -ament_export_libraries( - motion_primitives_forward_controller -) - -ament_package() From a8bcee31945c921b1d20d0777cc44bdbecf00b4f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 11:26:29 +0200 Subject: [PATCH 078/128] control_msgs in ros2_controllers.rolling.repos needs to get changed back after control_msg PR is merged --- ros2_controllers.rolling.repos | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index d53c3fe358..f4ee54e9c3 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -11,6 +11,8 @@ repositories: type: git url: https://github.com/urfeex/control_msgs.git version: motion_primitives + # url: https://github.com/ros-controls/control_msgs.git + # version: master control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git From 5e955d3dfcce52970f3c2bb35373bf8e6efb1af7 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 15:59:12 +0200 Subject: [PATCH 079/128] pre-commit fixes --- motion_primitives_forward_controller/CMakeLists.txt | 2 +- .../src/motion_primitives_forward_controller.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 2cdb8619b9..ca606ea599 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -136,4 +136,4 @@ if(BUILD_TESTING) hardware_interface::hardware_interface ros2_control_test_assets::ros2_control_test_assets ) -endif() \ No newline at end of file +endif() diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index b6925d7e3b..238c2e3b87 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -512,4 +512,4 @@ void MotionPrimitivesForwardController::goal_accepted_callback( PLUGINLIB_EXPORT_CLASS( motion_primitives_forward_controller::MotionPrimitivesForwardController, - controller_interface::ControllerInterface) \ No newline at end of file + controller_interface::ControllerInterface) From aa3112ed74b991770515c464a7422da5fc01e42e Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 18:02:54 +0200 Subject: [PATCH 080/128] modified moprim_from_traj_controller according to moprim_forward_controller --- .../CMakeLists.txt | 13 ++ .../approx_primitives_with_rdp.hpp | 8 +- ..._primitives_from_trajectory_controller.hpp | 32 +++-- .../src/approx_primitives_with_rdp.cpp | 6 +- ..._primitives_from_trajectory_controller.cpp | 132 ++++++++---------- 5 files changed, 96 insertions(+), 95 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index ca606ea599..e9bc2ed52c 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -97,6 +97,19 @@ install( DESTINATION include/${PROJECT_NAME} ) +ament_export_include_directories( + include +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_export_libraries( + motion_primitives_forward_controller + motion_primitives_from_trajectory_controller +) + +ament_package() + if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) find_package(controller_manager REQUIRED) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index d738cdb1f0..2468e61e9c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -19,13 +19,13 @@ #include #include +#include "control_msgs/msg/motion_argument.hpp" +#include "control_msgs/msg/motion_primitive.hpp" +#include "control_msgs/msg/motion_primitive_sequence.hpp" #include "geometry_msgs/msg/pose.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_argument.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_sequence.hpp" #include "motion_primitives_forward_controller/rdp.hpp" -using MotionSequence = industrial_robot_motion_interfaces::msg::MotionSequence; +using MotionSequence = control_msgs::msg::MotionPrimitiveSequence; namespace approx_primitives_with_rdp { diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index d8ad394db6..8d28e7d98e 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -17,22 +17,24 @@ #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FROM_TRAJECTORY_CONTROLLER_HPP_ +#include #include -#include #include #include #include +#include +#include #include "control_msgs/action/follow_joint_trajectory.hpp" #include "controller_interface/controller_interface.hpp" -#include "rclcpp_action/rclcpp_action.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" -#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "control_msgs/action/execute_motion_primitive_sequence.hpp" +#include "control_msgs/msg/motion_primitive.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "motion_primitives_forward_controller/approx_primitives_with_rdp.hpp" #include "motion_primitives_forward_controller/fk_client.hpp" @@ -48,12 +50,9 @@ enum class ExecutionState : uint8_t STOPPED = 4 }; -enum class MotionType : uint8_t +using MotionType = control_msgs::msg::MotionPrimitive; +enum class MotionHelperType : uint8_t { - LINEAR_JOINT = 10, - LINEAR_CARTESIAN = 50, - CIRCULAR_CARTESIAN = 51, - STOP_MOTION = 66, RESET_STOP = 67, @@ -94,8 +93,8 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - std::queue> moprim_queue_; + using MotionPrimitive = control_msgs::msg::MotionPrimitive; + realtime_tools::LockFreeSPSCQueue moprim_queue_; using FollowJTrajAction = control_msgs::action::FollowJointTrajectory; rclcpp_action::Server::SharedPtr action_server_; @@ -104,8 +103,11 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co rclcpp_action::CancelResponse goal_cancelled_callback( const std::shared_ptr> goal_handle); void goal_accepted_callback( - const std::shared_ptr> goal_handle); - std::shared_ptr> pending_action_goal_; + std::shared_ptr> goal_handle); + using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; + std::shared_ptr realtime_goal_handle_; + rclcpp::TimerBase::SharedPtr goal_handle_timer_; + rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); void reset_command_interfaces(); bool set_command_interfaces(); @@ -119,11 +121,11 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; - std::atomic moprim_queue_write_enabled_ = false; + MotionPrimitive current_moprim_; std::shared_ptr fk_client_; - MotionType approx_type_ = MotionType::LINEAR_CARTESIAN; + uint8_t approx_type_ = MotionType::LINEAR_CARTESIAN; // ############ Function copied from JointTrajectoryController ############ // TODO(mathias31415): Is there a cleaner solution? diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 72c87ae9b9..e9533da615 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -19,11 +19,11 @@ #include #include +using control_msgs::msg::MotionArgument; +using control_msgs::msg::MotionPrimitive; +using control_msgs::msg::MotionPrimitiveSequence; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; -using industrial_robot_motion_interfaces::msg::MotionArgument; -using industrial_robot_motion_interfaces::msg::MotionPrimitive; -using industrial_robot_motion_interfaces::msg::MotionSequence; namespace approx_primitives_with_rdp { diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 061a137bed..da90451909 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -40,7 +40,9 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o } catch (const std::exception & e) { - fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + RCLCPP_ERROR( + get_node()->get_logger(), "Exception thrown during controller's init with message: %s \n", + e.what()); return controller_interface::CallbackReturn::ERROR; } @@ -126,7 +128,6 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -150,11 +151,9 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda cancel_requested_ = false; reset_command_interfaces(); // send stop command immediately to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (!moprim_queue_.empty()) - { // clear the queue - moprim_queue_.pop(); - } + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::STOP_MOTION)); + // clear the queue (ignore return value) + static_cast(moprim_queue_.get_latest(current_moprim_)); robot_stop_requested_ = true; } @@ -185,31 +184,27 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda case ExecutionState::SUCCESS: print_error_once_ = true; - if (pending_action_goal_ && was_executing_) + if (realtime_goal_handle_ && was_executing_) { was_executing_ = false; auto result = std::make_shared(); result->error_code = FollowJTrajAction::Result::SUCCESSFUL; result->error_string = "Motion primitives executed successfully"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + realtime_goal_handle_->setSucceeded(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); } - break; case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - if (pending_action_goal_) + if (realtime_goal_handle_) { auto result = std::make_shared(); - // result->error_code = FollowJTrajAction::Result::CANCELED; - result->error_code = 69; - result->error_string = "Motion primitives execution canceled"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + realtime_goal_handle_->setCanceled(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); } @@ -218,27 +213,15 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda // If the robot was stopped by a stop command, reset the command interfaces // to allow new motion primitives to be sent. reset_command_interfaces(); - (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::RESET_STOP)); robot_stop_requested_ = false; - moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } + break; case ExecutionState::ERROR: was_executing_ = false; - - if (pending_action_goal_) - { - auto result = std::make_shared(); - // result->error_code = FollowJTrajAction::Result::FAILED; - result->error_code = 404; - result->error_string = "Motion primitives execution failed"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); - } - if (print_error_once_) { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); @@ -263,7 +246,7 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_write_enabled_ && !cancel_requested_) + if (!cancel_requested_) { switch (ready_for_new_primitive_) { @@ -275,8 +258,6 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda { if (moprim_queue_.empty()) // check if new command is available { - // all primitives read, queue ready to get filled with new primitives - moprim_queue_write_enabled_ = true; return controller_interface::return_type::OK; } else @@ -315,32 +296,28 @@ void MotionPrimitivesFromTrajectoryController::reset_command_interfaces() bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() { // Get the oldest message from the queue - std::shared_ptr current_moprim = moprim_queue_.front(); - moprim_queue_.pop(); - - // Check if the message is valid - if (!current_moprim) + if (!moprim_queue_.pop(current_moprim_)) { - RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + RCLCPP_WARN(get_node()->get_logger(), "Failed to pop motion primitive from queue."); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim_.type)); // Process joint positions if available - if (!current_moprim->joint_positions.empty()) + if (!current_moprim_.joint_positions.empty()) { - for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim_.joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim_.joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_moprim->poses.empty()) + if (!current_moprim_.poses.empty()) { - const auto & goal_pose = current_moprim->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim_.poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -350,11 +327,9 @@ bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if ( - current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim->poses.size() == 2) + if (current_moprim_.type == MotionType::CIRCULAR_CARTESIAN && current_moprim_.poses.size() == 2) { - const auto & via_pose = current_moprim->poses[1].pose; // via pose + const auto & via_pose = current_moprim_.poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -365,10 +340,10 @@ bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim_.blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_moprim->additional_arguments) + for (const auto & arg : current_moprim_.additional_arguments) { if (arg.argument_name == "velocity") { @@ -402,12 +377,7 @@ rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_recei return rclcpp_action::GoalResponse::REJECT; } - if (!moprim_queue_write_enabled_) - { - RCLCPP_WARN( - get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); - return rclcpp_action::GoalResponse::REJECT; - } + // TODO(mathias31415): Check if queue has enough space? Number of primitives not known here? if (goal->trajectory.points.empty()) { @@ -424,18 +394,16 @@ rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_recei rclcpp_action::CancelResponse MotionPrimitivesFromTrajectoryController::goal_cancelled_callback( const std::shared_ptr>) { + RCLCPP_INFO(get_node()->get_logger(), "Got request to cancel goal"); cancel_requested_ = true; - moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( - const std::shared_ptr> goal_handle) + std::shared_ptr> goal_handle) { RCLCPP_INFO(get_node()->get_logger(), "Processing accepted goal ..."); - pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - auto trajectory_msg = std::make_shared(goal_handle->get_goal()->trajectory); @@ -469,7 +437,7 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } planned_trajectory_data.push_back(pt); } - industrial_robot_motion_interfaces::msg::MotionSequence motion_sequence; + control_msgs::msg::MotionPrimitiveSequence motion_sequence; double rdp_epsilon = 0.001; bool use_time_not_vel_and_acc = true; switch (approx_type_) @@ -495,32 +463,50 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( break; } - auto add_motions = - [this](const industrial_robot_motion_interfaces::msg::MotionSequence & moprim_sequence) + auto add_motions = [this](const control_msgs::msg::MotionPrimitiveSequence & moprim_sequence) { for (const auto & primitive : moprim_sequence.motions) { - moprim_queue_.push(std::make_shared(primitive)); + if (!moprim_queue_.push(primitive)) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion primitive to queue."); + } } }; if (motion_sequence.motions.size() > 1) { - std::shared_ptr start_marker = std::make_shared(); - start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); - moprim_queue_.push(start_marker); + MotionPrimitive start_marker; + start_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_START); + if (!moprim_queue_.push(start_marker)) + { + RCLCPP_WARN( + get_node()->get_logger(), "Failed to push motion sequence start marker to queue."); + } add_motions(motion_sequence); - std::shared_ptr end_marker = std::make_shared(); - end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); - moprim_queue_.push(end_marker); + MotionPrimitive end_marker; + end_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_END); + if (!moprim_queue_.push(end_marker)) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); + } } else { add_motions(motion_sequence); } - moprim_queue_write_enabled_ = false; + + auto rt_goal = std::make_shared(goal_handle); + realtime_goal_handle_ = rt_goal; + + rt_goal->execute(); + + goal_handle_timer_.reset(); + goal_handle_timer_ = get_node()->create_wall_timer( + action_monitor_period_.to_chrono(), + std::bind(&RealtimeGoalHandle::runNonRealtime, rt_goal)); RCLCPP_INFO( get_node()->get_logger(), From d2df2befb1356102858bab565ade5655c9bde9a1 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 14 Jul 2025 11:30:37 +0200 Subject: [PATCH 081/128] added param file for moprim_from_traj_controller --- .../CMakeLists.txt | 17 +++++++++++++-- ..._primitives_from_trajectory_controller.hpp | 2 +- ...primitives_from_trajectory_controller.yaml | 21 +++++++++++++++++++ 3 files changed, 37 insertions(+), 3 deletions(-) create mode 100644 motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index e9bc2ed52c..bfe823621c 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -27,6 +27,9 @@ endforeach() generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml ) +generate_parameter_library(motion_primitives_from_trajectory_controller_parameters + src/motion_primitives_from_trajectory_controller.yaml +) add_library( motion_primitives_forward_controller SHARED @@ -60,7 +63,7 @@ target_link_libraries(motion_primitives_forward_controller PUBLIC ${std_srvs_TARGETS} ) target_link_libraries(motion_primitives_from_trajectory_controller PUBLIC - motion_primitives_forward_controller_parameters + motion_primitives_from_trajectory_controller_parameters controller_interface::controller_interface hardware_interface::hardware_interface pluginlib::pluginlib @@ -84,13 +87,23 @@ pluginlib_export_plugin_description_file( install( TARGETS motion_primitives_forward_controller - motion_primitives_from_trajectory_controller motion_primitives_forward_controller_parameters EXPORT motion_primitives_forward_controller_targets RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib ) +install( + TARGETS + motion_primitives_from_trajectory_controller + motion_primitives_from_trajectory_controller_parameters + EXPORT motion_primitives_from_trajectory_controller_targets + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) +ament_export_targets(motion_primitives_forward_controller_targets) +ament_export_targets(motion_primitives_from_trajectory_controller_targets) install( DIRECTORY include/ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 8d28e7d98e..288a913988 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -22,7 +22,7 @@ #include #include -#include +#include #include #include #include "control_msgs/action/follow_joint_trajectory.hpp" diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml new file mode 100644 index 0000000000..b0c0aaa38d --- /dev/null +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml @@ -0,0 +1,21 @@ +motion_primitives_forward_controller: + command_interfaces: { + type: string_array, + default_value: [], + description: "Names of the command interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } + state_interfaces: { + type: string_array, + default_value: [], + description: "Names of the state interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } From 61c638ef1c63a4f2274b6ef36e052a550cfa2f47 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 14 Jul 2025 13:59:43 +0200 Subject: [PATCH 082/128] motion_primitive_from_trajectory_controller: Added params for local_joint_order, approximate_mode, use_time_not_vel_and_acc, epsilon_joint_angle, epsilon_cart_position, epsilon_cart_angle --- .../approx_primitives_with_rdp.hpp | 4 +- ..._primitives_from_trajectory_controller.hpp | 12 ++++- .../src/approx_primitives_with_rdp.cpp | 8 +-- ..._primitives_from_trajectory_controller.cpp | 54 +++++++++++++------ ...primitives_from_trajectory_controller.yaml | 43 +++++++++++++++ 5 files changed, 98 insertions(+), 23 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index 2468e61e9c..7757e6f895 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -39,8 +39,8 @@ struct PlannedTrajectoryPoint // Approximate with LIN Primitives in Cartesian Space MotionSequence approxLinPrimitivesWithRDP( - const std::vector & trajectory, double epsilon, - bool use_time_not_vel_and_acc = false); + const std::vector & trajectory, double epsilon_position, + double epsilon_angle, bool use_time_not_vel_and_acc = false); // Approximate with PTP Primitives in Joint Space MotionSequence approxPtpPrimitivesWithRDP( diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 288a913988..3c1a446d63 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -66,6 +66,12 @@ enum class ReadyForNewPrimitive : uint8_t READY = 1 }; +enum class ApproxMode +{ + RDP_PTP, + RDP_LIN +}; + class MotionPrimitivesFromTrajectoryController : public controller_interface::ControllerInterface { public: @@ -125,7 +131,11 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co std::shared_ptr fk_client_; - uint8_t approx_type_ = MotionType::LINEAR_CARTESIAN; + ApproxMode approx_mode_; + bool use_time_not_vel_and_acc_; + double epsilon_joint_angle_; + double epsilon_cart_position_; + double epsilon_cart_angle_; // ############ Function copied from JointTrajectoryController ############ // TODO(mathias31415): Is there a cleaner solution? diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index e9533da615..43c8ca97fe 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -30,7 +30,7 @@ namespace approx_primitives_with_rdp MotionSequence approxLinPrimitivesWithRDP( const std::vector & trajectory, - double epsilon, bool use_time_not_vel_and_acc) + double epsilon_position, double epsilon_angle, bool use_time_not_vel_and_acc) { MotionSequence motion_sequence; std::vector motion_primitives; @@ -47,7 +47,7 @@ MotionSequence approxLinPrimitivesWithRDP( points.push_back({point.pose.position.x, point.pose.position.y, point.pose.position.z}); } - auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon); + auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon_position); for (size_t i = 1; i < reduced_points.size(); ++i) { @@ -97,7 +97,7 @@ MotionSequence approxLinPrimitivesWithRDP( pose_stamped.pose.position.x = reduced_points[i][0]; pose_stamped.pose.position.y = reduced_points[i][1]; pose_stamped.pose.position.z = reduced_points[i][2]; - // TODO(mathias31415): Also use RDP for orientation + // TODO(mathias31415): Also use RDP for orientation? With epsilon_angle pose_stamped.pose.orientation = trajectory[reduced_indices[i]].pose.orientation; primitive.poses.push_back(pose_stamped); @@ -116,7 +116,7 @@ MotionSequence approxLinPrimitivesWithRDP( motion_sequence.motions = motion_primitives; std::cout << "Reduced " << points.size() << " points to " << (reduced_points.size() - 1) - << " LIN primitives with epsilon=" << epsilon << std::endl; + << " LIN primitives with epsilon=" << epsilon_position << std::endl; return motion_sequence; } diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index da90451909..79c554d880 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -57,6 +57,33 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o params_ = param_listener_->get_params(); + if (params_.local_joint_order.size() != 6) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Exactly 6 joints must be provided in local_joint_order!"); + return controller_interface::CallbackReturn::ERROR; + } + + if (params_.approximate_mode == "RDP_PTP") + { + approx_mode_ = ApproxMode::RDP_PTP; + } + else if (params_.approximate_mode == "RDP_LIN") + { + approx_mode_ = ApproxMode::RDP_LIN; + } + else + { + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown approximate mode '%s'", + params_.approximate_mode.c_str()); + return controller_interface::CallbackReturn::ERROR; + } + use_time_not_vel_and_acc_ = params_.use_time_not_vel_and_acc; + epsilon_joint_angle_ = params_.epsilon_joint_angle; + epsilon_cart_position_ = params_.epsilon_cart_position; + epsilon_cart_angle_ = params_.epsilon_cart_angle; + // Check if there are exactly 25 command interfaces if (params_.command_interfaces.size() != 25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time @@ -438,24 +465,23 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( planned_trajectory_data.push_back(pt); } control_msgs::msg::MotionPrimitiveSequence motion_sequence; - double rdp_epsilon = 0.001; - bool use_time_not_vel_and_acc = true; - switch (approx_type_) + switch (approx_mode_) { - case MotionType::LINEAR_JOINT: + case ApproxMode::RDP_PTP: { RCLCPP_INFO( get_node()->get_logger(), "Approximating motion primitives with PTP motion primitives."); - motion_sequence = - approxPtpPrimitivesWithRDP(planned_trajectory_data, rdp_epsilon, use_time_not_vel_and_acc); + motion_sequence = approxPtpPrimitivesWithRDP( + planned_trajectory_data, epsilon_joint_angle_, use_time_not_vel_and_acc_); break; } - case MotionType::LINEAR_CARTESIAN: + case ApproxMode::RDP_LIN: { RCLCPP_INFO( get_node()->get_logger(), "Approximating motion primitives with LIN motion primitives."); - motion_sequence = - approxLinPrimitivesWithRDP(planned_trajectory_data, rdp_epsilon, use_time_not_vel_and_acc); + motion_sequence = approxLinPrimitivesWithRDP( + planned_trajectory_data, epsilon_cart_position_, epsilon_cart_angle_, + use_time_not_vel_and_acc_); break; } default: @@ -514,15 +540,11 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( trajectory_msg->points.size(), motion_sequence.motions.size()); } -// TODO(mathias31415): read local_joint_order from param instead void MotionPrimitivesFromTrajectoryController::sort_to_local_joint_order( std::shared_ptr trajectory_msg) const { - const std::vector local_joint_order = {"shoulder_pan_joint", "shoulder_lift_joint", - "elbow_joint", "wrist_1_joint", - "wrist_2_joint", "wrist_3_joint"}; - - std::vector mapping_vector = mapping(trajectory_msg->joint_names, local_joint_order); + std::vector mapping_vector = + mapping(trajectory_msg->joint_names, params_.local_joint_order); auto remap = [this]( const std::vector & to_remap, @@ -563,7 +585,7 @@ void MotionPrimitivesFromTrajectoryController::sort_to_local_joint_order( if (!point.effort.empty()) point.effort = remap(point.effort, mapping_vector); } - trajectory_msg->joint_names = local_joint_order; + trajectory_msg->joint_names = params_.local_joint_order; } } // namespace motion_primitives_from_trajectory_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml index b0c0aaa38d..4861cf84a8 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml @@ -19,3 +19,46 @@ motion_primitives_forward_controller: not_empty<>: null, } } + local_joint_order: { + type: string_array, + default_value: [], + description: "Local joint order used internally by the controller.", + read_only: false, + validation: { + unique<>: null, + not_empty<>: null, + } + } + approximate_mode: { + type: string, + default_value: "RDP_PTP", + description: "Approximation mode for motion primitives: 'RDP_PTP' or 'RDP_LIN'.", + read_only: false, + validation: { + not_empty<>: [] + } + } + use_time_not_vel_and_acc: { + type: bool, + default_value: false, + description: "If true, uses time for motion primitives (e.g., UR); if false, uses velocity and acceleration (e.g., UR, KUKA).", + read_only: false + } + epsilon_joint_angle: { + type: double, + default_value: 0.0, + description: "Epsilon for RDP simplification in joint space (angle difference threshold).", + read_only: false + } + epsilon_cart_position: { + type: double, + default_value: 0.0, + description: "Epsilon for RDP simplification in Cartesian space (position threshold).", + read_only: false + } + epsilon_cart_angle: { + type: double, + default_value: 0.0, + description: "Epsilon for RDP simplification in Cartesian space (orientation angle threshold).", + read_only: false + } From b05520586cd0ca3a0083b9eb660dd7bd4cfd6965 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 14 Jul 2025 16:30:55 +0200 Subject: [PATCH 083/128] calculate cart vel and acc from time_from_start --- .../approx_primitives_with_rdp.hpp | 4 + .../src/approx_primitives_with_rdp.cpp | 106 ++++++++++++++++-- 2 files changed, 101 insertions(+), 9 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index 7757e6f895..4d0ddf152c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -51,6 +51,10 @@ double calculateBlendRadius( const rdp::Point & previous_point, const rdp::Point & current_point, const rdp::Point & next_point); +void calculateCartVelAndAcc( + const std::vector & trajectory, + std::vector & velocities, std::vector & accelerations); + } // namespace approx_primitives_with_rdp #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 43c8ca97fe..8b8c77a457 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -41,19 +41,25 @@ MotionSequence approxLinPrimitivesWithRDP( return motion_sequence; } - rdp::PointList points; + rdp::PointList cartesian_points; for (const auto & point : trajectory) { - points.push_back({point.pose.position.x, point.pose.position.y, point.pose.position.z}); + cartesian_points.push_back( + {point.pose.position.x, point.pose.position.y, point.pose.position.z}); } - auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon_position); + auto [reduced_points, reduced_indices] = rdp::rdpRecursive(cartesian_points, epsilon_position); + + // Compute cartesian velocity and acceleration between trajectory points + std::vector velocities, accelerations; + calculateCartVelAndAcc(trajectory, velocities, accelerations); for (size_t i = 1; i < reduced_points.size(); ++i) { MotionPrimitive primitive; primitive.type = MotionPrimitive::LINEAR_CARTESIAN; + // Blend radius (zero at last point) if (i == reduced_points.size() - 1) { primitive.blend_radius = 0.0; @@ -63,13 +69,18 @@ MotionSequence approxLinPrimitivesWithRDP( primitive.blend_radius = calculateBlendRadius(reduced_points[i - 1], reduced_points[i], reduced_points[i + 1]); } + double velocity = -1.0; double acceleration = -1.0; double move_time = -1.0; + + const size_t start_index = reduced_indices[i - 1]; + const size_t end_index = reduced_indices[i]; + if (use_time_not_vel_and_acc) { - double prev_time = trajectory[reduced_indices[i - 1]].time_from_start; - double curr_time = trajectory[reduced_indices[i]].time_from_start; + const double prev_time = trajectory[start_index].time_from_start; + const double curr_time = trajectory[end_index].time_from_start; move_time = curr_time - prev_time; MotionArgument arg_time; arg_time.argument_name = "move_time"; @@ -78,9 +89,22 @@ MotionSequence approxLinPrimitivesWithRDP( } else { - // TODO(mathias31415): Calculate vel and acc based on time_from_start - velocity = 1.0; - acceleration = 1.0; + // Use max velocity and acceleration in the reduced segment + double max_vel = 0.0; + double max_acc = 0.0; + + for (size_t j = start_index + 1; j <= end_index && j - 1 < velocities.size(); ++j) + { + max_vel = std::max(max_vel, velocities[j - 1]); + } + + for (size_t j = start_index + 2; j <= end_index && j - 2 < accelerations.size(); ++j) + { + max_acc = std::max(max_acc, accelerations[j - 2]); + } + + velocity = max_vel; + acceleration = max_acc; MotionArgument arg_vel; arg_vel.argument_name = "velocity"; @@ -115,7 +139,8 @@ MotionSequence approxLinPrimitivesWithRDP( } motion_sequence.motions = motion_primitives; - std::cout << "Reduced " << points.size() << " points to " << (reduced_points.size() - 1) + + std::cout << "Reduced " << cartesian_points.size() << " points to " << (reduced_points.size() - 1) << " LIN primitives with epsilon=" << epsilon_position << std::endl; return motion_sequence; @@ -250,4 +275,67 @@ double calculateBlendRadius( return blend; } +void calculateCartVelAndAcc( + const std::vector & trajectory, + std::vector & velocities, std::vector & accelerations) +{ + velocities.clear(); + accelerations.clear(); + + size_t num_points = trajectory.size(); + if (num_points < 2) + { + std::cerr << "[calculateCartVelAndAcc] Warning: trajectory too short to calculate " + "velocity/acceleration." + << std::endl; + return; + } + + for (size_t i = 1; i < num_points; ++i) + { + const auto & previous_position = trajectory[i - 1].pose.position; + const auto & current_position = trajectory[i].pose.position; + + double previous_time = trajectory[i - 1].time_from_start; + double current_time = trajectory[i].time_from_start; + double delta_time = current_time - previous_time; + + if (delta_time <= 0.0) + { + std::cerr << "[calculateCartVelAndAcc] Warning: non-positive time difference at index " << i + << std::endl; + velocities.push_back(0.0); + continue; + } + + double dx = current_position.x - previous_position.x; + double dy = current_position.y - previous_position.y; + double dz = current_position.z - previous_position.z; + double distance = std::sqrt(dx * dx + dy * dy + dz * dz); + + double velocity = distance / delta_time; + velocities.push_back(velocity); + } + + // Accelerations (starts at index 1 because it compares velocities[i] and velocities[i - 1]) + for (size_t i = 1; i < velocities.size(); ++i) + { + double time_interval = trajectory[i + 1].time_from_start - trajectory[i].time_from_start; + + if (time_interval <= 0.0) + { + std::cerr << "[calculateCartVelAndAcc] Warning: non-positive time difference for " + "acceleration at index " + << i << std::endl; + accelerations.push_back(0.0); + continue; + } + + double delta_velocity = velocities[i] - velocities[i - 1]; + double acceleration = delta_velocity / time_interval; + + accelerations.push_back(std::abs(acceleration)); + } +} + } // namespace approx_primitives_with_rdp From 2f3e0ea73576d72194d8ab196d933bdb720b595a Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 14 Jul 2025 16:58:48 +0200 Subject: [PATCH 084/128] calculate joint vel and acc from time_from_start --- .../approx_primitives_with_rdp.hpp | 4 + .../src/approx_primitives_with_rdp.cpp | 92 ++++++++++++++++++- 2 files changed, 91 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index 4d0ddf152c..1084e4d396 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -55,6 +55,10 @@ void calculateCartVelAndAcc( const std::vector & trajectory, std::vector & velocities, std::vector & accelerations); +void calculateJointVelAndAcc( + const std::vector & trajectory, + std::vector & velocities, std::vector & accelerations); + } // namespace approx_primitives_with_rdp #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 8b8c77a457..d517b7569a 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -167,6 +167,10 @@ MotionSequence approxPtpPrimitivesWithRDP( auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon); + // Compute joint velocities and accelerations between trajectory points + std::vector joint_velocities, joint_accelerations; + calculateJointVelAndAcc(trajectory, joint_velocities, joint_accelerations); + for (size_t i = 1; i < reduced_points.size(); ++i) { MotionPrimitive primitive; @@ -197,11 +201,16 @@ MotionSequence approxPtpPrimitivesWithRDP( double velocity = -1.0; double acceleration = -1.0; double move_time = -1.0; + + size_t start_index = reduced_indices[i - 1]; + size_t end_index = reduced_indices[i]; + if (use_time_not_vel_and_acc) { - double prev_time = trajectory[reduced_indices[i - 1]].time_from_start; - double curr_time = trajectory[reduced_indices[i]].time_from_start; + double prev_time = trajectory[start_index].time_from_start; + double curr_time = trajectory[end_index].time_from_start; move_time = curr_time - prev_time; + MotionArgument arg_time; arg_time.argument_name = "move_time"; arg_time.argument_value = move_time; @@ -209,9 +218,22 @@ MotionSequence approxPtpPrimitivesWithRDP( } else { - // TODO(mathias31415): Calculate vel and acc based on time_from_start - velocity = 1.0; - acceleration = 1.0; + // Get max velocity and acceleration in the reduced segment + double max_vel = 0.0; + double max_acc = 0.0; + + for (size_t j = start_index + 1; j <= end_index && j - 1 < joint_velocities.size(); ++j) + { + max_vel = std::max(max_vel, joint_velocities[j - 1]); + } + + for (size_t j = start_index + 2; j <= end_index && j - 2 < joint_accelerations.size(); ++j) + { + max_acc = std::max(max_acc, joint_accelerations[j - 2]); + } + + velocity = max_vel; + acceleration = max_acc; MotionArgument arg_vel; arg_vel.argument_name = "velocity"; @@ -240,6 +262,7 @@ MotionSequence approxPtpPrimitivesWithRDP( } motion_sequence.motions = motion_primitives; + std::cout << "Reduced " << points.size() << " joint points to " << (reduced_points.size() - 1) << " PTP primitives with epsilon=" << epsilon << std::endl; @@ -338,4 +361,63 @@ void calculateCartVelAndAcc( } } +void calculateJointVelAndAcc( + const std::vector & trajectory, + std::vector & velocities, std::vector & accelerations) +{ + velocities.clear(); + accelerations.clear(); + + size_t num_points = trajectory.size(); + if (num_points < 2) + { + std::cerr << "[calculateJointVelAndAcc] Warning: trajectory too short to calculate " + "joint velocity/acceleration." + << std::endl; + return; + } + + size_t num_joints = trajectory[0].joint_positions.size(); + + // Compute joint velocities (max per timestep across joints) + for (size_t i = 1; i < num_points; ++i) + { + double dt = trajectory[i].time_from_start - trajectory[i - 1].time_from_start; + if (dt <= 0.0) + { + std::cerr << "[calculateJointVelAndAcc] Warning: non-positive time diff at index " << i + << std::endl; + velocities.push_back(0.0); + continue; + } + + double max_joint_vel = 0.0; + for (size_t j = 0; j < num_joints; ++j) + { + double dq = trajectory[i].joint_positions[j] - trajectory[i - 1].joint_positions[j]; + double vel = std::abs(dq / dt); + if (vel > max_joint_vel) max_joint_vel = vel; + } + + velocities.push_back(max_joint_vel); + } + + // Compute joint accelerations (max per timestep across joints) + for (size_t i = 1; i < velocities.size(); ++i) + { + double dt = trajectory[i + 1].time_from_start - trajectory[i].time_from_start; + if (dt <= 0.0) + { + std::cerr + << "[calculateJointVelAndAcc] Warning: non-positive time diff for acceleration at index " + << i << std::endl; + accelerations.push_back(0.0); + continue; + } + + double dvel = velocities[i] - velocities[i - 1]; + accelerations.push_back(std::abs(dvel / dt)); + } +} + } // namespace approx_primitives_with_rdp From b9261a38a2e2eecd6e062fbc2d29291abac49e12 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 15 Jul 2025 10:11:33 +0200 Subject: [PATCH 085/128] Added publisher for planned_trajectory, planned_poses and motion_primitives --- ..._primitives_from_trajectory_controller.hpp | 6 +++++ ..._primitives_from_trajectory_controller.cpp | 22 +++++++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 3c1a446d63..cfb5271b44 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -34,6 +34,7 @@ #include "control_msgs/action/execute_motion_primitive_sequence.hpp" #include "control_msgs/msg/motion_primitive.hpp" +#include "geometry_msgs/msg/pose_array.hpp" #include "rclcpp_action/rclcpp_action.hpp" #include "motion_primitives_forward_controller/approx_primitives_with_rdp.hpp" @@ -137,6 +138,11 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co double epsilon_cart_position_; double epsilon_cart_angle_; + rclcpp::Publisher::SharedPtr planned_trajectory_publisher_; + rclcpp::Publisher::SharedPtr planned_poses_publisher_; + rclcpp::Publisher::SharedPtr + motion_primitive_publisher_; + // ############ Function copied from JointTrajectoryController ############ // TODO(mathias31415): Is there a cleaner solution? void sort_to_local_joint_order( diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 79c554d880..4a58d88597 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -115,6 +115,15 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o &MotionPrimitivesFromTrajectoryController::goal_accepted_callback, this, std::placeholders::_1)); + planned_trajectory_publisher_ = + get_node()->create_publisher( + "~/planned_trajectory", rclcpp::QoS(1)); + planned_poses_publisher_ = + get_node()->create_publisher("~/planned_poses", rclcpp::QoS(1)); + motion_primitive_publisher_ = + get_node()->create_publisher( + "~/approximated_motion_primitives", rclcpp::QoS(1)); + RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } @@ -436,12 +445,19 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( sort_to_local_joint_order(trajectory_msg); + // Publish planned trajectory + planned_trajectory_publisher_->publish(*trajectory_msg); + RCLCPP_INFO( get_node()->get_logger(), "Received trajectory with %zu points.", trajectory_msg->points.size()); const auto & joint_names = trajectory_msg->joint_names; + geometry_msgs::msg::PoseArray planned_poses_msg; + planned_poses_msg.header.stamp = get_node()->now(); + planned_poses_msg.header.frame_id = "base"; + std::vector planned_trajectory_data; planned_trajectory_data.reserve(trajectory_msg->points.size()); for (const auto & point : trajectory_msg->points) @@ -452,6 +468,7 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( try { pt.pose = fk_client_->computeFK(joint_names, point.positions, "base", "tool0"); + planned_poses_msg.poses.push_back(pt.pose); RCLCPP_DEBUG( get_node()->get_logger(), "Tool0 pose: position (%.3f, %.3f, %.3f), orientation [%.3f, %.3f, %.3f, %.3f]", @@ -464,6 +481,9 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } planned_trajectory_data.push_back(pt); } + // Publish planned poses + planned_poses_publisher_->publish(planned_poses_msg); + control_msgs::msg::MotionPrimitiveSequence motion_sequence; switch (approx_mode_) { @@ -488,6 +508,8 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( RCLCPP_WARN(get_node()->get_logger(), "Unknown motion type."); break; } + // Publish approximated motion primitives + motion_primitive_publisher_->publish(motion_sequence); auto add_motions = [this](const control_msgs::msg::MotionPrimitiveSequence & moprim_sequence) { From 0e20eb395888ee284b8d6b5b1c35dc0ff99d80a4 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 15 Jul 2025 11:56:21 +0200 Subject: [PATCH 086/128] added python script to record planned_trajectory, planned_poses and motion_primitives to csv file --- .../CMakeLists.txt | 5 + .../__init__.py | 0 .../record_moprim_from_traj_data.py | 273 ++++++++++++++++++ .../package.xml | 3 + 4 files changed, 281 insertions(+) create mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py create mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index bfe823621c..2d21dbc188 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -123,6 +123,11 @@ ament_export_libraries( ament_package() +install(PROGRAMS + motion_primitives_forward_controller/record_moprim_from_traj_data.py + DESTINATION lib/${PROJECT_NAME} +) + if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) find_package(controller_manager REQUIRED) diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py new file mode 100755 index 0000000000..eefb85fcc3 --- /dev/null +++ b/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py @@ -0,0 +1,273 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2025, b»robotized +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Mathias Fuhrer + +import rclpy +from rclpy.node import Node +from trajectory_msgs.msg import JointTrajectory +from geometry_msgs.msg import PoseArray +from control_msgs.msg import MotionPrimitiveSequence +from sensor_msgs.msg import JointState + +import csv +from datetime import datetime +import threading +import os +import sys +import time + +# Constants for motion primitive types --> defined in control_msg and moprim_controller +# Would be better to import these from the actual message definition +PRIMITIVE_TYPE_SEQUENCE_START = 100 +PRIMITIVE_TYPE_SEQUENCE_END = 101 +PRIMITIVE_TYPE_LINEAR_JOINT = 0 +PRIMITIVE_TYPE_LINEAR_CARTESIAN = 50 + +data_dir = "src/ros2_controllers/motion_primitives_forward_controller/data" + + +class MotionPrimitiveCollector(Node): + def __init__(self): + super().