Added joint limiter plugins.

- Added initial structures for joint-limit plugins.
- Correct ruckig name and make tests to work.
- Rename the joint_limits package
- Comment and author cleanup
- Base class does not require libary.
- Delete extra layer of abstraction since not all plugins require a vector of smoothing objects.
- Restore simple_joint_limiter to a working state
- Implement init() and enforce()
- Return of joint_limits package.
- Move Ruckig limiter to package joint_limits_enforcement_plugins and make it working.

Author: destogl

joint_limits/CMakeLists.txt

@@ -6,8 +6,10 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
+  pluginlib
   rclcpp
   rclcpp_lifecycle
+  trajectory_msgs
 )
 
 find_package(ament_cmake REQUIRED)
@@ -23,10 +25,41 @@ target_include_directories(joint_limits INTERFACE
 )
 ament_target_dependencies(joint_limits INTERFACE ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
+add_library(joint_limiter_interface SHARED
+  src/joint_limiter_interface.cpp
+)
+target_compile_features(joint_limiter_interface PUBLIC cxx_std_17)
+target_include_directories(joint_limiter_interface PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/joint_limits>
+)
+ament_target_dependencies(joint_limiter_interface PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(joint_limiter_interface PRIVATE "JOINT_LIMITS_BUILDING_DLL")
+
+
+add_library(simple_joint_limiter SHARED
+  src/simple_joint_limiter.cpp
+)
+target_compile_features(simple_joint_limiter PUBLIC cxx_std_17)
+target_include_directories(simple_joint_limiter PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/joint_limits>
+)
+ament_target_dependencies(simple_joint_limiter PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(simple_joint_limiter PRIVATE "JOINT_LIMITS_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(joint_limits joint_limiters.xml)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
   find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(pluginlib REQUIRED)
+  find_package(rclcpp REQUIRED)
 
   ament_add_gtest_executable(joint_limits_rosparam_test test/joint_limits_rosparam_test.cpp)
   target_link_libraries(joint_limits_rosparam_test joint_limits)
@@ -40,13 +73,25 @@ if(BUILD_TESTING)
     FILES test/joint_limits_rosparam.yaml
     DESTINATION share/joint_limits/test
   )
+
+  ament_add_gmock(test_simple_joint_limiter test/test_simple_joint_limiter.cpp)
+  target_include_directories(test_simple_joint_limiter PRIVATE include)
+  target_link_libraries(test_simple_joint_limiter joint_limiter_interface)
+  ament_target_dependencies(
+    test_simple_joint_limiter
+    pluginlib
+    rclcpp
+  )
 endif()
 
 install(
   DIRECTORY include/
   DESTINATION include/joint_limits
 )
-install(TARGETS joint_limits
+install(TARGETS
+    joint_limits
+    joint_limiter_interface
+    simple_joint_limiter
   EXPORT export_joint_limits
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

