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Merge pull request #446 from PickNikRobotics/v8.9.1
Add JTAC controller and ExecuteMTCSolution examples to grinding sim
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‎src/grinding_sim/config/config.yaml‎

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@@ -110,6 +110,7 @@ ros2_control:
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controllers_inactive_at_startup:
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- "servo_controller"
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- "velocity_force_controller"
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- "joint_trajectory_admittance_controller"
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# Configuration for loading behaviors and objectives.
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# [Required]

‎src/grinding_sim/config/control/ur20.ros2_control.yaml‎

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type: joint_trajectory_controller/JointTrajectoryController
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velocity_force_controller:
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type: velocity_force_controller/VelocityForceController
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joint_trajectory_admittance_controller:
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type: joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController
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joint_state_broadcaster:
@@ -168,3 +170,50 @@ velocity_force_controller:
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command_timeout: 0.2
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# Padding (in radians) to add to joint position limits as a safety margin.
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joint_limit_position_tolerance: 0.02
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joint_trajectory_admittance_controller:
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ros__parameters:
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joints:
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- shoulder_pan_joint
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- shoulder_lift_joint
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- elbow_joint
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- wrist_1_joint
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- wrist_2_joint
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- wrist_3_joint
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# Specifies the base link of the kinematic chain. Must exist in the robot description.
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base_frame: base_link
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# Specifies the frame/link name of the force torque sensor. Must exist in the robot description.
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sensor_frame: tool0
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# Specifies the frame/link name of the end-effector frame. Must exist in the robot description.
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ee_frame: grasp_link
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# The name of the force/torque ros2_control hardware interface which will be used in the admittance calculation.
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# If empty, the controller will run without admittance.
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# ft_sensor_name: tcp_fts_sensor
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# Joint accelerations to use for immediate stops (e.g. when cancelling a running trajectory).
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# Chosen to match MoveIt configs.
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stop_accelerations: [30.0, 30.0, 30.0, 30.0, 30.0, 30.0]
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# The ratio of the cutoff frequency to the sampling frequency. Valid values range
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# from 0 to 1, where 1 is the sampling frequency. By default, this is set to 1.0, which means no filtering is
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# applied.
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ft_cutoff_frequency_ratio: 1.0
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# The deadband threshold for the force / torque measurements in Newtons and Newtons-meter. By default, these are set
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# to 0.0. Increase these values if the force readings from your force torque sensor are noisy and cause linear /
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# rotational motion along the FTS axes when the admittance controller is activated.
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ft_force_deadband: 0.0
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ft_torque_deadband: 0.0
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# The rate in Hz at which the controller will publish the state. By default, this is set to 50 Hz.
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state_publish_rate: 50
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# The damping coefficient for the Jacobian damped least-squares inverse. By default, this value is set to 0.01.
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# Increase this value if your robot moves too quickly while admittance control is active when it nears singularities.
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jacobian_damping: 0.01
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# The gravity vector in the base frame. By default, this is set to [0.0, 0.0, -9.8]. This value is used to calculate
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# the gravity compensation torque. If your robot is not in the same orientation as the base frame, you should
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# provide the gravity vector in the base frame.
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gravity_vector: [0.0, 0.0, -9.8]
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# Default maximum joint-space deviation accepted along the trajectory, if not specified in the goal message.
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default_path_tolerance: 0.05
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# Default maximum joint-space deviation accepted at the trajectory end-point, if not specified in the goal message.
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default_goal_tolerance: 0.05
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# Default maximum absolute force torque readings allowed from the force torque sensor along each Cartesian space
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# axis, if not specified in the goal message. If exceeded, execution will abort.
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default_absolute_force_torque_threshold: [45.0, 45.0, 45.0, 10.0, 10.0, 10.0]