__init__("motion_primitive_collector") + + self.trajectory_msg = None + self.poses_msg = None + self.motion_primitives_msg = None + self.executed_joint_states = [] + self.recording_joint_states = False + + self.timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + + self.trajectory_sub = self.create_subscription( + JointTrajectory, + "/motion_primitive_from_trajectory_controller/planned_trajectory", + self.trajectory_callback, + 1, + ) + self.poses_sub = self.create_subscription( + PoseArray, + "/motion_primitive_from_trajectory_controller/planned_poses", + self.poses_callback, + 1, + ) + self.motion_primitive_sub = self.create_subscription( + MotionPrimitiveSequence, + "/motion_primitive_from_trajectory_controller/approximated_motion_primitives", + self.motion_primitive_callback, + 1, + ) + self.joint_state_sub = self.create_subscription( + JointState, "/joint_states", self.joint_states_callback, 10 + ) + + self.get_logger().info("Waiting for trajectory, poses, and motion primitives...") + + def trajectory_callback(self, msg): + if self.trajectory_msg is None: + self.trajectory_msg = msg + self.get_logger().info("Received planned_trajectory.") + self.recording_joint_states = True + self.get_logger().info("Recording of /joint_states started. Press ENTER to stop.") + threading.Thread(target=self._wait_for_enter_and_stop_recording, daemon=True).start() + + def _wait_for_enter_and_stop_recording(self): + try: + print("Press ENTER to stop recording or wait 60 seconds...") + sys.stdin.readline() + except (EOFError, OSError): + self.get_logger().warn("No stdin available. Using 60s timeout.") + time.sleep(60) + finally: + self.recording_joint_states = False + self.get_logger().info("Stopped recording joint_states.") + self.save_executed_joint_states() + self.check_and_export_all() + + def poses_callback(self, msg): + if self.poses_msg is None: + self.poses_msg = msg + self.get_logger().info("Received planned_poses.") + + def motion_primitive_callback(self, msg): + if self.motion_primitives_msg is None: + self.motion_primitives_msg = msg + self.get_logger().info("Received motion primitives.") + self.check_and_export_motion_primitives() + + def joint_states_callback(self, msg): + if self.recording_joint_states: + t = self.get_clock().now().seconds_nanoseconds() + self.executed_joint_states.append((t, msg)) + + def check_and_export_motion_primitives(self): + sequence = self.motion_primitives_msg.motions + if not sequence: + self.get_logger().error("Motion primitive sequence is empty.") + return + + types = {p.type for p in sequence} + if len(types) > 1: + self.get_logger().error( + f"Mixed motion primitive types found: {types}. Only one type allowed." + ) + rclpy.shutdown() + return + + primitive_type = sequence[0].type + if primitive_type == PRIMITIVE_TYPE_LINEAR_JOINT: + filename = f"{data_dir}/trajectory_{self.timestamp}_reduced_PTP.csv" + self.save_joint_primitives(sequence, filename) + elif primitive_type == PRIMITIVE_TYPE_LINEAR_CARTESIAN: + filename = f"{data_dir}/trajectory_{self.timestamp}_reduced_LIN.csv" + self.save_cartesian_primitives(sequence, filename) + else: + self.get_logger().error(f"Unsupported primitive type: {primitive_type}") + rclpy.shutdown() + return + self.get_logger().info("Motion primitives saved.") + + def check_and_export_all(self): + if self.trajectory_msg and self.poses_msg and self.motion_primitives_msg: + if self.recording_joint_states: + self.get_logger().info( + "Waiting for joint_states recording to finish before exporting." + ) + return + self.save_trajectory_and_poses() + self.save_executed_joint_states() + self.get_logger().info("All data saved. Exiting.") + self.destroy_node() + rclpy.shutdown() + + def save_joint_primitives(self, primitives, filename): + joint_names = ( + self.trajectory_msg.joint_names + if self.trajectory_msg + else [f"joint_{i}" for i in range(len(primitives[0].joint_positions))] + ) + + folder = os.path.dirname(filename) + if folder and not os.path.exists(folder): + os.makedirs(folder) + + with open(filename, mode="w", newline="") as csvfile: + writer = csv.writer(csvfile) + writer.writerow([f"{name}_pos" for name in joint_names]) + for p in primitives: + writer.writerow(p.joint_positions) + + self.get_logger().info(f"Saved joint motion primitives to {filename}") + + def save_cartesian_primitives(self, primitives, filename): + with open(filename, mode="w", newline="") as csvfile: + writer = csv.writer(csvfile) + writer.writerow( + ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] + ) + for p in primitives: + if not p.poses: + self.get_logger().warn("Skipping primitive with no poses.") + continue + pose = p.poses[0].pose # PoseStamped -> Pose + writer.writerow( + [ + pose.position.x, + pose.position.y, + pose.position.z, + pose.orientation.x, + pose.orientation.y, + pose.orientation.z, + pose.orientation.w, + ] + ) + self.get_logger().info(f"Saved cartesian motion primitives to {filename}") + + def save_trajectory_and_poses(self): + traj_points = self.trajectory_msg.points + poses = self.poses_msg.poses + + if len(traj_points) != len(poses): + self.get_logger().error( + f"Mismatch: {len(traj_points)} trajectory points vs {len(poses)} poses" + ) + return + + filename = f"{data_dir}/trajectory_{self.timestamp}_planned.csv" + with open(filename, mode="w", newline="") as csvfile: + writer = csv.writer(csvfile) + joint_names = self.trajectory_msg.joint_names + writer.writerow( + ["time_from_start"] + + [f"{name}_pos" for name in joint_names] + + ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] + ) + for point, pose in zip(traj_points, poses): + t = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9 + row = ( + [t] + + list(point.positions) + + [ + pose.position.x, + pose.position.y, + pose.position.z, + pose.orientation.x, + pose.orientation.y, + pose.orientation.z, + pose.orientation.w, + ] + ) + writer.writerow(row) + self.get_logger().info(f"Saved planned trajectory and poses to {filename}") + + def save_executed_joint_states(self): + filename = f"{data_dir}/trajectory_{self.timestamp}_executed.csv" + with open(filename, mode="w", newline="") as csvfile: + writer = csv.writer(csvfile) + if not self.executed_joint_states: + self.get_logger().warn("No joint_states recorded.") + return + first_msg = self.executed_joint_states[0][1] + joint_names = list(first_msg.name) + header = ( + ["timestamp"] + + [f"{name}_pos" for name in joint_names] + + [f"{name}_vel" for name in joint_names] + ) + writer.writerow(header) + + for (sec, nsec), msg in self.executed_joint_states: + t = sec + nsec * 1e-9 + row = [t] + list(msg.position) + list(msg.velocity) + writer.writerow(row) + self.get_logger().info(f"Saved executed joint_states to {filename}") + + +def main(args=None): + rclpy.init(args=args) + node = MotionPrimitiveCollector() + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.get_logger().info("Node interrupted by user.") + finally: + if rclpy.ok(): + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 9e9d0954a2..3e6882388e 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -33,6 +33,9 @@ geometry_msgs moveit_msgs + python3 + rclpy + ament_cmake_gmock controller_manager hardware_interface From 5bd7e4886bd79704cdba484cf0ffdf5da96cdadb Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 15 Jul 2025 12:46:19 +0200 Subject: [PATCH 087/128] added python implementation to compare planned, reduced and executed traj --- .../CMakeLists.txt | 4 + .../README.md | 13 + ...ed_and_executed_trajectory.cpython-312.pyc | Bin 0 -> 9691 bytes ...planned_and_reduced_points.cpython-312.pyc | Bin 0 -> 9590 bytes .../__pycache__/fk_client.cpython-312.pyc | Bin 0 -> 3260 bytes .../compare.py | 141 +++++++++++ ...compare_planned_and_executed_trajectory.py | 230 ++++++++++++++++++ .../compare_planned_and_reduced_points.py | 224 +++++++++++++++++ .../fk_client.py | 72 ++++++ .../record_moprim_from_traj_data.py | 2 +- 10 files changed, 685 insertions(+), 1 deletion(-) create mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_executed_trajectory.cpython-312.pyc create mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_reduced_points.cpython-312.pyc create mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/fk_client.cpython-312.pyc create mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare.py create mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_executed_trajectory.py create mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_reduced_points.py create mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/fk_client.py diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 2d21dbc188..f8e6406718 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -127,6 +127,10 @@ install(PROGRAMS motion_primitives_forward_controller/record_moprim_from_traj_data.py DESTINATION lib/${PROJECT_NAME} ) +install(PROGRAMS + motion_primitives_forward_controller/compare.py + DESTINATION lib/${PROJECT_NAME} +) if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 94edf30d6e..163c2a735b 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -28,6 +28,19 @@ For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) +## Notes +Save data: +``` +ros2 run motion_primitives_forward_controller record_moprim_from_traj_data.py +``` +Compare data: +~~ros2 run motion_primitives_forward_controller compare.py~~ ? +``` +python3 src/ros2_controllers/motion_primitives_forward_controller/motion_primitives_forward_controller/compare.py +``` + + + # TODOs/ improvements - Use references for command and state interfaces to 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+++++ .../package.xml | 2 + .../src/approx_primitives_with_rdp.cpp | 101 +++++++++++++----- .../src/rdp.cpp | 90 ++++++++++++++++ 5 files changed, 193 insertions(+), 29 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index f8e6406718..bd7a59e065 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -16,6 +16,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS std_srvs moveit_msgs geometry_msgs + tf2 + tf2_geometry_msgs ) find_package(ament_cmake REQUIRED) @@ -74,6 +76,8 @@ target_link_libraries(motion_primitives_from_trajectory_controller PUBLIC ${geometry_msgs_TARGETS} ${moveit_msgs_TARGETS} ${std_srvs_TARGETS} + tf2::tf2 + tf2_geometry_msgs::tf2_geometry_msgs ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp index f5190e246d..85b341eccb 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/rdp.hpp @@ -20,6 +20,9 @@ #include #include +#include +#include + namespace rdp { @@ -50,6 +53,28 @@ double pointLineDistanceND(const Point & point, const Point & start, const Point std::pair> rdpRecursive( const PointList & points, double epsilon, std::size_t offset = 0); +/** + * Computes the angular distance (in radians) between two quaternions. + * + * @param q1 First quaternion. + * @param q2 Second quaternion. + * @return Angular difference in radians. + */ +double quaternionAngularDistance( + const geometry_msgs::msg::Quaternion & q1, const geometry_msgs::msg::Quaternion & q2); + +/** + * Recursive RDP for quaternions based on angular deviation. + * + * @param quaternions List of quaternions. + * @param epsilon_angle Angular threshold (in radians). + * @param offset Index offset for tracking original indices. + * @return Pair of simplified quaternions and their original indices. + */ +std::pair, std::vector> rdpRecursiveQuaternion( + const std::vector & quaternions, double epsilon_angle_rad, + size_t offset); + } // namespace rdp #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__RDP_HPP_ diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 3e6882388e..4e391bc89c 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -32,6 +32,8 @@ std_srvs geometry_msgs moveit_msgs + tf2 + tf2_geometry_msgs python3 rclpy diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index d517b7569a..ea3e6dd89d 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -41,6 +41,7 @@ MotionSequence approxLinPrimitivesWithRDP( return motion_sequence; } + // Reduce positions using RDP rdp::PointList cartesian_points; for (const auto & point : trajectory) { @@ -50,38 +51,82 @@ MotionSequence approxLinPrimitivesWithRDP( auto [reduced_points, reduced_indices] = rdp::rdpRecursive(cartesian_points, epsilon_position); + std::cout << "[approxLinPrimitivesWithRDP] Added " << reduced_indices.size() + << " points due to position change (epsilon_position = " << epsilon_position << ")." + << std::endl; + + std::set final_indices(reduced_indices.begin(), reduced_indices.end()); + std::set position_indices(reduced_indices.begin(), reduced_indices.end()); + std::set orientation_indices; + + // Enrich reduced_indices by checking quaternion changes in each segment + for (size_t i = 1; i < reduced_indices.size(); ++i) + { + size_t start_index = reduced_indices[i - 1]; + size_t end_index = reduced_indices[i]; + + if (end_index - start_index <= 1) continue; // nothing in between + + // Extract quaternion segment + std::vector quats; + for (size_t j = start_index; j <= end_index; ++j) + { + quats.push_back(trajectory[j].pose.orientation); + } + + auto [reduced_quats, reduced_quat_indices] = + rdp::rdpRecursiveQuaternion(quats, epsilon_angle, start_index); + + for (size_t idx : reduced_quat_indices) + { + if (final_indices.insert(idx).second) // true if inserted (i.e., newly added) + { + orientation_indices.insert(idx); + } + } + } + + std::vector sorted_final_indices(final_indices.begin(), final_indices.end()); + std::sort(sorted_final_indices.begin(), sorted_final_indices.end()); + + std::cout << "[approxLinPrimitivesWithRDP] Added " + << sorted_final_indices.size() - reduced_indices.size() + << " additional intermediate points due to orientation angle change (epsilon_angle = " + << epsilon_angle << ")." << std::endl; + // Compute cartesian velocity and acceleration between trajectory points std::vector velocities, accelerations; calculateCartVelAndAcc(trajectory, velocities, accelerations); - for (size_t i = 1; i < reduced_points.size(); ++i) + for (size_t i = 1; i < sorted_final_indices.size(); ++i) { + size_t start_index = sorted_final_indices[i - 1]; + size_t end_index = sorted_final_indices[i]; + MotionPrimitive primitive; primitive.type = MotionPrimitive::LINEAR_CARTESIAN; // Blend radius (zero at last point) - if (i == reduced_points.size() - 1) + if (i == sorted_final_indices.size() - 1) { primitive.blend_radius = 0.0; } else { + const auto & p0 = trajectory[start_index].pose.position; + const auto & p1 = trajectory[end_index].pose.position; + const auto & p2 = trajectory[sorted_final_indices[i + 1]].pose.position; primitive.blend_radius = - calculateBlendRadius(reduced_points[i - 1], reduced_points[i], reduced_points[i + 1]); + calculateBlendRadius({p0.x, p0.y, p0.z}, {p1.x, p1.y, p1.z}, {p2.x, p2.y, p2.z}); } double velocity = -1.0; double acceleration = -1.0; double move_time = -1.0; - const size_t start_index = reduced_indices[i - 1]; - const size_t end_index = reduced_indices[i]; - if (use_time_not_vel_and_acc) { - const double prev_time = trajectory[start_index].time_from_start; - const double curr_time = trajectory[end_index].time_from_start; - move_time = curr_time - prev_time; + move_time = trajectory[end_index].time_from_start - trajectory[start_index].time_from_start; MotionArgument arg_time; arg_time.argument_name = "move_time"; arg_time.argument_value = move_time; @@ -89,20 +134,13 @@ MotionSequence approxLinPrimitivesWithRDP( } else { - // Use max velocity and acceleration in the reduced segment - double max_vel = 0.0; - double max_acc = 0.0; - + // Use max velocity and acceleration in the reduced segment (min 0.01) + double max_vel = 0.01; + double max_acc = 0.01; for (size_t j = start_index + 1; j <= end_index && j - 1 < velocities.size(); ++j) - { max_vel = std::max(max_vel, velocities[j - 1]); - } - for (size_t j = start_index + 2; j <= end_index && j - 2 < accelerations.size(); ++j) - { max_acc = std::max(max_acc, accelerations[j - 2]); - } - velocity = max_vel; acceleration = max_acc; @@ -118,16 +156,24 @@ MotionSequence approxLinPrimitivesWithRDP( } PoseStamped pose_stamped; - pose_stamped.pose.position.x = reduced_points[i][0]; - pose_stamped.pose.position.y = reduced_points[i][1]; - pose_stamped.pose.position.z = reduced_points[i][2]; - // TODO(mathias31415): Also use RDP for orientation? With epsilon_angle - pose_stamped.pose.orientation = trajectory[reduced_indices[i]].pose.orientation; - + pose_stamped.pose = trajectory[end_index].pose; primitive.poses.push_back(pose_stamped); motion_primitives.push_back(primitive); - std::cout << "Added LIN Primitive [" << i << "]: (x,y,z,qx,qy,qz,qw) = (" + // Determine reason for addition + std::string reason; + bool pos = position_indices.count(end_index); + bool ori = orientation_indices.count(end_index); + if (pos && ori) + reason = "position+orientation"; + else if (pos) + reason = "position"; + else if (ori) + reason = "orientation"; + else + reason = "unknown"; + + std::cout << "Added LIN Primitive [" << i << "] (" << reason << "): (x,y,z,qx,qy,qz,qw) = (" << pose_stamped.pose.position.x << ", " << pose_stamped.pose.position.y << ", " << pose_stamped.pose.position.z << ", " << pose_stamped.pose.orientation.x << ", " << pose_stamped.pose.orientation.y << ", " << pose_stamped.pose.orientation.z << ", " @@ -140,9 +186,6 @@ MotionSequence approxLinPrimitivesWithRDP( motion_sequence.motions = motion_primitives; - std::cout << "Reduced " << cartesian_points.size() << " points to " << (reduced_points.size() - 1) - << " LIN primitives with epsilon=" << epsilon_position << std::endl; - return motion_sequence; } diff --git a/motion_primitives_forward_controller/src/rdp.cpp b/motion_primitives_forward_controller/src/rdp.cpp index 4ef0dc85a6..a8a7714e66 100644 --- a/motion_primitives_forward_controller/src/rdp.cpp +++ b/motion_primitives_forward_controller/src/rdp.cpp @@ -121,4 +121,94 @@ std::pair> rdpRecursive( } } +// Compute angular difference (in radians) between two quaternions +double quaternionAngularDistance( + const geometry_msgs::msg::Quaternion & q1, const geometry_msgs::msg::Quaternion & q2) +{ + tf2::Quaternion tf_q1, tf_q2; + tf2::fromMsg(q1, tf_q1); + tf2::fromMsg(q2, tf_q2); + + tf_q1.normalize(); + tf_q2.normalize(); + + double dot = tf_q1.dot(tf_q2); + dot = std::clamp(dot, -1.0, 1.0); // numerical safety + + return 2.0 * std::acos(std::abs(dot)); // shortest angle between unit quaternions +} + +// Recursively apply the Ramer-Douglas-Peucker algorithm to a list of quaternions. +// Returns a simplified list of quaternions and their corresponding original indices. +std::pair, std::vector> rdpRecursiveQuaternion( + const std::vector & quaternions, double epsilon_angle_rad, + size_t offset) +{ + if (quaternions.size() < 2) + { + std::vector indices; + for (size_t i = 0; i < quaternions.size(); ++i) indices.push_back(offset + i); + return {quaternions, indices}; + } + + double max_angle = 0.0; + size_t max_index = 0; + + const geometry_msgs::msg::Quaternion & q_start = quaternions.front(); + const geometry_msgs::msg::Quaternion & q_end = quaternions.back(); + + // Check intermediate quaternions for deviation from SLERP curve + for (size_t i = 1; i < quaternions.size() - 1; ++i) + { + double t = static_cast(i) / static_cast(quaternions.size() - 1); + + // Interpolate on the SLERP curve between q_start and q_end + tf2::Quaternion tf_q_start, tf_q_end; + tf2::fromMsg(q_start, tf_q_start); + tf2::fromMsg(q_end, tf_q_end); + + tf_q_start.normalize(); + tf_q_end.normalize(); + + tf2::Quaternion tf_q_interp = tf_q_start.slerp(tf_q_end, t); + tf_q_interp.normalize(); + geometry_msgs::msg::Quaternion q_interp = tf2::toMsg(tf_q_interp); + + // Calculate angular distance to actual intermediate quaternion + double angle_diff = quaternionAngularDistance(q_interp, quaternions[i]); + + if (angle_diff > max_angle) + { + max_angle = angle_diff; + max_index = i; + } + } + + if (max_angle > epsilon_angle_rad) + { + auto left = rdpRecursiveQuaternion( + std::vector( + quaternions.begin(), quaternions.begin() + max_index + 1), + epsilon_angle_rad, offset); + + auto right = rdpRecursiveQuaternion( + std::vector( + quaternions.begin() + max_index, quaternions.end()), + epsilon_angle_rad, offset + max_index); + + // Avoid duplicate point + left.first.pop_back(); + left.second.pop_back(); + + // Merge results + left.first.insert(left.first.end(), right.first.begin(), right.first.end()); + left.second.insert(left.second.end(), right.second.begin(), right.second.end()); + return left; + } + else + { + return {{quaternions.front(), quaternions.back()}, {offset, offset + quaternions.size() - 1}}; + } +} + } // namespace rdp From 309e04755fa015d68f7a9272236a21b72a059ede Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 15 Jul 2025 16:14:39 +0200 Subject: [PATCH 089/128] chagend prints from cout to RCLCPP --- .../src/approx_primitives_with_rdp.cpp | 102 ++++++++++-------- 1 file changed, 59 insertions(+), 43 deletions(-) diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index ea3e6dd89d..59b3bc1e17 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -18,6 +18,7 @@ #include #include #include +#include "rclcpp/rclcpp.hpp" using control_msgs::msg::MotionArgument; using