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Merge pull request #179 from cc0h/differential_mec_calibration
Merge Differential calibration controller.
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...tion_controllers/include/rm_calibration_controllers/differential_calibration_controller.h
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| /******************************************************************************* | ||
| * BSD 3-Clause License | ||
| * | ||
| * Copyright (c) 2021, Qiayuan Liao | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright notice, this | ||
| * list of conditions and the following disclaimer. | ||
| * | ||
| * * Redistributions in binary form must reproduce the above copyright notice, | ||
| * this list of conditions and the following disclaimer in the documentation | ||
| * and/or other materials provided with the distribution. | ||
| * | ||
| * * Neither the name of 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. | ||
| *******************************************************************************/ | ||
|
|
||
| // | ||
| // Created by cch on 24-8-7. | ||
| // | ||
|
|
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| #pragma once | ||
| #include "effort_controllers/joint_position_controller.h" | ||
| #include "effort_controllers/joint_effort_controller.h" | ||
| #include "rm_calibration_controllers/calibration_base.h" | ||
|
|
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| namespace rm_calibration_controllers | ||
| { | ||
| class DifferentialCalibrationController | ||
| : public CalibrationBase<rm_control::ActuatorExtraInterface, hardware_interface::EffortJointInterface> | ||
| { | ||
| public: | ||
| DifferentialCalibrationController() = default; | ||
| bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override; | ||
| void update(const ros::Time& time, const ros::Duration& period) override; | ||
|
|
||
| private: | ||
| enum State | ||
| { | ||
| MOVING_POSITIVE = 3, | ||
| MOVING_NEGATIVE, | ||
| }; | ||
| ros::Time start_time_; | ||
| int countdown_{}; | ||
| double velocity_threshold_{}, max_calibretion_time_{}, position_threshold_{}; | ||
| rm_control::ActuatorExtraHandle actuator2_; | ||
| effort_controllers::JointVelocityController velocity_ctrl2_; | ||
| effort_controllers::JointEffortController effort_ctrl_; | ||
| effort_controllers::JointPositionController position_ctrl2_; | ||
| }; | ||
| } // namespace rm_calibration_controllers |
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rm_calibration_controllers/src/differential_calibration_controller.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,126 @@ | ||
| /******************************************************************************* | ||
| * BSD 3-Clause License | ||
| * | ||
| * Copyright (c) 2021, Qiayuan Liao | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright notice, this | ||
| * list of conditions and the following disclaimer. | ||
| * | ||
| * * Redistributions in binary form must reproduce the above copyright notice, | ||
| * this list of conditions and the following disclaimer in the documentation | ||
| * and/or other materials provided with the distribution. | ||
| * | ||
| * * Neither the name of 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. | ||
| *******************************************************************************/ | ||
|
|
||
| // | ||
| // Created by cch on 24-8-7. | ||
| // | ||
|
|
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| #include "rm_calibration_controllers/differential_calibration_controller.h" | ||
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| #include <pluginlib/class_list_macros.hpp> | ||
|
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| namespace rm_calibration_controllers | ||
| { | ||
| bool DifferentialCalibrationController::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& root_nh, | ||
| ros::NodeHandle& controller_nh) | ||
| { | ||
| CalibrationBase::init(robot_hw, root_nh, controller_nh); | ||
| XmlRpc::XmlRpcValue actuator; | ||
| ros::NodeHandle nh2(controller_nh, "joint2"); | ||
| position_ctrl2_.init(robot_hw->get<hardware_interface::EffortJointInterface>(), nh2); | ||
| if (!controller_nh.getParam("max_calibretion_time", max_calibretion_time_)) | ||
| { | ||
| max_calibretion_time_ = 5.0; | ||
| ROS_ERROR("No given max calibration time, set to default (5s)."); | ||
| } | ||
| if (!controller_nh.getParam("actuator", actuator)) | ||
| { | ||
| ROS_ERROR("No actuator given (namespace: %s)", controller_nh.getNamespace().c_str()); | ||
| return false; | ||
| } | ||
| actuator2_ = robot_hw->get<rm_control::ActuatorExtraInterface>()->getHandle(actuator[1]); | ||
| if (!controller_nh.getParam("velocity/vel_threshold", velocity_threshold_)) | ||
| { | ||
| ROS_ERROR("Velocity threshold was not specified (namespace: %s)", controller_nh.getNamespace().c_str()); | ||
| return false; | ||
| } | ||
| if (velocity_threshold_ < 0) | ||
| { | ||
| velocity_threshold_ *= -1.; | ||
| ROS_ERROR("Negative velocity threshold is not supported for joint %s. Making the velocity threshold positive.", | ||
| velocity_ctrl_.getJointName().c_str()); | ||
| } | ||
| calibration_success_ = false; | ||
| return true; | ||
| } | ||
|
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| void DifferentialCalibrationController::update(const ros::Time& time, const ros::Duration& period) | ||
| { | ||
| switch (state_) | ||
| { | ||
| case INITIALIZED: | ||
| { | ||
| start_time_ = ros::Time::now(); | ||
| velocity_ctrl_.setCommand(velocity_search_); | ||
| position_ctrl2_.setCommand(position_ctrl2_.getPosition()); | ||
| countdown_ = 100; | ||
| state_ = MOVING_POSITIVE; | ||
| break; | ||
| } | ||
| case MOVING_POSITIVE: | ||
| { | ||
| if (std::abs(velocity_ctrl_.joint_.getVelocity()) < velocity_threshold_) | ||
| countdown_--; | ||
| else | ||
| countdown_ = 100; | ||
| if (countdown_ < 0 || (ros::Time::now() - start_time_).toSec() > max_calibretion_time_) | ||
| { | ||
| velocity_ctrl_.setCommand(0); | ||
| actuator_.setOffset(-actuator_.getPosition() + actuator_.getOffset()); | ||
| actuator2_.setOffset(-actuator2_.getPosition() + actuator2_.getOffset()); | ||
| actuator_.setCalibrated(true); | ||
| actuator2_.setCalibrated(true); | ||
| ROS_INFO_STREAM("Joint " << velocity_ctrl_.getJointName() << " and " << position_ctrl2_.getJointName() | ||
| << " are calibrated."); | ||
| state_ = CALIBRATED; | ||
| velocity_ctrl_.joint_.setCommand(0.); | ||
| position_ctrl2_.joint_.setCommand(0.); | ||
| position_ctrl2_.setCommand(0.); | ||
| calibration_success_ = true; | ||
| } | ||
| velocity_ctrl_.update(time, period); | ||
| position_ctrl2_.update(time, period); | ||
| break; | ||
| } | ||
| case CALIBRATED: | ||
| { | ||
| velocity_ctrl_.update(time, period); | ||
| position_ctrl2_.update(time, period); | ||
| break; | ||
| } | ||
| } | ||
| } | ||
| } // namespace rm_calibration_controllers | ||
|
|
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| PLUGINLIB_EXPORT_CLASS(rm_calibration_controllers::DifferentialCalibrationController, | ||
| controller_interface::ControllerBase) |