‎src/grinding_sim/objectives/grind_machined_part_with_jtac.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Grind Machined Part with JTAC">
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<BehaviorTree
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ID="Grind Machined Part with JTAC"
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_description=""
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_favorite="true"
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>
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<SubTree
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ID="Grind part with MTC"
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_collapsed="false"
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controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
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controller_name="joint_trajectory_admittance_controller"
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controller_type="jtac"
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/>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Grind Machined Part with JTAC">
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<MetadataFields>
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<Metadata subcategory="Application - Grinding" />
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<Metadata runnable="true" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/grinding_sim/objectives/grind_machined_part_with_jtc.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Grind Machined Part with JTC">
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<BehaviorTree
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ID="Grind Machined Part with JTC"
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_description=""
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_favorite="true"
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>
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<SubTree
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ID="Grind part with MTC"
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_collapsed="false"
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controller_action_name="/joint_trajectory_controller/follow_joint_trajectory"
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controller_name="joint_trajectory_controller"
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controller_type="jtc"
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/>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Grind Machined Part with JTC">
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<MetadataFields>
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<Metadata subcategory="Application - Grinding" />
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<Metadata runnable="true" />
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</MetadataFields>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/grinding_sim/objectives/grind_part_with_mtc.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Grind part with MTC">
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<!--//////////-->
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<BehaviorTree ID="Grind part with MTC" _description="" _favorite="false">
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<Control ID="Sequence" name="TopLevelSequence">
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<Action ID="ClearSnapshot" />
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<!--View workspace and register part-->
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<SubTree
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ID="Move to Waypoint"
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_collapsed="true"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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controller_names="joint_trajectory_controller"
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joint_group_name="manipulator"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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velocity_scale_factor="1.0"
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waypoint_name="Retract"
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name="View Workspace"
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seed="0"
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/>
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<SubTree
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ID="Register Machined Part"
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_collapsed="true"
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registered_pose="{registered_pose}"
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/>
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<SubTree ID="Take Snapshot" _collapsed="true" />
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<!--Publish frame of registered part so we can plan in reference to it-->
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<Control ID="Fallback">
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<Decorator ID="Timeout" msec="500">
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<Action
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ID="PublishStaticFrame"
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pose="{registered_pose}"
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publish_rate="50"
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child_frame_id="registered_pose"
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/>
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</Decorator>
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<Action ID="AlwaysSuccess" />
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</Control>
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<!--Move the tool to a pose near the part-->
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<SubTree
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ID="Move to Waypoint"
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_collapsed="true"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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controller_names="joint_trajectory_controller"
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joint_group_name="manipulator"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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velocity_scale_factor="1.0"
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waypoint_name="Pre Grind"
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seed="0"
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/>
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<!--Load grinding poses-->
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<Action
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ID="LoadPoseStampedVectorFromYaml"
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output="{grinding_poses}"
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file_path="grinding_poses.yaml"
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/>
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<!--Visualize grinding poses-->
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<Action ID="Script" code="pose_count := 0" />
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<Decorator
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ID="ForEach"
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vector_in="{grinding_poses}"
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out="{target_pose}"
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index="{index}"
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>
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<Control ID="Sequence">
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<Action
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ID="VisualizePose"
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marker_name="{pose_count}"
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pose="{target_pose}"
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marker_lifetime="0.000000"
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marker_size="0.100000"
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/>
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<Action ID="Script" code="pose_count += 1" />
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</Control>
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</Decorator>
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<!--Setup an MTC task from the current robot state-->
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<Action
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ID="InitializeMTCTask"
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task="{mtc_task}"
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timeout="-1.000000"
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trajectory_monitoring="false"
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/>
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<Action ID="SetupMTCCurrentState" task="{mtc_task}" />
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<!-- Pass each of the grinding poses to the MTC task, and plan cartesian motions between them -->
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<Action
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ID="SetupMTCPathIK"
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acceleration_scale_factor="0.75"
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blending_radius="0.020000"
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ignore_environment_collisions="false"
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ik_cartesian_space_density="0.010000"
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ik_joint_space_density="0.100000"
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max_optimizer_iterations="1"
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path="{grinding_poses}"
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planning_group_name="manipulator"
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position_only="true"
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task="{mtc_task}"
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trajectory_sampling_rate="100"
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velocity_scale_factor="0.1"
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tip_links="grasp_link"
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/>
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<!--Wait for user to approve the grinding path and then execute it-->
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<Action ID="PlanMTCTask" solution="{mtc_solution}" task="{mtc_task}" />
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<Action
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ID="WaitForUserTrajectoryApproval"
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solution="{mtc_solution}"
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cartesian_path_links="grasp_link"
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/>
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<Action
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ID="SwitchController"
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activate_asap="true"
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automatic_deactivation="true"
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controller_list_action_name="/controller_manager/list_controllers"
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controller_switch_action_name="/controller_manager/switch_controller"
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strictness="1"
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timeout="-1.000000"
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activate_controllers="{controller_name}"
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/>
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<Action
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ID="ExecuteMTCSolution"
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admittance_parameters_msg="{admittance_parameters_msg}"
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apply_planning_scene_service="/apply_planning_scene"
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apply_start_scene="false"
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controller_action_name="{controller_action_name}"
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execution_pipeline="{controller_type}"
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goal_duration_tolerance="-1.000000"
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goal_position_tolerance="0.01"
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path_position_tolerance="0.05"
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solution="{mtc_solution}"
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/>
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<!--Move away from the part after completing the grinding path-->
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<SubTree
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ID="Move to Waypoint"
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_collapsed="true"
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acceleration_scale_factor="1.0"
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controller_action_server="/joint_trajectory_controller/follow_joint_trajectory"
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controller_names="joint_trajectory_controller"
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joint_group_name="manipulator"
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keep_orientation="false"
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keep_orientation_tolerance="0.05"
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link_padding="0.01"
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velocity_scale_factor="1.0"
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waypoint_name="Approach"
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seed="0"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Grind part with MTC">
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<MetadataFields>
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<Metadata runnable="false" />
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<Metadata subcategory="Application - Grinding" />
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</MetadataFields>
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<inout_port
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name="controller_action_name"
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default="/joint_trajectory_admittance_controller/follow_joint_trajectory"
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type="std::string"
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>
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the topic to send the follow joint trajectory action
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</inout_port>
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<inout_port
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name="controller_name"
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default="joint_trajectory_admittance_controller"
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type="std::vector&lt;std::__cxx11::basic_string&lt;char, std::char_traits&lt;char&gt;, std::allocator&lt;char&gt; &gt;, std::allocator&lt;std::__cxx11::basic_string&lt;char, std::char_traits&lt;char&gt;, std::allocator&lt;char&gt; &gt; &gt; &gt;"
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>
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the name of the controller to activate for motion
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</inout_port>
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<inout_port name="controller_type" default="jtac" type="std::string">
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The type of trajectory controller to use
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</inout_port>
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</SubTree>
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</TreeNodesModel>
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</root>

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