control_msgs::msg::MotionPrimitive; @@ -37,7 +38,9 @@ MotionSequence approxLinPrimitivesWithRDP( if (trajectory.empty()) { - std::cerr << "[approxLinPrimitivesWithRDP] Warning: trajectory is empty." << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[approxLinPrimitivesWithRDP] Warning: trajectory is empty."); return motion_sequence; } @@ -51,9 +54,11 @@ MotionSequence approxLinPrimitivesWithRDP( auto [reduced_points, reduced_indices] = rdp::rdpRecursive(cartesian_points, epsilon_position); - std::cout << "[approxLinPrimitivesWithRDP] Added " << reduced_indices.size() - << " points due to position change (epsilon_position = " << epsilon_position << ")." - << std::endl; + RCLCPP_INFO( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[approxLinPrimitivesWithRDP] Added %zu points due to position change (epsilon_position = " + "%.4f).", + reduced_indices.size(), epsilon_position); std::set final_indices(reduced_indices.begin(), reduced_indices.end()); std::set position_indices(reduced_indices.begin(), reduced_indices.end()); @@ -89,10 +94,11 @@ MotionSequence approxLinPrimitivesWithRDP( std::vector sorted_final_indices(final_indices.begin(), final_indices.end()); std::sort(sorted_final_indices.begin(), sorted_final_indices.end()); - std::cout << "[approxLinPrimitivesWithRDP] Added " - << sorted_final_indices.size() - reduced_indices.size() - << " additional intermediate points due to orientation angle change (epsilon_angle = " - << epsilon_angle << ")." << std::endl; + RCLCPP_INFO( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[approxLinPrimitivesWithRDP] Added %zu additional intermediate points due to orientation " + "angle change (epsilon_angle = %.4f).", + sorted_final_indices.size() - reduced_indices.size(), epsilon_angle); // Compute cartesian velocity and acceleration between trajectory points std::vector velocities, accelerations; @@ -173,15 +179,14 @@ MotionSequence approxLinPrimitivesWithRDP( else reason = "unknown"; - std::cout << "Added LIN Primitive [" << i << "] (" << reason << "): (x,y,z,qx,qy,qz,qw) = (" - << pose_stamped.pose.position.x << ", " << pose_stamped.pose.position.y << ", " - << pose_stamped.pose.position.z << ", " << pose_stamped.pose.orientation.x << ", " - << pose_stamped.pose.orientation.y << ", " << pose_stamped.pose.orientation.z << ", " - << pose_stamped.pose.orientation.w << "), " - << "blend_radius = " << primitive.blend_radius << ", " - << "move_time = " << move_time << ", " - << "velocity = " << velocity << ", " - << "acceleration = " << acceleration << std::endl; + RCLCPP_INFO( + rclcpp::get_logger("approx_primitives_with_rdp"), + "Added LIN Primitive [%zu] (%s): (x,y,z,qx,qy,qz,qw) = (%.4f, %.4f, %.4f, %.4f, %.4f, %.4f, " + "%.4f), blend_radius = %.4f, move_time = %.4f, velocity = %.4f, acceleration = %.4f", + i, reason.c_str(), pose_stamped.pose.position.x, pose_stamped.pose.position.y, + pose_stamped.pose.position.z, pose_stamped.pose.orientation.x, + pose_stamped.pose.orientation.y, pose_stamped.pose.orientation.z, + pose_stamped.pose.orientation.w, primitive.blend_radius, move_time, velocity, acceleration); } motion_sequence.motions = motion_primitives; @@ -198,7 +203,9 @@ MotionSequence approxPtpPrimitivesWithRDP( if (trajectory.empty()) { - std::cerr << "[approxPtpPrimitivesWithRDP] Warning: trajectory is empty." << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[approxPtpPrimitivesWithRDP] Warning: trajectory is empty."); return motion_sequence; } @@ -292,22 +299,25 @@ MotionSequence approxPtpPrimitivesWithRDP( primitive.joint_positions = reduced_points[i]; motion_primitives.push_back(primitive); - std::cout << "Added PTP Primitive [" << i << "]: joints = ("; + std::ostringstream joint_stream; + joint_stream << "Added PTP Primitive [" << i << "]: joints = ("; for (size_t j = 0; j < reduced_points[i].size(); ++j) { - std::cout << reduced_points[i][j]; - if (j + 1 < reduced_points[i].size()) std::cout << ", "; + joint_stream << reduced_points[i][j]; + if (j + 1 < reduced_points[i].size()) joint_stream << ", "; } - std::cout << "), blend_radius = " << primitive.blend_radius << ", " - << "move_time = " << move_time << ", " - << "velocity = " << velocity << ", " - << "acceleration = " << acceleration << std::endl; + joint_stream << "), blend_radius = " << primitive.blend_radius << ", move_time = " << move_time + << ", velocity = " << velocity << ", acceleration = " << acceleration; + + RCLCPP_INFO(rclcpp::get_logger("approx_primitives_with_rdp"), "%s", joint_stream.str().c_str()); } motion_sequence.motions = motion_primitives; - std::cout << "Reduced " << points.size() << " joint points to " << (reduced_points.size() - 1) - << " PTP primitives with epsilon=" << epsilon << std::endl; + RCLCPP_INFO( + rclcpp::get_logger("approx_primitives_with_rdp"), + "Reduced %zu joint points to %zu PTP primitives with epsilon=%.4f", points.size(), + reduced_points.size() - 1, epsilon); return motion_sequence; } @@ -351,9 +361,9 @@ void calculateCartVelAndAcc( size_t num_points = trajectory.size(); if (num_points < 2) { - std::cerr << "[calculateCartVelAndAcc] Warning: trajectory too short to calculate " - "velocity/acceleration." - << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateCartVelAndAcc] Warning: trajectory too short to calculate velocity/acceleration."); return; } @@ -368,8 +378,9 @@ void calculateCartVelAndAcc( if (delta_time <= 0.0) { - std::cerr << "[calculateCartVelAndAcc] Warning: non-positive time difference at index " << i - << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateCartVelAndAcc] Warning: non-positive time difference at index %zu", i); velocities.push_back(0.0); continue; } @@ -390,9 +401,11 @@ void calculateCartVelAndAcc( if (time_interval <= 0.0) { - std::cerr << "[calculateCartVelAndAcc] Warning: non-positive time difference for " - "acceleration at index " - << i << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateCartVelAndAcc] Warning: non-positive time difference for acceleration at index " + "%zu", + i); accelerations.push_back(0.0); continue; } @@ -414,9 +427,10 @@ void calculateJointVelAndAcc( size_t num_points = trajectory.size(); if (num_points < 2) { - std::cerr << "[calculateJointVelAndAcc] Warning: trajectory too short to calculate " - "joint velocity/acceleration." - << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateJointVelAndAcc] Warning: trajectory too short to calculate joint " + "velocity/acceleration."); return; } @@ -428,8 +442,9 @@ void calculateJointVelAndAcc( double dt = trajectory[i].time_from_start - trajectory[i - 1].time_from_start; if (dt <= 0.0) { - std::cerr << "[calculateJointVelAndAcc] Warning: non-positive time diff at index " << i - << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateJointVelAndAcc] Warning: non-positive time diff at index %zu", i); velocities.push_back(0.0); continue; } @@ -451,9 +466,10 @@ void calculateJointVelAndAcc( double dt = trajectory[i + 1].time_from_start - trajectory[i].time_from_start; if (dt <= 0.0) { - std::cerr - << "[calculateJointVelAndAcc] Warning: non-positive time diff for acceleration at index " - << i << std::endl; + RCLCPP_WARN( + rclcpp::get_logger("approx_primitives_with_rdp"), + "[calculateJointVelAndAcc] Warning: non-positive time diff for acceleration at index %zu", + i); accelerations.push_back(0.0); continue; } From c6a7e66ea23ef76ba24e2aedd9e2d006d9271001 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 16 Jul 2025 09:53:09 +0200 Subject: [PATCH 090/128] changed "added primitive ..." print in approx_primitives_with_rdp to DEBUG --- .../src/approx_primitives_with_rdp.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 59b3bc1e17..79f148db53 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -179,7 +179,7 @@ MotionSequence approxLinPrimitivesWithRDP( else reason = "unknown"; - RCLCPP_INFO( + RCLCPP_DEBUG( rclcpp::get_logger("approx_primitives_with_rdp"), "Added LIN Primitive [%zu] (%s): (x,y,z,qx,qy,qz,qw) = (%.4f, %.4f, %.4f, %.4f, %.4f, %.4f, " "%.4f), blend_radius = %.4f, move_time = %.4f, velocity = %.4f, acceleration = %.4f", @@ -309,7 +309,7 @@ MotionSequence approxPtpPrimitivesWithRDP( joint_stream << "), blend_radius = " << primitive.blend_radius << ", move_time = " << move_time << ", velocity = " << velocity << ", acceleration = " << acceleration; - RCLCPP_INFO(rclcpp::get_logger("approx_primitives_with_rdp"), "%s", joint_stream.str().c_str()); + RCLCPP_DEBUG(rclcpp::get_logger("approx_primitives_with_rdp"), "%s", joint_stream.str().c_str()); } motion_sequence.motions = motion_primitives; From e88c216ccc765755998aa1a5c14a9bf9bec6ba40 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 16 Jul 2025 09:53:39 +0200 Subject: [PATCH 091/128] moved fk_client_ initialisation from on_configure to on_activate --- .../src/motion_primitives_from_trajectory_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 4a58d88597..6cac6bd2f0 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -99,8 +99,6 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o return controller_interface::CallbackReturn::ERROR; } - fk_client_ = std::make_shared(); - action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), @@ -163,6 +161,8 @@ MotionPrimitivesFromTrajectoryController::state_interface_configuration() const controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { + fk_client_ = std::make_shared(); + reset_command_interfaces(); RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; From f290219e4f8d2873110d554cb3d107c68ea8794c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 16 Jul 2025 15:05:39 +0200 Subject: [PATCH 092/128] removed was_executing_ = false; in execution_status_==ExecutionState::IDLE --- .../src/motion_primitives_from_trajectory_controller.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 6cac6bd2f0..862a2e5ad3 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -207,7 +207,6 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda { case ExecutionState::IDLE: print_error_once_ = true; - was_executing_ = false; break; case ExecutionState::EXECUTING: if (!was_executing_) From 2f33e9035f3ceda0e35479a8fc9d860f35870335 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 17 Jul 2025 15:08:39 +0200 Subject: [PATCH 093/128] added filenames to compare.py --- ...ed_and_executed_trajectory.cpython-312.pyc | Bin 9691 -> 9677 bytes ...planned_and_reduced_points.cpython-312.pyc | Bin 9590 -> 9661 bytes .../__pycache__/fk_client.cpython-312.pyc | Bin 3260 -> 3260 bytes .../compare.py | 43 ++++++++++++++++-- 4 files changed, 39 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_executed_trajectory.cpython-312.pyc b/motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_executed_trajectory.cpython-312.pyc index f0f2b8162bba65d83c0a314f3f5b346001e1621a..6697808af1372c02a8d13e4c8ecf3e079bc78463 100644 GIT binary patch delta 1678 zcmchXO-vg{6o6;F_Ihov|2Nq97lQ*hp$LPaG@wvKAV5k85LHb|yLDp+P_Th9t_rQN zBPFU)s{)!sE!0B}J&^X0q~wrGPrabDm27<3n&i}|61mhN?xj+t&U4hHs)W>BI`Vw` z=KahY@4h#CXMQ?k_(8ANB05@vA55D)8wNY`-bO=5FMADL)JBw)x`>KWi0UKUl}3ax zuRu}Z8wjC;K}*aM6HxEN;%tB^@-y+pD4q{S?%e&2XE^eeW|gv8`#Iy@{!ZJ)iqq85 zL1*F?i%=Ssd1MiZ&f_7ChF=>V@Y*%qs&2h^ec{WxoTsJW2p0I(TxeittjsEGTzd2g zha3SCG=4PvfY)V43%n~E-m2ZYbhq!Gu@D-}HxK3lL%H!csk@20I+*UuSZNCC+EY+F zvkSZG8rf*cL^JFo(Vd+uh|LE`Bu|XiNm+1jhHsd&k-ShRTdQQ7UAEBQ5!vD_>5)b( zBeh0bG9itS>0RaEl(OL2T)5%OF6IUQ-x0P-gzH}s$vv0u=)atf!BC9%Kd^h~4Q8S?FS_tulV;!6Mj|U{_)r zePBDF8c+p*PlTQ1iqq9-1<^;b%#Dvs^q;7~wVL&f{a`mNPba928A}Ab@^j zgj)e^fDlEIO(bKu9hMz{R{@=1;4aThC2_Q<3r8YSBKiLO?A#*m0`u#DZt|fk=sgLZ zd?LCiEzi!xa35HD0X=|z^1Z8mEKrR{V0D(FXt)%{i_-jDLW+lD(F8sRmNCFMm^Cjf z7eF})xCnR~@DAWz(&KJm!eq+b%|$_RncQ^OGE?M7_bcKxs#u^i(MVtCi-KNziDEuN zc0I|I%vW#vvSV3)o>s=8vLG8o*T+TCAFpd}a3FzDZ?p;!`CN4c#)*hB5^}l2}JW1Qj{}+KY`R+XH*Hi!O*X_qX zv%=I5MKb^x0!$N~zrFo=iQ-XELR}`Hk!zj}JVoWAG8UeR;|(h2z%G%b|5U#kZbEt& znXKu-N6H47x91$kx1@X1zq1Mzhp$5*FG&z8NdZHVn-9k$;RJ@}EUMzk*!&W1C4c(8 zOeb+4b)_oDgNqqMF;}udJoJks-9(iQE64eR?~ctylC#m1c$0cEbS9u7ODw}MPwNpQ z?jg%VQ delta 1713 zcmb7@ZA?>F7{~8vZ!Z`6POAu%VlA{Z>N4bIB3M8X5W;JD8zN2h7U*ngIW10c5lDO~ zF43`TA`&tizl>#Hs_p~XhlP*CZOOTmMJ$@k%xv+~8ug3&wDZ*LEt$(a$^G5uJkN8^ z|J-w*=lj;JR?W9+brwTMqvQ10CDXiS2lCI`EBhHi?#~J+2bG8s*bB^{N>EU$1&&hV z)e0G>N*D(7GRCX<5|-0}n6v0Ca`4Y!((XV>-Zvic;!vqTZLa=|H(b_m=d)jVlp$Wt zoTJ>4brqTKeV$b<&-T$JdGrZiku%H;^HgsTO=h!b)ckB+!ne-dJhxoB?D@(-Dw-0d z&56RJr1dxvyc^p`W;!0`mWUSZImgoBm^NX0H*Q%uv1m$d8 z$w)A&+~7n1$g|y^ShmC>l5tPmwc54jP3MImZ-VBDy}E%TYO0XZF$z8^n{9f)ZkO2Y zB&U3Xtw?dydAVh_<&(^X14L`vH0<0o7j2p?w}Ll=o5pRaOh%!7$*_u?ltz4^Yg4Z{ zNoydX8=pD)NS7_XvQ&v5>(#OVy0@sW$y8?0Tf;m+B|gd9XH-+uA;TK_dIoL>!dlUu zUs!ISlhLyD_^B3egE$Lu7Vn@hoC|uz%$Ij|F3!BYe% z2G}Ti@NV&&{J_v2aO?%_1JJ+8;4(ltpn@VP4^IYgB~0G~><3gqfE)3RPGWCT=@A5X zc=ANZAB^A{2-gD+ikD5Ld9{$qhrJQ^l;0P?4G=j5s1qNUY<;+m+Kyb@4z3Q0q~@dt zN8F)c*gftEc*D30BHaKNgfst&41)7G;22;CFbr^u?FDvpLOfkiqZ|RpC`C9|OsPyV zJSJ`x?9IMNJpw4fhZ?sC&?6H%ELCt{X`h@>haw*6o0 zSL#=clFdo#y4UFjef`AMFVzje9*USNp7pmq*cO!H#3zMC(@%BTH@JE3I=*p!{yee6 zE~P65$$pU3cCB~2NKY^6?v-l$h^;@7Gmy}||45~|);QOAecuh|ypveV?{>u};x5Tr zMXKBGdq`*3+DWOpo9uEW3_S@|Z%U4I{b;874LZ~RA@sH<1F2(gmikwvy4Tf%CFCGIUYO~dJu#z4sLjs%1LQ@%*}9Xbg{$^=YH znjRMbWu86tfK3X>Ek3{5LV%wsP=bL|xSzk1e+J`44yhSN z7dhl^a0rnq@PU(6h^@iv3lD>!(Bv6H7WE$(*jd?ba0-542GS2Wh5F??z-jP(MnQk@(fj2)&oIJi3; 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+ command_interfaces_config.names.push_back(interface_name); } return command_interfaces_config; } @@ -110,7 +110,7 @@ MotionPrimitivesForwardController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back("motion_primitive/" + interface_name); + state_interfaces_config.names.push_back(interface_name); } return state_interfaces_config; } From a97c200ca0c73e8ae9edc3f173186b89dcb2738b Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 17 Jul 2025 15:41:46 +0200 Subject: [PATCH 095/128] pass full interface names to the controller (such as $(var tf_prefix)motion_primitive/q1) --- .../src/motion_primitives_forward_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 238c2e3b87..95186ccedc 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -94,7 +94,7 @@ MotionPrimitivesForwardController::command_interface_configuration() const // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back("motion_primitive/" + interface_name); + command_interfaces_config.names.push_back(interface_name); } return command_interfaces_config; } @@ -110,7 +110,7 @@ MotionPrimitivesForwardController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back("motion_primitive/" + interface_name); + state_interfaces_config.names.push_back(interface_name); } return state_interfaces_config; } From 5102a827e83283fcf08409218e3f55286457c24f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 17 Jul 2025 17:38:54 +0200 Subject: [PATCH 096/128] Wrapped rt_goal_handle_ in RealtimeThreadSafeBox and introduced std::atomic has_active_goal_ to ensure only one action goal is accepted at a time. --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 48 ++++++++++++------- 2 files changed, 34 insertions(+), 18 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 88b68f853d..f5e53e1b66 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -30,6 +30,7 @@ #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" +#include "realtime_tools/realtime_thread_safe_box.hpp" #include "control_msgs/action/execute_motion_primitive_sequence.hpp" #include "control_msgs/msg/motion_primitive.hpp" @@ -101,7 +102,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void goal_accepted_callback( std::shared_ptr> goal_handle); using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; - std::shared_ptr realtime_goal_handle_; + realtime_tools::RealtimeThreadSafeBox> rt_goal_handle_; + std::atomic has_active_goal_ = false; rclcpp::TimerBase::SharedPtr goal_handle_timer_; rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 95186ccedc..6fe3e6efbe 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -172,31 +172,35 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - - if (realtime_goal_handle_ && was_executing_) + if(has_active_goal_ && was_executing_) { - was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; - result->error_string = "Motion primitives executed successfully"; - realtime_goal_handle_->setSucceeded(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + goal_handle->setSucceeded(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + }); } + break; case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - - if (realtime_goal_handle_) + if(has_active_goal_) { - auto result = std::make_shared(); - realtime_goal_handle_->setCanceled(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) + { + auto result = std::make_shared(); + goal_handle->setCanceled(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + }); } - if (robot_stop_requested_) { // If the robot was stopped by a stop command, reset the command interfaces @@ -360,6 +364,13 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); + if (has_active_goal_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Already has an active goal, rejecting new goal request."); + return rclcpp_action::GoalResponse::REJECT; + } + const auto & primitives = goal->trajectory.motions; if (robot_stop_requested_) @@ -493,7 +504,10 @@ void MotionPrimitivesForwardController::goal_accepted_callback( } auto rt_goal = std::make_shared(goal_handle); - realtime_goal_handle_ = rt_goal; + rt_goal_handle_.set([&](auto& handle) { + handle = rt_goal; + has_active_goal_ = true; + }); rt_goal->execute(); From b47e7eab36b43fbb8f9a7089ccfa7189192c8b20 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Fri, 18 Jul 2025 08:57:52 +0200 Subject: [PATCH 097/128] Moprim_from_traj_controller: pass full interface names to the controller (such as $(var tf_prefix)motion_primitive/q1) --- .../src/motion_primitives_from_trajectory_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 862a2e5ad3..2b4772fa71 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -137,7 +137,7 @@ MotionPrimitivesFromTrajectoryController::command_interface_configuration() cons // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back("motion_primitive/" + interface_name); + command_interfaces_config.names.push_back(interface_name); } return command_interfaces_config; } @@ -153,7 +153,7 @@ MotionPrimitivesFromTrajectoryController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back("motion_primitive/" + interface_name); + state_interfaces_config.names.push_back(interface_name); } return state_interfaces_config; } From e4e37e7cdcee8ff74b4bc86ddcdfc5ead4df67b5 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Fri, 18 Jul 2025 09:02:48 +0200 Subject: [PATCH 098/128] Moprim_from_traj_controller: Wrapped rt_goal_handle_ in RealtimeThreadSafeBox and introduced std::atomic has_active_goal_ to ensure only one action goal is accepted at a time." auch in diesen controller integrieren --- ..._primitives_from_trajectory_controller.hpp | 4 +- .../src/approx_primitives_with_rdp.cpp | 3 +- .../motion_primitives_forward_controller.cpp | 50 ++++++++++--------- ..._primitives_from_trajectory_controller.cpp | 49 ++++++++++++------ 4 files changed, 66 insertions(+), 40 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index cfb5271b44..a3cd9d4ff4 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -31,6 +31,7 @@ #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" +#include "realtime_tools/realtime_thread_safe_box.hpp" #include "control_msgs/action/execute_motion_primitive_sequence.hpp" #include "control_msgs/msg/motion_primitive.hpp" @@ -112,7 +113,8 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co void goal_accepted_callback( std::shared_ptr> goal_handle); using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; - std::shared_ptr realtime_goal_handle_; + realtime_tools::RealtimeThreadSafeBox> rt_goal_handle_; + std::atomic has_active_goal_ = false; rclcpp::TimerBase::SharedPtr goal_handle_timer_; rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 79f148db53..d1851158e3 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -309,7 +309,8 @@ MotionSequence approxPtpPrimitivesWithRDP( joint_stream << "), blend_radius = " << primitive.blend_radius << ", move_time = " << move_time << ", velocity = " << velocity << ", acceleration = " << acceleration; - RCLCPP_DEBUG(rclcpp::get_logger("approx_primitives_with_rdp"), "%s", joint_stream.str().c_str()); + RCLCPP_DEBUG( + rclcpp::get_logger("approx_primitives_with_rdp"), "%s", joint_stream.str().c_str()); } motion_sequence.motions = motion_primitives; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 6fe3e6efbe..578e7dd224 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -172,18 +172,19 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - if(has_active_goal_ && was_executing_) + if (has_active_goal_ && was_executing_) { - rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) - { - was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; - result->error_string = "Motion primitives executed successfully"; - goal_handle->setSucceeded(result); - has_active_goal_ = false; - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); - }); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + goal_handle->setSucceeded(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + }); } break; @@ -191,15 +192,16 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - if(has_active_goal_) + if (has_active_goal_) { - rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) - { - auto result = std::make_shared(); - goal_handle->setCanceled(result); - has_active_goal_ = false; - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); - }); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + auto result = std::make_shared(); + goal_handle->setCanceled(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + }); } if (robot_stop_requested_) { @@ -504,10 +506,12 @@ void MotionPrimitivesForwardController::goal_accepted_callback( } auto rt_goal = std::make_shared(goal_handle); - rt_goal_handle_.set([&](auto& handle) { - handle = rt_goal; - has_active_goal_ = true; - }); + rt_goal_handle_.set( + [&](auto & handle) + { + handle = rt_goal; + has_active_goal_ = true; + }); rt_goal->execute(); diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 2b4772fa71..4faf7b7f07 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -218,16 +218,19 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda case ExecutionState::SUCCESS: print_error_once_ = true; - - if (realtime_goal_handle_ && was_executing_) + if (has_active_goal_ && was_executing_) { - was_executing_ = false; - auto result = std::make_shared(); - result->error_code = FollowJTrajAction::Result::SUCCESSFUL; - result->error_string = "Motion primitives executed successfully"; - realtime_goal_handle_->setSucceeded(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = FollowJTrajAction::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + goal_handle->setSucceeded(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + }); } break; @@ -235,12 +238,16 @@ controller_interface::return_type MotionPrimitivesFromTrajectoryController::upda print_error_once_ = true; was_executing_ = false; - if (realtime_goal_handle_) + if (has_active_goal_) { - auto result = std::make_shared(); - realtime_goal_handle_->setCanceled(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + auto result = std::make_shared(); + goal_handle->setCanceled(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + }); } if (robot_stop_requested_) @@ -406,6 +413,13 @@ rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_recei { RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); + if (has_active_goal_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Already has an active goal, rejecting new goal request."); + return rclcpp_action::GoalResponse::REJECT; + } + if (robot_stop_requested_) { RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); @@ -546,7 +560,12 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } auto rt_goal = std::make_shared(goal_handle); - realtime_goal_handle_ = rt_goal; + rt_goal_handle_.set( + [&](auto & handle) + { + handle = rt_goal; + has_active_goal_ = true; + }); rt_goal->execute(); From 71d3b6b8e7632c16abcac9131e0180d6f5d986f7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Sun, 20 Jul 2025 20:29:23 +0200 Subject: [PATCH 099/128] Update ros2_controllers.rolling.repos --- ros2_controllers.rolling.repos | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index f4ee54e9c3..f6462c4b4f 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -9,10 +9,8 @@ repositories: version: master control_msgs: type: git - url: https://github.com/urfeex/control_msgs.git - version: motion_primitives - # url: https://github.com/ros-controls/control_msgs.git - # version: master + url: https://github.com/ros-controls/control_msgs.git + version: master control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git From e5457e4bbae207db7329d4a10e4cee1a7b7dd17f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 09:37:04 +0200 Subject: [PATCH 100/128] pre-commit fix --- .../motion_primitives_forward_controller.cpp | 50 ++++++++++--------- 1 file changed, 27 insertions(+), 23 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 6fe3e6efbe..578e7dd224 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -172,18 +172,19 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - if(has_active_goal_ && was_executing_) + if (has_active_goal_ && was_executing_) { - rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) - { - was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; - result->error_string = "Motion primitives executed successfully"; - goal_handle->setSucceeded(result); - has_active_goal_ = false; - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); - }); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + goal_handle->setSucceeded(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + }); } break; @@ -191,15 +192,16 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - if(has_active_goal_) + if (has_active_goal_) { - rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) - { - auto result = std::make_shared(); - goal_handle->setCanceled(result); - has_active_goal_ = false; - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); - }); + rt_goal_handle_.try_get( + [&](const std::shared_ptr & goal_handle) + { + auto result = std::make_shared(); + goal_handle->setCanceled(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + }); } if (robot_stop_requested_) { @@ -504,10 +506,12 @@ void MotionPrimitivesForwardController::goal_accepted_callback( } auto rt_goal = std::make_shared(goal_handle); - rt_goal_handle_.set([&](auto& handle) { - handle = rt_goal; - has_active_goal_ = true; - }); + rt_goal_handle_.set( + [&](auto & handle) + { + handle = rt_goal; + has_active_goal_ = true; + }); rt_goal->execute(); From 2f205c12fc73b2ecd01ec8c621cd2e54e5e42cfb Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 09:37:26 +0200 Subject: [PATCH 101/128] modified tests for full cmd and state interface names --- ..._primitives_forward_controller_params.yaml | 54 +++++++++---------- ..._forward_controller_preceeding_params.yaml | 54 +++++++++---------- ...t_motion_primitives_forward_controller.cpp | 37 +++++++++---- ...imitives_forward_controller_preceeding.cpp | 37 +++++++++---- 4 files changed, 106 insertions(+), 76 deletions(-) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 6a46535909..8d3bfe495b 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,31 +1,31 @@ test_motion_primitives_forward_controller: ros__parameters: command_interfaces: - - motion_type - - q1 - - q2 - - q3 - - q4 - - q5 - - q6 - - pos_x - - pos_y - - pos_z - - pos_qx - - pos_qy - - pos_qz - - pos_qw - - pos_via_x - - pos_via_y - - pos_via_z - - pos_via_qx - - pos_via_qy - - pos_via_qz - - pos_via_qw - - blend_radius - - velocity - - acceleration - - move_time + - motion_primitive/motion_type + - motion_primitive/q1 + - motion_primitive/q2 + - motion_primitive/q3 + - motion_primitive/q4 + - motion_primitive/q5 + - motion_primitive/q6 + - motion_primitive/pos_x + - motion_primitive/pos_y + - motion_primitive/pos_z + - motion_primitive/pos_qx + - motion_primitive/pos_qy + - motion_primitive/pos_qz + - motion_primitive/pos_qw + - motion_primitive/pos_via_x + - motion_primitive/pos_via_y + - motion_primitive/pos_via_z + - motion_primitive/pos_via_qx + - motion_primitive/pos_via_qy + - motion_primitive/pos_via_qz + - motion_primitive/pos_via_qw + - motion_primitive/blend_radius + - motion_primitive/velocity + - motion_primitive/acceleration + - motion_primitive/move_time state_interfaces: - - execution_status - - ready_for_new_primitive + - motion_primitive/execution_status + - motion_primitive/ready_for_new_primitive diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index 6a46535909..8d3bfe495b 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,31 +1,31 @@ test_motion_primitives_forward_controller: ros__parameters: command_interfaces: - - motion_type - - q1 - - q2 - - q3 - - q4 - - q5 - - q6 - - pos_x - - pos_y - - pos_z - - pos_qx - - pos_qy - - pos_qz - - pos_qw - - pos_via_x - - pos_via_y - - pos_via_z - - pos_via_qx - - pos_via_qy - - pos_via_qz - - pos_via_qw - - blend_radius - - velocity - - acceleration - - move_time + - motion_primitive/motion_type + - motion_primitive/q1 + - motion_primitive/q2 + - motion_primitive/q3 + - motion_primitive/q4 + - motion_primitive/q5 + - motion_primitive/q6 + - motion_primitive/pos_x + - motion_primitive/pos_y + - motion_primitive/pos_z + - motion_primitive/pos_qx + - motion_primitive/pos_qy + - motion_primitive/pos_qz + - motion_primitive/pos_qw + - motion_primitive/pos_via_x + - motion_primitive/pos_via_y + - motion_primitive/pos_via_z + - motion_primitive/pos_via_qx + - motion_primitive/pos_via_qy + - motion_primitive/pos_via_qz + - motion_primitive/pos_via_qw + - motion_primitive/blend_radius + - motion_primitive/velocity + - motion_primitive/acceleration + - motion_primitive/move_time state_interfaces: - - execution_status - - ready_for_new_primitive + - motion_primitive/execution_status + - motion_primitive/ready_for_new_primitive diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index ed1e3317d7..dd4d7b6f0c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -37,30 +37,45 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + std::vector full_command_interface_names; + std::vector full_state_interface_names; + + std::transform( + command_interface_names_.begin(), command_interface_names_.end(), + std::back_inserter(full_command_interface_names), + [&](const std::string & name) { return interface_namespace_ + "/" + name; }); + + std::transform( + state_interface_names_.begin(), state_interface_names_.end(), + std::back_inserter(full_state_interface_names), + [&](const std::string & name) { return interface_namespace_ + "/" + name; }); + ASSERT_THAT( - controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + controller_->params_.command_interfaces, + testing::ElementsAreArray(full_command_interface_names)); ASSERT_THAT( - controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + controller_->params_.state_interfaces, testing::ElementsAreArray(full_state_interface_names)); } -TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) + auto command_interfaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_interfaces.names.size(), command_values_.size()); + for (size_t i = 0; i < command_interfaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); + EXPECT_EQ( + command_interfaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) + auto state_interfaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_interfaces.names.size(), state_values_.size()); + for (size_t i = 0; i < state_interfaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); + EXPECT_EQ(state_interfaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index c738b31c5c..7d08329323 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -36,30 +36,45 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + std::vector full_command_interface_names; + std::vector full_state_interface_names; + + std::transform( + command_interface_names_.begin(), command_interface_names_.end(), + std::back_inserter(full_command_interface_names), + [&](const std::string & name) { return interface_namespace_ + "/" + name; }); + + std::transform( + state_interface_names_.begin(), state_interface_names_.end(), + std::back_inserter(full_state_interface_names), + [&](const std::string & name) { return interface_namespace_ + "/" + name; }); + ASSERT_THAT( - controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + controller_->params_.command_interfaces, + testing::ElementsAreArray(full_command_interface_names)); ASSERT_THAT( - controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + controller_->params_.state_interfaces, testing::ElementsAreArray(full_state_interface_names)); } -TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_interfaces) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) + auto command_interfaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_interfaces.names.size(), command_values_.size()); + for (size_t i = 0; i < command_interfaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); + EXPECT_EQ( + command_interfaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } - auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) + auto state_interfaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_interfaces.names.size(), state_values_.size()); + for (size_t i = 0; i < state_interfaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); + EXPECT_EQ(state_interfaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } From b2550d125fe28ea06cfcdcaa06ca4e9f84500ede Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 10:12:33 +0200 Subject: [PATCH 102/128] argument_name --> name, argument_value --> value --- .../src/motion_primitives_forward_controller.cpp | 15 +++++++-------- .../test_motion_primitives_forward_controller.hpp | 12 ++++++------ 2 files changed, 13 insertions(+), 14 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 578e7dd224..a81b89d71c 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -340,22 +340,21 @@ bool MotionPrimitivesForwardController::set_command_interfaces() // Read additional arguments for (const auto & arg : current_moprim_.additional_arguments) { - if (arg.argument_name == "velocity") + if (arg.name == "velocity") { - (void)command_interfaces_[22].set_value(arg.argument_value); + (void)command_interfaces_[22].set_value(arg.value); } - else if (arg.argument_name == "acceleration") + else if (arg.name == "acceleration") { - (void)command_interfaces_[23].set_value(arg.argument_value); + (void)command_interfaces_[23].set_value(arg.value); } - else if (arg.argument_name == "move_time") + else if (arg.name == "move_time") { - (void)command_interfaces_[24].set_value(arg.argument_value); + (void)command_interfaces_[24].set_value(arg.value); } else { - RCLCPP_WARN( - get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.name.c_str()); } } return true; diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 5915f37041..bbefe63dbc 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -164,12 +164,12 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test primitive.blend_radius = blend_radius; primitive.additional_arguments.resize(3); - primitive.additional_arguments[0].argument_name = "velocity"; - primitive.additional_arguments[0].argument_value = velocity; - primitive.additional_arguments[1].argument_name = "acceleration"; - primitive.additional_arguments[1].argument_value = acceleration; - primitive.additional_arguments[2].argument_name = "move_time"; - primitive.additional_arguments[2].argument_value = move_time; + primitive.additional_arguments[0].name = "velocity"; + primitive.additional_arguments[0].value = velocity; + primitive.additional_arguments[1].name = "acceleration"; + primitive.additional_arguments[1].value = acceleration; + primitive.additional_arguments[2].name = "move_time"; + primitive.additional_arguments[2].value = move_time; goal_msg.trajectory.motions.push_back(primitive); From bf53eda062d0baf8fbd670d46608acda83e7f927 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 10:22:19 +0200 Subject: [PATCH 103/128] argument_name --> name, argument_value --> value --- .../src/approx_primitives_with_rdp.cpp | 24 +++++++++---------- ..._primitives_from_trajectory_controller.cpp | 15 ++++++------ 2 files changed, 19 insertions(+), 20 deletions(-) diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index d1851158e3..b75bb63b47 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -134,8 +134,8 @@ MotionSequence approxLinPrimitivesWithRDP( { move_time = trajectory[end_index].time_from_start - trajectory[start_index].time_from_start; MotionArgument arg_time; - arg_time.argument_name = "move_time"; - arg_time.argument_value = move_time; + arg_time.name = "move_time"; + arg_time.value = move_time; primitive.additional_arguments.push_back(arg_time); } else @@ -151,13 +151,13 @@ MotionSequence approxLinPrimitivesWithRDP( acceleration = max_acc; MotionArgument arg_vel; - arg_vel.argument_name = "velocity"; - arg_vel.argument_value = velocity; + arg_vel.name = "velocity"; + arg_vel.value = velocity; primitive.additional_arguments.push_back(arg_vel); MotionArgument arg_acc; - arg_acc.argument_name = "acceleration"; - arg_acc.argument_value = acceleration; + arg_acc.name = "acceleration"; + arg_acc.value = acceleration; primitive.additional_arguments.push_back(arg_acc); } @@ -262,8 +262,8 @@ MotionSequence approxPtpPrimitivesWithRDP( move_time = curr_time - prev_time; MotionArgument arg_time; - arg_time.argument_name = "move_time"; - arg_time.argument_value = move_time; + arg_time.name = "move_time"; + arg_time.value = move_time; primitive.additional_arguments.push_back(arg_time); } else @@ -286,13 +286,13 @@ MotionSequence approxPtpPrimitivesWithRDP( acceleration = max_acc; MotionArgument arg_vel; - arg_vel.argument_name = "velocity"; - arg_vel.argument_value = velocity; + arg_vel.name = "velocity"; + arg_vel.value = velocity; primitive.additional_arguments.push_back(arg_vel); MotionArgument arg_acc; - arg_acc.argument_name = "acceleration"; - arg_acc.argument_value = acceleration; + arg_acc.name = "acceleration"; + arg_acc.value = acceleration; primitive.additional_arguments.push_back(arg_acc); } diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 4faf7b7f07..1c6a2732db 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -387,22 +387,21 @@ bool MotionPrimitivesFromTrajectoryController::set_command_interfaces() // Read additional arguments for (const auto & arg : current_moprim_.additional_arguments) { - if (arg.argument_name == "velocity") + if (arg.name == "velocity") { - (void)command_interfaces_[22].set_value(arg.argument_value); + (void)command_interfaces_[22].set_value(arg.value); } - else if (arg.argument_name == "acceleration") + else if (arg.name == "acceleration") { - (void)command_interfaces_[23].set_value(arg.argument_value); + (void)command_interfaces_[23].set_value(arg.value); } - else if (arg.argument_name == "move_time") + else if (arg.name == "move_time") { - (void)command_interfaces_[24].set_value(arg.argument_value); + (void)command_interfaces_[24].set_value(arg.value); } else { - RCLCPP_WARN( - get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.name.c_str()); } } return true; From fc46588f3ffc40165eca923d451ffe9192c610bc Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 13:19:20 +0200 Subject: [PATCH 104/128] PTP: For velocity and acceleration, the maximum values from the joint trajectory are used. LIN: For velocity and acceleration, values are calculated based on time intervals and Cartesian distances, and the maximum value is taken. Alternatively, fixed values can be provided using vel_override and acc_override. --- .../approx_primitives_with_rdp.hpp | 15 +- ..._primitives_from_trajectory_controller.hpp | 15 ++ .../src/approx_primitives_with_rdp.cpp | 197 +++--------------- ..._primitives_from_trajectory_controller.cpp | 136 +++++++++++- ...primitives_from_trajectory_controller.yaml | 30 +++ 5 files changed, 203 insertions(+), 190 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index 1084e4d396..faf11f3780 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -40,25 +40,16 @@ struct PlannedTrajectoryPoint // Approximate with LIN Primitives in Cartesian Space MotionSequence approxLinPrimitivesWithRDP( const std::vector & trajectory, double epsilon_position, - double epsilon_angle, bool use_time_not_vel_and_acc = false); + double epsilon_angle, double cart_vel, double cart_acc, bool use_time_not_vel_and_acc = false); // Approximate with PTP Primitives in Joint Space MotionSequence approxPtpPrimitivesWithRDP( - const std::vector & trajectory, double epsilon, - bool use_time_not_vel_and_acc = false); + const std::vector & trajectory, double epsilon, double joint_vel, + double joint_acc, bool use_time_not_vel_and_acc = false); double calculateBlendRadius( const rdp::Point & previous_point, const rdp::Point & current_point, const rdp::Point & next_point); - -void calculateCartVelAndAcc( - const std::vector & trajectory, - std::vector & velocities, std::vector & accelerations); - -void calculateJointVelAndAcc( - const std::vector & trajectory, - std::vector & velocities, std::vector & accelerations); - } // namespace approx_primitives_with_rdp #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__APPROX_PRIMITIVES_WITH_RDP_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index a3cd9d4ff4..28619f9658 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -140,6 +140,21 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co double epsilon_cart_position_; double epsilon_cart_angle_; + double joint_vel_overwrite_; + double joint_acc_overwrite_; + double max_traj_joint_vel_; + double max_traj_joint_acc_; + void get_max_traj_joint_vel_and_acc( + const std::shared_ptr & trajectory_msg, + double & max_traj_joint_vel, double & max_traj_joint_acc); + double cart_vel_overwrite_; + double cart_acc_overwrite_; + double max_traj_cart_vel_; + double max_traj_cart_acc_; + void get_max_traj_cart_vel_and_acc( + const geometry_msgs::msg::PoseArray & planned_poses_msg, + const std::vector & time_from_start, double & max_vel, double & max_acc); + rclcpp::Publisher::SharedPtr planned_trajectory_publisher_; rclcpp::Publisher::SharedPtr planned_poses_publisher_; rclcpp::Publisher::SharedPtr diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index b75bb63b47..18155e50ab 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -31,7 +31,8 @@ namespace approx_primitives_with_rdp MotionSequence approxLinPrimitivesWithRDP( const std::vector & trajectory, - double epsilon_position, double epsilon_angle, bool use_time_not_vel_and_acc) + double epsilon_position, double epsilon_angle, double cart_vel, double cart_acc, + bool use_time_not_vel_and_acc) { MotionSequence motion_sequence; std::vector motion_primitives; @@ -72,7 +73,7 @@ MotionSequence approxLinPrimitivesWithRDP( if (end_index - start_index <= 1) continue; // nothing in between - // Extract quaternion segment + // Extract quaternion segment for RDP std::vector quats; for (size_t j = start_index; j <= end_index; ++j) { @@ -82,6 +83,7 @@ MotionSequence approxLinPrimitivesWithRDP( auto [reduced_quats, reduced_quat_indices] = rdp::rdpRecursiveQuaternion(quats, epsilon_angle, start_index); + // Add new orientation indices to final set for (size_t idx : reduced_quat_indices) { if (final_indices.insert(idx).second) // true if inserted (i.e., newly added) @@ -91,6 +93,7 @@ MotionSequence approxLinPrimitivesWithRDP( } } + // Sort final indices for ordered primitive generation std::vector sorted_final_indices(final_indices.begin(), final_indices.end()); std::sort(sorted_final_indices.begin(), sorted_final_indices.end()); @@ -100,10 +103,7 @@ MotionSequence approxLinPrimitivesWithRDP( "angle change (epsilon_angle = %.4f).", sorted_final_indices.size() - reduced_indices.size(), epsilon_angle); - // Compute cartesian velocity and acceleration between trajectory points - std::vector velocities, accelerations; - calculateCartVelAndAcc(trajectory, velocities, accelerations); - + // Generate motion primitives between reduced points for (size_t i = 1; i < sorted_final_indices.size(); ++i) { size_t start_index = sorted_final_indices[i - 1]; @@ -112,10 +112,10 @@ MotionSequence approxLinPrimitivesWithRDP( MotionPrimitive primitive; primitive.type = MotionPrimitive::LINEAR_CARTESIAN; - // Blend radius (zero at last point) + // Calculate blend radius based on the distance to the next and previous point if (i == sorted_final_indices.size() - 1) { - primitive.blend_radius = 0.0; + primitive.blend_radius = 0.0; // Last point has no blend radius } else { @@ -130,6 +130,7 @@ MotionSequence approxLinPrimitivesWithRDP( double acceleration = -1.0; double move_time = -1.0; + // Use time or velocity+acceleration based on use_time_not_vel_and_acc if (use_time_not_vel_and_acc) { move_time = trajectory[end_index].time_from_start - trajectory[start_index].time_from_start; @@ -140,16 +141,8 @@ MotionSequence approxLinPrimitivesWithRDP( } else { - // Use max velocity and acceleration in the reduced segment (min 0.01) - double max_vel = 0.01; - double max_acc = 0.01; - for (size_t j = start_index + 1; j <= end_index && j - 1 < velocities.size(); ++j) - max_vel = std::max(max_vel, velocities[j - 1]); - for (size_t j = start_index + 2; j <= end_index && j - 2 < accelerations.size(); ++j) - max_acc = std::max(max_acc, accelerations[j - 2]); - velocity = max_vel; - acceleration = max_acc; - + velocity = cart_vel; + acceleration = cart_acc; MotionArgument arg_vel; arg_vel.name = "velocity"; arg_vel.value = velocity; @@ -161,6 +154,7 @@ MotionSequence approxLinPrimitivesWithRDP( primitive.additional_arguments.push_back(arg_acc); } + // Add pose to primitive PoseStamped pose_stamped; pose_stamped.pose = trajectory[end_index].pose; primitive.poses.push_back(pose_stamped); @@ -196,7 +190,7 @@ MotionSequence approxLinPrimitivesWithRDP( MotionSequence approxPtpPrimitivesWithRDP( const std::vector & trajectory, - double epsilon, bool use_time_not_vel_and_acc) + double epsilon, double joint_vel, double joint_acc, bool use_time_not_vel_and_acc) { MotionSequence motion_sequence; std::vector motion_primitives; @@ -209,6 +203,7 @@ MotionSequence approxPtpPrimitivesWithRDP( return motion_sequence; } + // Collect joint positions for RDP rdp::PointList points; for (const auto & pt : trajectory) { @@ -217,18 +212,16 @@ MotionSequence approxPtpPrimitivesWithRDP( auto [reduced_points, reduced_indices] = rdp::rdpRecursive(points, epsilon); - // Compute joint velocities and accelerations between trajectory points - std::vector joint_velocities, joint_accelerations; - calculateJointVelAndAcc(trajectory, joint_velocities, joint_accelerations); - + // Generate motion primitives between reduced joint points for (size_t i = 1; i < reduced_points.size(); ++i) { MotionPrimitive primitive; primitive.type = MotionPrimitive::LINEAR_JOINT; + // Calculate blend radius based on the distance to the next and previous point if (i == reduced_points.size() - 1) { - primitive.blend_radius = 0.0; + primitive.blend_radius = 0.0; // Last point has no blend radius } else { @@ -252,11 +245,11 @@ MotionSequence approxPtpPrimitivesWithRDP( double acceleration = -1.0; double move_time = -1.0; - size_t start_index = reduced_indices[i - 1]; - size_t end_index = reduced_indices[i]; - + // Use time or velocity+acceleration based on use_time_not_vel_and_acc if (use_time_not_vel_and_acc) { + size_t start_index = reduced_indices[i - 1]; + size_t end_index = reduced_indices[i]; double prev_time = trajectory[start_index].time_from_start; double curr_time = trajectory[end_index].time_from_start; move_time = curr_time - prev_time; @@ -268,22 +261,8 @@ MotionSequence approxPtpPrimitivesWithRDP( } else { - // Get max velocity and acceleration in the reduced segment - double max_vel = 0.0; - double max_acc = 0.0; - - for (size_t j = start_index + 1; j <= end_index && j - 1 < joint_velocities.size(); ++j) - { - max_vel = std::max(max_vel, joint_velocities[j - 1]); - } - - for (size_t j = start_index + 2; j <= end_index && j - 2 < joint_accelerations.size(); ++j) - { - max_acc = std::max(max_acc, joint_accelerations[j - 2]); - } - - velocity = max_vel; - acceleration = max_acc; + velocity = joint_vel; + acceleration = joint_acc; MotionArgument arg_vel; arg_vel.name = "velocity"; @@ -339,10 +318,10 @@ double calculateBlendRadius( double min_dist = std::min(dist_prev, dist_next); double blend = 0.1 * min_dist; - // Clamp blend radius to [0, 0.1] with minimum threshold 0.001 + // Clamp blend radius to [0.001, 0.1] if (blend < 0.001) { - blend = 0.0; + blend = 0.001; } else if (blend > 0.1) { @@ -352,132 +331,4 @@ double calculateBlendRadius( return blend; } -void calculateCartVelAndAcc( - const std::vector & trajectory, - std::vector & velocities, std::vector & accelerations) -{ - velocities.clear(); - accelerations.clear(); - - size_t num_points = trajectory.size(); - if (num_points < 2) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateCartVelAndAcc] Warning: trajectory too short to calculate velocity/acceleration."); - return; - } - - for (size_t i = 1; i < num_points; ++i) - { - const auto & previous_position = trajectory[i - 1].pose.position; - const auto & current_position = trajectory[i].pose.position; - - double previous_time = trajectory[i - 1].time_from_start; - double current_time = trajectory[i].time_from_start; - double delta_time = current_time - previous_time; - - if (delta_time <= 0.0) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateCartVelAndAcc] Warning: non-positive time difference at index %zu", i); - velocities.push_back(0.0); - continue; - } - - double dx = current_position.x - previous_position.x; - double dy = current_position.y - previous_position.y; - double dz = current_position.z - previous_position.z; - double distance = std::sqrt(dx * dx + dy * dy + dz * dz); - - double velocity = distance / delta_time; - velocities.push_back(velocity); - } - - // Accelerations (starts at index 1 because it compares velocities[i] and velocities[i - 1]) - for (size_t i = 1; i < velocities.size(); ++i) - { - double time_interval = trajectory[i + 1].time_from_start - trajectory[i].time_from_start; - - if (time_interval <= 0.0) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateCartVelAndAcc] Warning: non-positive time difference for acceleration at index " - "%zu", - i); - accelerations.push_back(0.0); - continue; - } - - double delta_velocity = velocities[i] - velocities[i - 1]; - double acceleration = delta_velocity / time_interval; - - accelerations.push_back(std::abs(acceleration)); - } -} - -void calculateJointVelAndAcc( - const std::vector & trajectory, - std::vector & velocities, std::vector & accelerations) -{ - velocities.clear(); - accelerations.clear(); - - size_t num_points = trajectory.size(); - if (num_points < 2) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateJointVelAndAcc] Warning: trajectory too short to calculate joint " - "velocity/acceleration."); - return; - } - - size_t num_joints = trajectory[0].joint_positions.size(); - - // Compute joint velocities (max per timestep across joints) - for (size_t i = 1; i < num_points; ++i) - { - double dt = trajectory[i].time_from_start - trajectory[i - 1].time_from_start; - if (dt <= 0.0) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateJointVelAndAcc] Warning: non-positive time diff at index %zu", i); - velocities.push_back(0.0); - continue; - } - - double max_joint_vel = 0.0; - for (size_t j = 0; j < num_joints; ++j) - { - double dq = trajectory[i].joint_positions[j] - trajectory[i - 1].joint_positions[j]; - double vel = std::abs(dq / dt); - if (vel > max_joint_vel) max_joint_vel = vel; - } - - velocities.push_back(max_joint_vel); - } - - // Compute joint accelerations (max per timestep across joints) - for (size_t i = 1; i < velocities.size(); ++i) - { - double dt = trajectory[i + 1].time_from_start - trajectory[i].time_from_start; - if (dt <= 0.0) - { - RCLCPP_WARN( - rclcpp::get_logger("approx_primitives_with_rdp"), - "[calculateJointVelAndAcc] Warning: non-positive time diff for acceleration at index %zu", - i); - accelerations.push_back(0.0); - continue; - } - - double dvel = velocities[i] - velocities[i - 1]; - accelerations.push_back(std::abs(dvel / dt)); - } -} - } // namespace approx_primitives_with_rdp diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index 1c6a2732db..e458503fc6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -83,6 +83,10 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o epsilon_joint_angle_ = params_.epsilon_joint_angle; epsilon_cart_position_ = params_.epsilon_cart_position; epsilon_cart_angle_ = params_.epsilon_cart_angle; + joint_vel_overwrite_ = params_.joint_vel_overwrite; + joint_acc_overwrite_ = params_.joint_acc_overwrite; + cart_vel_overwrite_ = params_.cart_vel_overwrite; + cart_acc_overwrite_ = params_.cart_acc_overwrite; // Check if there are exactly 25 command interfaces if (params_.command_interfaces.size() != 25) @@ -433,8 +437,6 @@ rclcpp_action::GoalResponse MotionPrimitivesFromTrajectoryController::goal_recei return rclcpp_action::GoalResponse::REJECT; } - // TODO(mathias31415): Check if first trajectory point matches the current robot state - RCLCPP_INFO(get_node()->get_logger(), "Accepted new action goal"); return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } @@ -472,10 +474,13 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( std::vector planned_trajectory_data; planned_trajectory_data.reserve(trajectory_msg->points.size()); + std::vector time_from_start; + time_from_start.reserve(planned_trajectory_data.size()); for (const auto & point : trajectory_msg->points) { approx_primitives_with_rdp::PlannedTrajectoryPoint pt; pt.time_from_start = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9; + time_from_start.push_back(pt.time_from_start); pt.joint_positions = point.positions; try { @@ -503,17 +508,53 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( { RCLCPP_INFO( get_node()->get_logger(), "Approximating motion primitives with PTP motion primitives."); + get_max_traj_joint_vel_and_acc(trajectory_msg, max_traj_joint_vel_, max_traj_joint_acc_); + RCLCPP_DEBUG( + get_node()->get_logger(), + "Max trajectory joint velocity: %.3f, Max trajectory joint acceleration: %.3f", + max_traj_joint_vel_, max_traj_joint_acc_); + RCLCPP_DEBUG( + get_node()->get_logger(), + "Joint velocity override: %.3f, Joint acceleration override: %.3f", joint_vel_overwrite_, + joint_acc_overwrite_); + if (joint_vel_overwrite_ > 0.0) + { + max_traj_joint_vel_ = joint_vel_overwrite_; + } + if (joint_acc_overwrite_ > 0.0) + { + max_traj_joint_acc_ = joint_acc_overwrite_; + } motion_sequence = approxPtpPrimitivesWithRDP( - planned_trajectory_data, epsilon_joint_angle_, use_time_not_vel_and_acc_); + planned_trajectory_data, epsilon_joint_angle_, max_traj_joint_vel_, max_traj_joint_acc_, + use_time_not_vel_and_acc_); break; } case ApproxMode::RDP_LIN: { RCLCPP_INFO( get_node()->get_logger(), "Approximating motion primitives with LIN motion primitives."); + get_max_traj_cart_vel_and_acc( + planned_poses_msg, time_from_start, max_traj_cart_vel_, max_traj_cart_acc_); + RCLCPP_DEBUG( + get_node()->get_logger(), + "Max trajectory cartesian velocity: %.3f, Max trajectory cartesian acceleration: %.3f", + max_traj_cart_vel_, max_traj_cart_acc_); + RCLCPP_DEBUG( + get_node()->get_logger(), + "Cartesian velocity override: %.3f, Cartesian acceleration override: %.3f", + cart_vel_overwrite_, cart_acc_overwrite_); + if (cart_vel_overwrite_ > 0.0) + { + max_traj_cart_vel_ = cart_vel_overwrite_; + } + if (cart_acc_overwrite_ > 0.0) + { + max_traj_cart_acc_ = cart_acc_overwrite_; + } motion_sequence = approxLinPrimitivesWithRDP( - planned_trajectory_data, epsilon_cart_position_, epsilon_cart_angle_, - use_time_not_vel_and_acc_); + planned_trajectory_data, epsilon_cart_position_, epsilon_cart_angle_, max_traj_cart_vel_, + max_traj_cart_acc_, use_time_not_vel_and_acc_); break; } default: @@ -579,6 +620,91 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( trajectory_msg->points.size(), motion_sequence.motions.size()); } +void MotionPrimitivesFromTrajectoryController::get_max_traj_joint_vel_and_acc( + const std::shared_ptr & trajectory_msg, double & max_vel, + double & max_acc) +{ + max_vel = 0.0; + max_acc = 0.0; + + if (!trajectory_msg) + { + RCLCPP_WARN( + rclcpp::get_logger("MotionPrimitivesFromTrajectoryController"), + "Received null trajectory pointer in get_max_traj_joint_vel_and_acc()"); + return; + } + + for (const auto & point : trajectory_msg->points) + { + for (const auto & vel : point.velocities) + { + max_vel = std::max(max_vel, std::abs(vel)); + } + + for (const auto & acc : point.accelerations) + { + max_acc = std::max(max_acc, std::abs(acc)); + } + } +} + +void MotionPrimitivesFromTrajectoryController::get_max_traj_cart_vel_and_acc( + const geometry_msgs::msg::PoseArray & planned_poses_msg, + const std::vector & time_from_start, double & max_vel, double & max_acc) +{ + max_vel = 0.0; + max_acc = 0.0; + + const auto & poses = planned_poses_msg.poses; + size_t n = poses.size(); + + if (n < 2 || time_from_start.size() != n) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Invalid input: expected at least 2 poses and time_from_start of same size, got %zu poses " + "and %zu time values.", + n, time_from_start.size()); + return; + } + + std::vector translational_velocities; + + for (size_t i = 1; i < n; ++i) + { + const auto & p1 = poses[i - 1].position; + const auto & p2 = poses[i].position; + + double dt = time_from_start[i] - time_from_start[i - 1]; + if (dt <= 0.0) + { + RCLCPP_WARN(get_node()->get_logger(), "Invalid time difference between poses: %f", dt); + continue; + } + + double dx = p2.x - p1.x; + double dy = p2.y - p1.y; + double dz = p2.z - p1.z; + double dist = std::sqrt(dx * dx + dy * dy + dz * dz); + + double vel = dist / dt; + translational_velocities.push_back(vel); + + max_vel = std::max(max_vel, vel); + } + + for (size_t i = 1; i < translational_velocities.size(); ++i) + { + double dv = translational_velocities[i] - translational_velocities[i - 1]; + double dt = time_from_start[i + 1] - time_from_start[i]; + if (dt <= 0.0) continue; + + double acc = std::abs(dv / dt); + max_acc = std::max(max_acc, acc); + } +} + void MotionPrimitivesFromTrajectoryController::sort_to_local_joint_order( std::shared_ptr trajectory_msg) const { diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml index 4861cf84a8..d04cb73772 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.yaml @@ -62,3 +62,33 @@ motion_primitives_forward_controller: description: "Epsilon for RDP simplification in Cartesian space (orientation angle threshold).", read_only: false } + blend_radius_overwrite: { + type: double, + default_value: -1.0, + description: "Blend radius overwrite for motion primitives.", + read_only: false + } + joint_vel_overwrite: { + type: double, + default_value: -1.0, + description: "Joint velocity overwrite for motion primitives.", + read_only: false + } + joint_acc_overwrite: { + type: double, + default_value: -1.0, + description: "Joint acceleration overwrite for motion primitives.", + read_only: false + } + cart_vel_overwrite: { + type: double, + default_value: -1.0, + description: "Cartesian velocity overwrite for motion primitives.", + read_only: false + } + cart_acc_overwrite: { + type: double, + default_value: -1.0, + description: "Cartesian acceleration overwrite for motion primitives.", + read_only: false + } From e6601b0547aa983b75c925c81c352c1267d29426 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 13:31:59 +0200 Subject: [PATCH 105/128] added blend_radius_overwrite --- .../approx_primitives_with_rdp.hpp | 5 +- ..._primitives_from_trajectory_controller.hpp | 2 + .../src/approx_primitives_with_rdp.cpp | 57 ++++++++++++------- ..._primitives_from_trajectory_controller.cpp | 5 +- 4 files changed, 44 insertions(+), 25 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp index faf11f3780..aa07749a19 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/approx_primitives_with_rdp.hpp @@ -40,12 +40,13 @@ struct PlannedTrajectoryPoint // Approximate with LIN Primitives in Cartesian Space MotionSequence approxLinPrimitivesWithRDP( const std::vector & trajectory, double epsilon_position, - double epsilon_angle, double cart_vel, double cart_acc, bool use_time_not_vel_and_acc = false); + double epsilon_angle, double cart_vel, double cart_acc, bool use_time_not_vel_and_acc = false, + double blend_overwrite = -1.0); // Approximate with PTP Primitives in Joint Space MotionSequence approxPtpPrimitivesWithRDP( const std::vector & trajectory, double epsilon, double joint_vel, - double joint_acc, bool use_time_not_vel_and_acc = false); + double joint_acc, bool use_time_not_vel_and_acc = false, double blend_overwrite = -1.0); double calculateBlendRadius( const rdp::Point & previous_point, const rdp::Point & current_point, diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp index 28619f9658..5cbb5b44c3 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_from_trajectory_controller.hpp @@ -140,6 +140,8 @@ class MotionPrimitivesFromTrajectoryController : public controller_interface::Co double epsilon_cart_position_; double epsilon_cart_angle_; + double blend_radius_overwrite_; + double joint_vel_overwrite_; double joint_acc_overwrite_; double max_traj_joint_vel_; diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 18155e50ab..6e78fccfaf 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -32,7 +32,7 @@ namespace approx_primitives_with_rdp MotionSequence approxLinPrimitivesWithRDP( const std::vector & trajectory, double epsilon_position, double epsilon_angle, double cart_vel, double cart_acc, - bool use_time_not_vel_and_acc) + bool use_time_not_vel_and_acc, double blend_overwrite) { MotionSequence motion_sequence; std::vector motion_primitives; @@ -119,11 +119,18 @@ MotionSequence approxLinPrimitivesWithRDP( } else { - const auto & p0 = trajectory[start_index].pose.position; - const auto & p1 = trajectory[end_index].pose.position; - const auto & p2 = trajectory[sorted_final_indices[i + 1]].pose.position; - primitive.blend_radius = - calculateBlendRadius({p0.x, p0.y, p0.z}, {p1.x, p1.y, p1.z}, {p2.x, p2.y, p2.z}); + if (blend_overwrite > 0.0) + { + primitive.blend_radius = blend_overwrite; + } + else + { + const auto & p0 = trajectory[start_index].pose.position; + const auto & p1 = trajectory[end_index].pose.position; + const auto & p2 = trajectory[sorted_final_indices[i + 1]].pose.position; + primitive.blend_radius = + calculateBlendRadius({p0.x, p0.y, p0.z}, {p1.x, p1.y, p1.z}, {p2.x, p2.y, p2.z}); + } } double velocity = -1.0; @@ -190,7 +197,8 @@ MotionSequence approxLinPrimitivesWithRDP( MotionSequence approxPtpPrimitivesWithRDP( const std::vector & trajectory, - double epsilon, double joint_vel, double joint_acc, bool use_time_not_vel_and_acc) + double epsilon, double joint_vel, double joint_acc, bool use_time_not_vel_and_acc, + double blend_overwrite) { MotionSequence motion_sequence; std::vector motion_primitives; @@ -225,20 +233,27 @@ MotionSequence approxPtpPrimitivesWithRDP( } else { - size_t prev_index = reduced_indices[i - 1]; - size_t curr_index = reduced_indices[i]; - size_t next_index = reduced_indices[i + 1]; - - rdp::Point prev_xyz = { - trajectory[prev_index].pose.position.x, trajectory[prev_index].pose.position.y, - trajectory[prev_index].pose.position.z}; - rdp::Point curr_xyz = { - trajectory[curr_index].pose.position.x, trajectory[curr_index].pose.position.y, - trajectory[curr_index].pose.position.z}; - rdp::Point next_xyz = { - trajectory[next_index].pose.position.x, trajectory[next_index].pose.position.y, - trajectory[next_index].pose.position.z}; - primitive.blend_radius = calculateBlendRadius(prev_xyz, curr_xyz, next_xyz); + if (blend_overwrite > 0.0) + { + primitive.blend_radius = blend_overwrite; + } + else + { + size_t prev_index = reduced_indices[i - 1]; + size_t curr_index = reduced_indices[i]; + size_t next_index = reduced_indices[i + 1]; + + rdp::Point prev_xyz = { + trajectory[prev_index].pose.position.x, trajectory[prev_index].pose.position.y, + trajectory[prev_index].pose.position.z}; + rdp::Point curr_xyz = { + trajectory[curr_index].pose.position.x, trajectory[curr_index].pose.position.y, + trajectory[curr_index].pose.position.z}; + rdp::Point next_xyz = { + trajectory[next_index].pose.position.x, trajectory[next_index].pose.position.y, + trajectory[next_index].pose.position.z}; + primitive.blend_radius = calculateBlendRadius(prev_xyz, curr_xyz, next_xyz); + } } double velocity = -1.0; diff --git a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp index e458503fc6..7925bd62c3 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_from_trajectory_controller.cpp @@ -87,6 +87,7 @@ controller_interface::CallbackReturn MotionPrimitivesFromTrajectoryController::o joint_acc_overwrite_ = params_.joint_acc_overwrite; cart_vel_overwrite_ = params_.cart_vel_overwrite; cart_acc_overwrite_ = params_.cart_acc_overwrite; + blend_radius_overwrite_ = params_.blend_radius_overwrite; // Check if there are exactly 25 command interfaces if (params_.command_interfaces.size() != 25) @@ -527,7 +528,7 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } motion_sequence = approxPtpPrimitivesWithRDP( planned_trajectory_data, epsilon_joint_angle_, max_traj_joint_vel_, max_traj_joint_acc_, - use_time_not_vel_and_acc_); + use_time_not_vel_and_acc_, blend_radius_overwrite_); break; } case ApproxMode::RDP_LIN: @@ -554,7 +555,7 @@ void MotionPrimitivesFromTrajectoryController::goal_accepted_callback( } motion_sequence = approxLinPrimitivesWithRDP( planned_trajectory_data, epsilon_cart_position_, epsilon_cart_angle_, max_traj_cart_vel_, - max_traj_cart_acc_, use_time_not_vel_and_acc_); + max_traj_cart_acc_, use_time_not_vel_and_acc_, blend_radius_overwrite_); break; } default: From 2de2acdf3db7a036a2273dd22937beb23f2b7963 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 21 Jul 2025 15:35:48 +0200 Subject: [PATCH 106/128] moved evaluation stuff to https://github.com/mathias31415/evaluate_motion_primitives_from_trajectory_controller --- .../CMakeLists.txt | 9 - .../README.md | 13 - .../__init__.py | 0 ...ed_and_executed_trajectory.cpython-312.pyc | Bin 9677 -> 0 bytes ...planned_and_reduced_points.cpython-312.pyc | Bin 9661 -> 0 bytes .../__pycache__/fk_client.cpython-312.pyc | Bin 3260 -> 0 bytes .../compare.py | 176 ----------- ...compare_planned_and_executed_trajectory.py | 230 --------------- .../compare_planned_and_reduced_points.py | 224 -------------- .../fk_client.py | 72 ----- .../record_moprim_from_traj_data.py | 273 ------------------ .../package.xml | 3 - 12 files changed, 1000 deletions(-) delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_executed_trajectory.cpython-312.pyc delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/compare_planned_and_reduced_points.cpython-312.pyc delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/__pycache__/fk_client.cpython-312.pyc delete mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare.py delete mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_executed_trajectory.py delete mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_reduced_points.py delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller/fk_client.py delete mode 100755 motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index bd7a59e065..6e25797fd8 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -127,15 +127,6 @@ ament_export_libraries( ament_package() -install(PROGRAMS - motion_primitives_forward_controller/record_moprim_from_traj_data.py - DESTINATION lib/${PROJECT_NAME} -) -install(PROGRAMS - motion_primitives_forward_controller/compare.py - DESTINATION lib/${PROJECT_NAME} -) - if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) find_package(controller_manager REQUIRED) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 163c2a735b..94edf30d6e 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -28,19 +28,6 @@ For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) -## Notes -Save data: -``` -ros2 run motion_primitives_forward_controller record_moprim_from_traj_data.py -``` -Compare data: -~~ros2 run motion_primitives_forward_controller compare.py~~ ? -``` -python3 src/ros2_controllers/motion_primitives_forward_controller/motion_primitives_forward_controller/compare.py -``` - - - # TODOs/ improvements - Use references for command and state interfaces to improve code readability and less error-prone. - Extend the tests diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git 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Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - -import os -import pandas as pd - -# to run with ros2 run ... -# from motion_primitives_forward_controller.compare_planned_and_executed_trajectory import ( -# compare_and_plot_joint_trajectories, -# compare_and_plot_cartesian_trajectories, -# ) -# from motion_primitives_forward_controller.compare_planned_and_reduced_points import ( -# plot_cartesian_trajectory, -# plot_joint_trajectory, -# ) -# from motion_primitives_from_planned_trajectory.fk_client import FKClient - -# to run with python3 -from compare_planned_and_executed_trajectory import ( - compare_and_plot_joint_trajectories, - compare_and_plot_cartesian_trajectories, -) -from compare_planned_and_reduced_points import plot_cartesian_trajectory, plot_joint_trajectory -from fk_client import FKClient - - -def main(): - data_dir = "src/ros2_controllers/motion_primitives_forward_controller/data" - - # filename_planned = "trajectory_20250715_114409_planned.csv" - # filename_executed = "trajectory_20250715_114409_executed.csv" - # filename_reduced = "trajectory_20250715_114409_reduced_PTP.csv" - # mode = "joint" - - # filename_planned = "trajectory_20250715_114057_planned.csv" - # filename_executed = "trajectory_20250715_114057_executed.csv" - # filename_reduced = "trajectory_20250715_114057_reduced_LIN.csv" - # mode = "cartesian" - - # filename_planned = "trajectory_20250716_090701_planned.csv" - # filename_executed = "trajectory_20250716_090701_executed.csv" - # filename_reduced = "trajectory_20250716_090701_reduced_LIN.csv" - # mode = "cartesian" - - # filename_planned = "trajectory_20250716_091324_planned.csv" - # filename_executed = "trajectory_20250716_091324_executed.csv" - # filename_reduced = "trajectory_20250716_091324_reduced_LIN.csv" - # mode = "cartesian" - - # filename_planned = "trajectory_20250716_092410_planned.csv" - # filename_executed = "trajectory_20250716_092410_executed.csv" - # filename_reduced = "trajectory_20250716_092410_reduced_PTP.csv" - # mode = "joint" - - # filename_planned = "trajectory_20250716_093119_planned.csv" - # filename_executed = "trajectory_20250716_093119_executed.csv" - # filename_reduced = "trajectory_20250716_093119_reduced_PTP.csv" - # mode = "joint" - - # filename_planned = "trajectory_20250716_093707_planned.csv" - # filename_executed = "trajectory_20250716_093707_executed.csv" - # filename_reduced = "trajectory_20250716_093707_reduced_PTP.csv" - # mode = "joint" - - # filename_planned = "trajectory_20250716_101518_planned.csv" - # filename_executed = "trajectory_20250716_101518_executed.csv" - # filename_reduced = "trajectory_20250716_101518_reduced_LIN.csv" - # mode = "cartesian" - - filename_planned = "trajectory_20250716_101907_planned.csv" - filename_executed = "trajectory_20250716_101907_executed.csv" - filename_reduced = "trajectory_20250716_101907_reduced_LIN.csv" - mode = "cartesian" - - filepath_planned = os.path.join(data_dir, filename_planned) - filepath_executed = os.path.join(data_dir, filename_executed) - filepath_reduced = os.path.join(data_dir, filename_reduced) - - joint_names = [ - "shoulder_pan_joint", - "shoulder_lift_joint", - "elbow_joint", - "wrist_1_joint", - "wrist_2_joint", - "wrist_3_joint", - ] - - joint_pos_names = [ - "shoulder_pan_joint_pos", - "shoulder_lift_joint_pos", - "elbow_joint_pos", - "wrist_1_joint_pos", - "wrist_2_joint_pos", - "wrist_3_joint_pos", - ] - - pose_names = ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] - - # Load the executed CSV - df_executed = pd.read_csv(filepath_executed) - - # Check if the pose_names columns are present - if not all(col in df_executed.columns for col in pose_names): - print("Pose columns are missing in the executed file, computing them with FK...") - - fk = FKClient() - - # List to store the computed poses - poses = [] - - # Iterate over each row - for idx, row in df_executed.iterrows(): - joint_positions = [row[joint_pos] for joint_pos in joint_pos_names] - pose = fk.compute_fk(joint_names, joint_positions) - if pose is None: - # If FK fails, e.g. None, fill with NaN - poses.append([float("nan")] * 7) - else: - # Extract pose as list [x, y, z, qx, qy, qz, qw] - poses.append( - [ - pose.position.x, - pose.position.y, - pose.position.z, - pose.orientation.x, - pose.orientation.y, - pose.orientation.z, - pose.orientation.w, - ] - ) - - fk.shutdown() - - # Add the computed poses as new columns - for i, col in enumerate(pose_names): - df_executed[col] = [pose[i] for pose in poses] - - # Save the CSV with the new columns - df_executed.to_csv(filepath_executed, index=False) - print(f"Pose columns added to {filepath_executed} and saved.") - - else: - print("Pose columns are already present in the executed file.") - - # compare planned and reduced trajectory - if mode == "cartesian": - plot_cartesian_trajectory(filepath_planned, filepath_reduced, pose_names) - elif mode == "joint": - plot_joint_trajectory(filepath_planned, filepath_reduced, joint_pos_names) - - # compare planned and executed trajectory - compare_and_plot_joint_trajectories( - filepath_planned, filepath_executed, joint_pos_names, n_points=100 - ) - compare_and_plot_cartesian_trajectories( - filepath_planned, filepath_executed, pose_names, n_points=200 - ) - - -if __name__ == "__main__": - main() diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_executed_trajectory.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_executed_trajectory.py deleted file mode 100755 index 3053429894..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_executed_trajectory.py +++ /dev/null @@ -1,230 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - -import pandas as pd -import numpy as np -import matplotlib.pyplot as plt -from scipy.interpolate import interp1d -import os - - -def compare_and_plot_joint_trajectories( - filepath_planned, filepath_executed, joint_pos_names, n_points -): - # Load CSV files - df_planned = pd.read_csv(filepath_planned) - df_executed = pd.read_csv(filepath_executed) - - # Remove leading/trailing rows of executed trajectory where all velocities are zero - vel_cols = [col for col in df_executed.columns if "vel" in col] - moving_mask = ~(df_executed[vel_cols] == 0).all(axis=1) - start_index = moving_mask.idxmax() - end_index = moving_mask[::-1].idxmax() - df_executed_clean = df_executed.loc[start_index:end_index].reset_index(drop=True) - - # Resample planned trajectory - planned_positions = df_planned[joint_pos_names].values - interp_planned = interp1d(np.linspace(0, 1, len(planned_positions)), planned_positions, axis=0) - planned_resampled = interp_planned(np.linspace(0, 1, n_points)) - - # Resample executed trajectory - executed_positions = df_executed_clean[joint_pos_names].values - interp_executed = interp1d( - np.linspace(0, 1, len(executed_positions)), executed_positions, axis=0 - ) - executed_resampled = interp_executed(np.linspace(0, 1, n_points)) - - # Compute RMSE per joint and total - rmse = np.sqrt(np.mean((planned_resampled - executed_resampled) ** 2, axis=0)) - total_rmse = np.sqrt(np.mean((planned_resampled - executed_resampled) ** 2)) - print(f"Total RMSE of planned and executed trajectory: {total_rmse:.6f}") - - # Plot in same style as reduced joint trajectory - fig, axs = plt.subplots( - len(joint_pos_names), 1, figsize=(10, 2.5 * len(joint_pos_names)), sharex=True - ) - - if len(joint_pos_names) == 1: - axs = [axs] - - for i, joint in enumerate(joint_pos_names): - axs[i].plot( - planned_resampled[:, i], - marker="o", - markersize=5, - color="blue", - alpha=0.5, - label="Planned", - ) - axs[i].plot( - executed_resampled[:, i], - marker="o", - markersize=5, - color="red", - alpha=0.5, - label="Executed", - ) - axs[i].set_ylabel("Angle in radians") - axs[i].set_title(f"{joint} (RMSE: {rmse[i]:.4f})") - axs[i].set_ylim(-3.5, 3.5) - axs[i].grid(True) - - axs[-1].set_xlabel("Normalized Trajectory Index") - - # Global legend - fig.legend( - ["Planned", "Executed"], - loc="lower right", - bbox_to_anchor=(1, 0), - bbox_transform=fig.transFigure, - ncol=2, - ) - - # Add total RMSE text below the last plot - fig.text(0.5, 0.01, f"Total RMSE: {total_rmse:.6f}", ha="center", fontsize=14, style="italic") - - plt.tight_layout(rect=[0, 0.03, 1, 0.95]) - - # Save figure - base_name = os.path.basename(filepath_planned).replace( - "_planned.csv", "_compare_planned_vs_executed.png" - ) - plot_path = os.path.join(os.path.dirname(filepath_planned), base_name) - plt.savefig(plot_path) - plt.show() - print(f"Figure with comparison saved to: {plot_path}") - - -def compare_and_plot_cartesian_trajectories( - filepath_planned, filepath_executed, cart_pos_names, n_points -): - # Load CSV files - df_planned = pd.read_csv(filepath_planned) - df_executed = pd.read_csv(filepath_executed) - - # Use only the first three values (x, y, z) - pos_names = cart_pos_names[:3] - - # Extract position values - planned_positions = df_planned[pos_names].values - executed_positions = df_executed[pos_names].values - - # Resample planned trajectory (linear interpolation) - interp_planned = interp1d(np.linspace(0, 1, len(planned_positions)), planned_positions, axis=0) - planned_resampled = interp_planned(np.linspace(0, 1, n_points)) - - # Resample executed trajectory - interp_executed = interp1d( - np.linspace(0, 1, len(executed_positions)), executed_positions, axis=0 - ) - executed_resampled = interp_executed(np.linspace(0, 1, n_points)) - - # Calculate 3D RMSE - diffs = planned_resampled - executed_resampled - squared_distances = np.sum(diffs**2, axis=1) - rmse_3d = np.sqrt(np.mean(squared_distances)) - print(f"3D RMSE of planned and executed trajectory: {rmse_3d:.6f}") - - # 3D Plot - fig = plt.figure(figsize=(10, 8)) - ax = fig.add_subplot(111, projection="3d") - - ax.plot( - planned_resampled[:, 0], - planned_resampled[:, 1], - planned_resampled[:, 2], - "o-", - color="blue", - alpha=0.6, - label="Planned", - markersize=4, - ) - ax.plot( - executed_resampled[:, 0], - executed_resampled[:, 1], - executed_resampled[:, 2], - "o-", - color="red", - alpha=0.6, - label="Executed", - markersize=4, - ) - - ax.set_xlabel("X in m") - ax.set_ylabel("Y in m") - ax.set_zlabel("Z in m") - - x_limits = [ - np.min(np.concatenate([planned_resampled[:, 0], executed_resampled[:, 0]])), - np.max(np.concatenate([planned_resampled[:, 0], executed_resampled[:, 0]])), - ] - y_limits = [ - np.min(np.concatenate([planned_resampled[:, 1], executed_resampled[:, 1]])), - np.max(np.concatenate([planned_resampled[:, 1], executed_resampled[:, 1]])), - ] - z_limits = [ - np.min(np.concatenate([planned_resampled[:, 2], executed_resampled[:, 2]])), - np.max(np.concatenate([planned_resampled[:, 2], executed_resampled[:, 2]])), - ] - - # Determine common limit (min and max over all axes) - min_limit = min(x_limits[0], y_limits[0], z_limits[0]) - max_limit = max(x_limits[1], y_limits[1], z_limits[1]) - - ax.set_xlim(min_limit, max_limit) - ax.set_ylim(min_limit, max_limit) - ax.set_zlim(min_limit, max_limit) - - # ax.set_title('Cartesian Trajectories Comparison') - fig.text(0.5, 0.01, f"RMSE: {rmse_3d:.6f}", ha="center", fontsize=14, style="italic") - ax.legend() - ax.grid(True) - - # Save figure - base_name = os.path.basename(filepath_planned).replace( - "_planned.csv", "_compare_cartesian_planned_vs_executed.png" - ) - plot_path = os.path.join(os.path.dirname(filepath_planned), base_name) - plt.savefig(plot_path) - plt.show() - print(f"3D figure with cartesian trajectory comparison saved to: {plot_path}") - - -def main(): - data_dir = "src/motion_primitives_forward_controller/data" - filename_planned = "trajectory__planned.csv" - filename_executed = "trajectory__executed.csv" - filepath_planned = os.path.join(data_dir, filename_planned) - filepath_executed = os.path.join(data_dir, filename_executed) - joint_pos_names = [ - "shoulder_pan_joint_pos", - "shoulder_lift_joint_pos", - "elbow_joint_pos", - "wrist_1_joint_pos", - "wrist_2_joint_pos", - "wrist_3_joint_pos", - ] - n_points = 100 - - compare_and_plot_joint_trajectories( - filepath_planned, filepath_executed, joint_pos_names, n_points - ) - - -if __name__ == "__main__": - main() diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_reduced_points.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_reduced_points.py deleted file mode 100755 index c69f942ff8..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller/compare_planned_and_reduced_points.py +++ /dev/null @@ -1,224 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - -import os -import numpy as np -import pandas as pd -import matplotlib.pyplot as plt -from scipy.spatial.transform import Rotation as R - - -def plot_cartesian_trajectory(filepath_planned, filepath_reduced, pose_names): - # Unpack column names from pose_names list - px, py, pz, qx, qy, qz, qw = pose_names - - # Load data from CSV files - df_planned = pd.read_csv(filepath_planned) - df_reduced = pd.read_csv(filepath_reduced) - - # Extract position coordinates - x, y, z = df_planned[px], df_planned[py], df_planned[pz] - xr, yr, zr = df_reduced[px], df_reduced[py], df_reduced[pz] - - # Prepare 3D plot - fig = plt.figure(figsize=(10, 8)) - ax = fig.add_subplot(111, projection="3d") - - # Plot planned and reduced paths - ax.plot(x, y, z, marker="o", markersize=5, label="Planned Path", color="blue", alpha=0.5) - ax.plot(xr, yr, zr, marker="o", markersize=5, label="Reduced Path", color="orange") - - # Mark start and end of the planned path - ax.scatter(x.iloc[0], y.iloc[0], z.iloc[0], color="red", s=50, label="Start") - ax.scatter(x.iloc[-1], y.iloc[-1], z.iloc[-1], color="green", s=50, label="End") - - arrow_len = 0.05 # Length of coordinate axis arrows - - # Draw coordinate systems for all reduced points - for _, row in df_reduced.iterrows(): - quat = [row[qx], row[qy], row[qz], row[qw]] - rot = R.from_quat(quat) - pt = [row[px], row[py], row[pz]] - - ax.quiver(*pt, *rot.apply([1, 0, 0]), length=arrow_len, color="r", normalize=True) - ax.quiver(*pt, *rot.apply([0, 1, 0]), length=arrow_len, color="g", normalize=True) - ax.quiver(*pt, *rot.apply([0, 0, 1]), length=arrow_len, color="b", normalize=True) - - # Draw coordinate system at the first point of the planned path, - # using the orientation from the first reduced point - first_quat = [ - df_reduced.iloc[0][qx], - df_reduced.iloc[0][qy], - df_reduced.iloc[0][qz], - df_reduced.iloc[0][qw], - ] - first_rot = R.from_quat(first_quat) - first_pt = [x.iloc[0], y.iloc[0], z.iloc[0]] - - ax.quiver( - *first_pt, - *first_rot.apply([1, 0, 0]), - length=arrow_len, - color="r", - linestyle="dashed", - normalize=True, - ) - ax.quiver( - *first_pt, - *first_rot.apply([0, 1, 0]), - length=arrow_len, - color="g", - linestyle="dashed", - normalize=True, - ) - ax.quiver( - *first_pt, - *first_rot.apply([0, 0, 1]), - length=arrow_len, - color="b", - linestyle="dashed", - normalize=True, - ) - - # Axis labels and title - ax.set_xlabel("X in m") - ax.set_ylabel("Y in m") - ax.set_zlabel("Z in m") - ax.set_title("Cartesian Trajectory: Planned vs. Reduced") - ax.legend() - - # Set equal aspect ratio for all axes - ranges = np.array([x.max() - x.min(), y.max() - y.min(), z.max() - z.min()]) - max_range = ranges.max() / 2.0 - mid = [x.mean(), y.mean(), z.mean()] - ax.set_xlim(mid[0] - max_range, mid[0] + max_range) - ax.set_ylim(mid[1] - max_range, mid[1] + max_range) - ax.set_zlim(mid[2] - max_range, mid[2] + max_range) - - plt.tight_layout() - - # Save figure - base_name = os.path.basename(filepath_planned).replace( - "_planned.csv", "_compare_planned_vs_reduced_LIN_cartesian.png" - ) - plot_path = os.path.join(os.path.dirname(filepath_planned), base_name) - plt.savefig(plot_path) - plt.show() - print(f"Figure with planned and reduced points comparison saved to: {plot_path}") - - -def plot_joint_trajectory(filepath_planned, filepath_reduced, joint_names): - df_planned = pd.read_csv(filepath_planned) - df_reduced = pd.read_csv(filepath_reduced) - - joint_columns_planned = [name for name in joint_names] - joint_columns_reduced = df_reduced.columns.tolist() - - planned = df_planned[joint_columns_planned].to_numpy() - reduced = df_reduced[joint_columns_reduced].to_numpy() - - # Insert the first planned point at the beginning of reduced - reduced = np.vstack([planned[0], reduced]) - - # Find indices in planned trajectory where reduced points occur - reduced_indices = [] - for red_point in reduced: - for idx, plan_point in enumerate(planned): - if np.allclose(red_point, plan_point, atol=1e-6): # match with tolerance - reduced_indices.append(idx) - break - else: - reduced_indices.append(None) # no match found - - # Prepare subplots - fig, axs = plt.subplots(len(joint_names), 1, figsize=(10, 2.5 * len(joint_names)), sharex=True) - - if len(joint_names) == 1: - axs = [axs] - - for i, joint in enumerate(joint_names): - axs[i].plot( - planned[:, i], marker="o", markersize=5, label="Planned", color="blue", alpha=0.5 - ) - - # Filter valid matches for plotting - valid_reduced = [ - (idx, reduced[j, i]) for j, idx in enumerate(reduced_indices) if idx is not None - ] - if valid_reduced: - x_vals, y_vals = zip(*valid_reduced) - axs[i].plot(x_vals, y_vals, marker="o", markersize=5, label="Reduced", color="orange") - - axs[i].set_ylabel("Angle in radians") - axs[i].set_title(joint) - axs[i].set_ylim(-3.2, 3.2) - axs[i].grid(True) - - axs[-1].set_xlabel("Trajectory Point Index") - # fig.suptitle("Joint Trajectory: Planned vs. Reduced", fontsize=14) - plt.tight_layout(rect=[0, 0.03, 1, 0.95]) - fig.legend( - ["Planned", "Reduced"], - loc="lower right", - bbox_to_anchor=(1, 0), - bbox_transform=fig.transFigure, - ncol=2, - ) - - # Save figure - base_name = os.path.basename(filepath_planned).replace( - "_planned.csv", "_compare_planned_vs_reduced_PTP_joint.png" - ) - plot_path = os.path.join(os.path.dirname(filepath_planned), base_name) - plt.savefig(plot_path) - plt.show() - print(f"Figure with planned and reduced points comparison saved to: {plot_path}") - - -def main(): - data_dir = "src/motion_primitives_forward_controller/data" - - filename_planned = "trajectory__planned.csv" - filename_reduced = "trajectory__reduced_LIN_cartesian.csv" - mode = "cartesian" - - # filename_planned = "trajectory__planned.csv" - # filename_reduced = "trajectory__reduced_PTP_joint.csv" - # mode = "joint" - - filepath_planned = os.path.join(data_dir, filename_planned) - filepath_reduced = os.path.join(data_dir, filename_reduced) - - joint_names = [ - "shoulder_pan_joint_pos", - "shoulder_lift_joint_pos", - "elbow_joint_pos", - "wrist_1_joint_pos", - "wrist_2_joint_pos", - "wrist_3_joint_pos", - ] - pose_names = ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] - - if mode == "cartesian": - plot_cartesian_trajectory(filepath_planned, filepath_reduced, pose_names) - elif mode == "joint": - plot_joint_trajectory(filepath_planned, filepath_reduced, joint_names) - - -if __name__ == "__main__": - main() diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/fk_client.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/fk_client.py deleted file mode 100644 index 5a9b9a1593..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller/fk_client.py +++ /dev/null @@ -1,72 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - -import rclpy -from rclpy.node import Node -from moveit_msgs.srv import GetPositionFK - - -class FKClient(Node): - def __init__(self): - rclpy.init() - super().__init__("fk_client") - self.client = self.create_client(GetPositionFK, "/compute_fk") - - while not self.client.wait_for_service(timeout_sec=1.0): - self.get_logger().info("Waiting for /compute_fk service...") - - def compute_fk(self, joint_names, joint_positions, from_frame="base", to_link="tool0"): - request = GetPositionFK.Request() - request.header.frame_id = from_frame - request.fk_link_names = [to_link] - request.robot_state.joint_state.name = joint_names - request.robot_state.joint_state.position = joint_positions - - future = self.client.call_async(request) - rclpy.spin_until_future_complete(self, future, timeout_sec=3.0) - - if future.done(): - result = future.result() - if result and result.error_code.val == 1: - return result.pose_stamped[0].pose - else: - self.get_logger().warn(f"FK error: code={result.error_code.val}") - else: - self.get_logger().error("FK call timed out") - - return None - - def shutdown(self): - self.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - fk = FKClient() - joint_names = [ - "shoulder_pan_joint", - "shoulder_lift_joint", - "elbow_joint", - "wrist_1_joint", - "wrist_2_joint", - "wrist_3_joint", - ] - pose = fk.compute_fk(joint_names, [0.0, 1.0, 0.5, 0.0, 0.0, 0.0]) - if pose: - print(pose) - fk.shutdown() diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py b/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py deleted file mode 100755 index fce0b472fc..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller/record_moprim_from_traj_data.py +++ /dev/null @@ -1,273 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - -import rclpy -from rclpy.node import Node -from trajectory_msgs.msg import JointTrajectory -from geometry_msgs.msg import PoseArray -from control_msgs.msg import MotionPrimitiveSequence -from sensor_msgs.msg import JointState - -import csv -from datetime import datetime -import threading -import os -import sys -import time - -# Constants for motion primitive types --> defined in control_msg and moprim_controller -# Would be better to import these from the actual message definition -PRIMITIVE_TYPE_SEQUENCE_START = 100 -PRIMITIVE_TYPE_SEQUENCE_END = 101 -PRIMITIVE_TYPE_LINEAR_JOINT = 0 -PRIMITIVE_TYPE_LINEAR_CARTESIAN = 50 - -data_dir = "src/ros2_controllers/motion_primitives_forward_controller/data" - - -class MotionPrimitiveCollector(Node): - def __init__(self): - super().__init__("motion_primitive_collector") - - self.trajectory_msg = None - self.poses_msg = None - self.motion_primitives_msg = None - self.executed_joint_states = [] - self.recording_joint_states = False - - self.timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - - self.trajectory_sub = self.create_subscription( - JointTrajectory, - "/motion_primitive_from_trajectory_controller/planned_trajectory", - self.trajectory_callback, - 1, - ) - self.poses_sub = self.create_subscription( - PoseArray, - "/motion_primitive_from_trajectory_controller/planned_poses", - self.poses_callback, - 1, - ) - self.motion_primitive_sub = self.create_subscription( - MotionPrimitiveSequence, - "/motion_primitive_from_trajectory_controller/approximated_motion_primitives", - self.motion_primitive_callback, - 1, - ) - self.joint_state_sub = self.create_subscription( - JointState, "/joint_states", self.joint_states_callback, 10 - ) - - self.get_logger().info("Waiting for trajectory, poses, and motion primitives...") - - def trajectory_callback(self, msg): - if self.trajectory_msg is None: - self.trajectory_msg = msg - self.get_logger().info("Received planned_trajectory.") - self.recording_joint_states = True - self.get_logger().info("Recording of /joint_states started. Press ENTER to stop.") - threading.Thread(target=self._wait_for_enter_and_stop_recording, daemon=True).start() - - def _wait_for_enter_and_stop_recording(self): - try: - print("Press ENTER to stop recording or wait 60 seconds...") - sys.stdin.readline() - except (EOFError, OSError): - self.get_logger().warn("No stdin available. Using 60s timeout.") - time.sleep(60) - finally: - self.recording_joint_states = False - self.get_logger().info("Stopped recording joint_states.") - self.save_executed_joint_states() - self.check_and_export_all() - - def poses_callback(self, msg): - if self.poses_msg is None: - self.poses_msg = msg - self.get_logger().info("Received planned_poses.") - - def motion_primitive_callback(self, msg): - if self.motion_primitives_msg is None: - self.motion_primitives_msg = msg - self.get_logger().info("Received motion primitives.") - self.check_and_export_motion_primitives() - - def joint_states_callback(self, msg): - if self.recording_joint_states: - t = self.get_clock().now().seconds_nanoseconds() - self.executed_joint_states.append((t, msg)) - - def check_and_export_motion_primitives(self): - sequence = self.motion_primitives_msg.motions - if not sequence: - self.get_logger().error("Motion primitive sequence is empty.") - return - - types = {p.type for p in sequence} - if len(types) > 1: - self.get_logger().error( - f"Mixed motion primitive types found: {types}. Only one type allowed." - ) - rclpy.shutdown() - return - - primitive_type = sequence[0].type - if primitive_type == PRIMITIVE_TYPE_LINEAR_JOINT: - filename = f"{data_dir}/trajectory_{self.timestamp}_reduced_PTP.csv" - self.save_joint_primitives(sequence, filename) - elif primitive_type == PRIMITIVE_TYPE_LINEAR_CARTESIAN: - filename = f"{data_dir}/trajectory_{self.timestamp}_reduced_LIN.csv" - self.save_cartesian_primitives(sequence, filename) - else: - self.get_logger().error(f"Unsupported primitive type: {primitive_type}") - rclpy.shutdown() - return - self.get_logger().info("Motion primitives saved.") - - def check_and_export_all(self): - if self.trajectory_msg and self.poses_msg and self.motion_primitives_msg: - if self.recording_joint_states: - self.get_logger().info( - "Waiting for joint_states recording to finish before exporting." - ) - return - self.save_trajectory_and_poses() - self.save_executed_joint_states() - self.get_logger().info("All data saved. Exiting.") - self.destroy_node() - rclpy.shutdown() - - def save_joint_primitives(self, primitives, filename): - joint_names = ( - self.trajectory_msg.joint_names - if self.trajectory_msg - else [f"joint_{i}" for i in range(len(primitives[0].joint_positions))] - ) - - folder = os.path.dirname(filename) - if folder and not os.path.exists(folder): - os.makedirs(folder) - - with open(filename, mode="w", newline="") as csvfile: - writer = csv.writer(csvfile) - writer.writerow([f"{name}_pos" for name in joint_names]) - for p in primitives: - writer.writerow(p.joint_positions) - - self.get_logger().info(f"Saved joint motion primitives to {filename}") - - def save_cartesian_primitives(self, primitives, filename): - with open(filename, mode="w", newline="") as csvfile: - writer = csv.writer(csvfile) - writer.writerow( - ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] - ) - for p in primitives: - if not p.poses: - self.get_logger().warn("Skipping primitive with no poses.") - continue - pose = p.poses[0].pose # PoseStamped -> Pose - writer.writerow( - [ - pose.position.x, - pose.position.y, - pose.position.z, - pose.orientation.x, - pose.orientation.y, - pose.orientation.z, - pose.orientation.w, - ] - ) - self.get_logger().info(f"Saved cartesian motion primitives to {filename}") - - def save_trajectory_and_poses(self): - traj_points = self.trajectory_msg.points - poses = self.poses_msg.poses - - if len(traj_points) != len(poses): - self.get_logger().error( - f"Mismatch: {len(traj_points)} trajectory points vs {len(poses)} poses" - ) - return - - filename = f"{data_dir}/trajectory_{self.timestamp}_planned.csv" - with open(filename, mode="w", newline="") as csvfile: - writer = csv.writer(csvfile) - joint_names = self.trajectory_msg.joint_names - writer.writerow( - ["time_from_start"] - + [f"{name}_pos" for name in joint_names] - + ["pose_x", "pose_y", "pose_z", "pose_qx", "pose_qy", "pose_qz", "pose_qw"] - ) - for point, pose in zip(traj_points, poses): - t = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9 - row = ( - [t] - + list(point.positions) - + [ - pose.position.x, - pose.position.y, - pose.position.z, - pose.orientation.x, - pose.orientation.y, - pose.orientation.z, - pose.orientation.w, - ] - ) - writer.writerow(row) - self.get_logger().info(f"Saved planned trajectory and poses to {filename}") - - def save_executed_joint_states(self): - filename = f"{data_dir}/trajectory_{self.timestamp}_executed.csv" - with open(filename, mode="w", newline="") as csvfile: - writer = csv.writer(csvfile) - if not self.executed_joint_states: - self.get_logger().warn("No joint_states recorded.") - return - first_msg = self.executed_joint_states[0][1] - joint_names = list(first_msg.name) - header = ( - ["timestamp"] - + [f"{name}_pos" for name in joint_names] - + [f"{name}_vel" for name in joint_names] - ) - writer.writerow(header) - - for (sec, nsec), msg in self.executed_joint_states: - t = sec + nsec * 1e-9 - row = [t] + list(msg.position) + list(msg.velocity) - writer.writerow(row) - self.get_logger().info(f"Saved executed joint_states to {filename}") - - -def main(args=None): - rclpy.init(args=args) - node = MotionPrimitiveCollector() - try: - rclpy.spin(node) - except KeyboardInterrupt: - node.get_logger().info("Node interrupted by user.") - finally: - if rclpy.ok(): - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 4e391bc89c..444deed469 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -35,9 +35,6 @@ tf2 tf2_geometry_msgs - python3 - rclpy - ament_cmake_gmock controller_manager hardware_interface From d24793002df53a09b42820a4cfeb919b26badfbd Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 22 Jul 2025 11:01:49 +0200 Subject: [PATCH 107/128] clamped blend radius between 0.01 and 0.1 --- .../src/approx_primitives_with_rdp.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp index 6e78fccfaf..4dac53169e 100644 --- a/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp +++ b/motion_primitives_forward_controller/src/approx_primitives_with_rdp.cpp @@ -333,10 +333,10 @@ double calculateBlendRadius( double min_dist = std::min(dist_prev, dist_next); double blend = 0.1 * min_dist; - // Clamp blend radius to [0.001, 0.1] - if (blend < 0.001) + // Clamp blend radius to [0.01, 0.1] + if (blend < 0.01) { - blend = 0.001; + blend = 0.01; } else if (blend > 0.1) { From f22f4a936c9812ddceb358473a6f4b5932fc3bbe Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 28 Jul 2025 16:59:52 +0200 Subject: [PATCH 108/128] edited readme --- .../README.md | 62 ++- ...rim_Controller_ExecuteMotion_Action.drawio | 99 +++++ ...forward_controller_kuka_demo_thumbnail.png | Bin 0 -> 798865 bytes ...m_forward_controller_ur_demo_thumbnail.png | Bin 0 -> 917635 bytes ...om_traj_controller_kuka_demo_thumbnail.png | Bin 0 -> 879262 bytes ...from_traj_controller_ur_demo_thumbnail.png | Bin 0 -> 953855 bytes ...ol_motion_primitives_from_traj_kuka.drawio | 258 ++++++++++++ ...otion_primitives_from_traj_kuka.drawio.png | Bin 0 -> 445168 bytes ...trol_motion_primitives_from_traj_ur.drawio | 372 ++++++++++++++++++ ..._motion_primitives_from_traj_ur.drawio.png | Bin 0 -> 632857 bytes ...ros2_control_motion_primitives_kuka.drawio | 237 +++++++++++ ..._control_motion_primitives_kuka.drawio.png | Bin 0 -> 432172 bytes ...rol_motion_primitives_ur_integrated.drawio | 369 +++++++++++++++++ ..._primitives_from_trajectory_controller.hpp | 2 - 14 files changed, 1393 insertions(+), 6 deletions(-) create mode 100644 motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio create mode 100644 motion_primitives_forward_controller/doc/moprim_forward_controller_kuka_demo_thumbnail.png create mode 100644 motion_primitives_forward_controller/doc/moprim_forward_controller_ur_demo_thumbnail.png create mode 100644 motion_primitives_forward_controller/doc/moprim_from_traj_controller_kuka_demo_thumbnail.png create mode 100644 motion_primitives_forward_controller/doc/moprim_from_traj_controller_ur_demo_thumbnail.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_from_traj_kuka.drawio create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_from_traj_kuka.drawio.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_from_traj_ur.drawio create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_from_traj_ur.drawio.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_kuka.drawio create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_kuka.drawio.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_integrated.drawio diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 94edf30d6e..9e84aa5a3a 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -1,12 +1,18 @@ -motion_primitives_forward_controller +motion_primitive_controllers ========================================== Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) +**This package contains two controllers:** +1. [motion_primitives_forward_controller](#moprim_forward_controller) +2. [motion_primitives_from_trajectory_controller](#moprim_from_traj_controller) -This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotionPrimitiveSequence.action` action from [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action). The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. + + +# motion_primitives_forward_controller +This controller provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotionPrimitiveSequence.action` action from [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action). The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. - Supported motion primitives: - `LINEAR_JOINT` @@ -22,11 +28,59 @@ The action interface also allows stopping the current execution of motion primit This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. ## Architecture Overview -The following diagram shows the architecture for a UR robot. -For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) is used. +Architecture for a UR robot with [`Universal_Robots_ROS2_Driver` in motion primitives mode](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver). ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) +Architecture for a KUKA robot with [`kuka_eki_motion_primitives_hw_interface`](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver/kuka_eki_motion_primitives_hw_interface). + +![KUKA Robot Architecture](doc/ros2_control_motion_primitives_kuka.drawio.png) + +## Demo-Video with UR10e +[![UR demo video](doc/moprim_forward_controller_ur_demo_thumbnail.png)](https://youtu.be/SKz6LFvJmhQ) + +## Demo-Video with KR3 +[![KUKA demo video](doc/moprim_forward_controller_kuka_demo_thumbnail.png)](https://youtu.be/_BWCO36j9bg) + + + +# motion_primitives_from_trajectory_controller + +### motion_primitives_from_trajectory_controller + +The `motion_primitives_from_trajectory_controller` builds on the same architecture as the `motion_primitives_forward_controller` and uses the same command and state interfaces, making it compatible with the same hardware interfaces. However, instead of receiving motion primitives directly, it takes a `FollowJointTrajectory` action as input and approximates the trajectory using either `PTP` (`LINEAR_JOINT`) or `LIN` (`LINEAR_CARTESIAN`) motion primitives. + +The approximation mode can be selected via the `approximate_mode` parameter, with options `"RDP_PTP"` or `"RDP_LIN"`, using the Ramer-Douglas-Peucker algorithm to reduce the trajectory points. Tolerances for the approximation are defined by: +- `epsilon_joint_angle` for PTP (in radians) +- `epsilon_cart_position` (in meters) and `epsilon_cart_angle` (in radians) for LIN + +The `use_time_not_vel_and_acc` parameter determines whether motion duration is calculated based on time stamps or if velocity and acceleration values are used instead. For PTP primitives, joint velocity and acceleration are taken as the maximum values from the original trajectory. For LIN primitives, Cartesian velocity and acceleration are estimated numerically from the end-effector path. + +A blending radius is also calculated automatically, based on the distance to neighboring target points, and clamped between 0.01 m and 0.1 m. + +Alternatively, users can override velocity, acceleration, and blend radius values with the following parameters: +- PTP: `joint_vel_overwrite`, `joint_acc_overwrite` +- LIN: `cart_vel_overwrite`, `cart_acc_overwrite` +- Blend radius: `blend_radius_overwrite` + +This controller enables executing collision-free trajectories planned with MoveIt using approximated motion primitives. + +## Architecture Overview +Architecture for a UR robot with [`Universal_Robots_ROS2_Driver` in motion primitives mode](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver). + +![UR Robot Architecture](doc/ros2_control_motion_primitives_from_traj_ur.drawio.png) + +Architecture for a KUKA robot with [`kuka_eki_motion_primitives_hw_interface`](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver/kuka_eki_motion_primitives_hw_interface). + +![KUKA Robot Architecture](doc/ros2_control_motion_primitives_from_traj_kuka.drawio.png) + +## Demo-Video with UR10e +[![UR demo video](doc/moprim_from_traj_controller_ur_demo_thumbnail.png)](https://youtu.be/nsG4sW8BfLI) + + +## Demo-Video with KR3 +[![KUKA demo video](doc/moprim_from_traj_controller_kuka_demo_thumbnail.png)](https://youtu.be/zaRkU-whyPM) + # TODOs/ improvements - Use references for command and state interfaces to improve code readability and less error-prone. diff --git a/motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio b/motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio new file mode 100644 index 0000000000..dbbde2e7b2 --- /dev/null +++ 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