joint_limits/include/joint_limits/joint_limiter_interface.hpp

@@ -0,0 +1,92 @@
+// Copyright (c) 2021, 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.
+
+/// \author Denis Stogl
+
+#ifndef JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_
+#define JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "joint_limits/joint_limits.hpp"
+#include "joint_limits/visibility_control.h"
+#include "rclcpp/node.hpp"
+#include "trajectory_msgs/msg/joint_trajectory_point.hpp"
+
+namespace joint_limits
+{
+template <typename LimitsType>
+class JointLimiterInterface
+{
+public:
+  JOINT_LIMITS_PUBLIC JointLimiterInterface() = default;
+
+  JOINT_LIMITS_PUBLIC virtual ~JointLimiterInterface() = default;
+
+  /// Initialization of every JointLimiter.
+  /**
+   * Initialization of JointLimiter for defined joints with their names.
+   * Robot description topic provides a topic name where URDF of the robot can be found.
+   * This is needed to use joint limits from URDF (not implemented yet!).
+   * Override this method only if Initialization and reading joint limits should be adapted.
+   * Otherwise, initialize your custom limiter in `on_limit` method.
+   *
+   * \param[in] joint_names names of joints where limits should be applied.
+   * \param[in] node shared pointer to the node where joint limit parameters defined.
+   * \param[in] robot_description_topic string of a topic where robot description is accessible.
+   *
+   */
+  JOINT_LIMITS_PUBLIC virtual bool init(
+    const std::vector<std::string> joint_names, const rclcpp::Node::SharedPtr & node,
+    const std::string & robot_description_topic = "/robot_description");
+
+  JOINT_LIMITS_PUBLIC virtual bool configure(
+    const trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states)
+  {
+    return on_configure(current_joint_states);
+  }
+
+  JOINT_LIMITS_PUBLIC virtual bool enforce(
+    trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
+    trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states, const rclcpp::Duration & dt)
+  {
+    // TODO(destogl): add checks if sizes of vectors and number of limits correspond.
+    return on_enforce(current_joint_states, desired_joint_states, dt);
+  }
+
+  // TODO(destogl): Make those protected?
+  // Methods that each limiter implementation has to implement
+  JOINT_LIMITS_PUBLIC virtual bool on_init() { return true; }
+
+  JOINT_LIMITS_PUBLIC virtual bool on_configure(
+    const trajectory_msgs::msg::JointTrajectoryPoint & /*current_joint_states*/)
+  {
+    return true;
+  }
+
+  JOINT_LIMITS_PUBLIC virtual bool on_enforce(
+    trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
+    trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states,
+    const rclcpp::Duration & dt) = 0;
+
+protected:
+  size_t number_of_joints_;
+  std::vector<LimitsType> joint_limits_;
+  rclcpp::Node::SharedPtr node_;
+};
+
+}  // namespace joint_limits
+
+#endif  // JOINT_LIMITS__JOINT_LIMITER_INTERFACE_HPP_

joint_limits/include/joint_limits/simple_joint_limiter.hpp

@@ -0,0 +1,41 @@
+// Copyright (c) 2021, PickNik Inc.
+//
+// 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.
+
+/// \author Denis Stogl
+
+#ifndef JOINT_LIMITS__SIMPLE_JOINT_LIMITER_HPP_
+#define JOINT_LIMITS__SIMPLE_JOINT_LIMITER_HPP_
+
+#include <string>
+
+#include "joint_limits/joint_limiter_interface.hpp"
+#include "joint_limits/joint_limits.hpp"
+
+namespace joint_limits
+{
+template <typename LimitsType>
+class SimpleJointLimiter : public JointLimiterInterface<JointLimits>
+{
+public:
+  JOINT_LIMITS_PUBLIC SimpleJointLimiter();
+
+  JOINT_LIMITS_PUBLIC bool on_enforce(
+    trajectory_msgs::msg::JointTrajectoryPoint & current_joint_states,
+    trajectory_msgs::msg::JointTrajectoryPoint & desired_joint_states,
+    const rclcpp::Duration & dt) override;
+};
+
+}  // namespace joint_limits
+
+#endif  // JOINT_LIMITS__SIMPLE_JOINT_LIMITER_HPP_

joint_limits/include/joint_limits/visibility_control.h

@@ -0,0 +1,49 @@
+// Copyright (c) 2021, 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.
+
+#ifndef JOINT_LIMITS__VISIBILITY_CONTROL_H_
+#define JOINT_LIMITS__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 JOINT_LIMITS_EXPORT __attribute__((dllexport))
+#define JOINT_LIMITS_IMPORT __attribute__((dllimport))
+#else
+#define JOINT_LIMITS_EXPORT __declspec(dllexport)
+#define JOINT_LIMITS_IMPORT __declspec(dllimport)
+#endif
+#ifdef JOINT_LIMITS_BUILDING_DLL
+#define JOINT_LIMITS_PUBLIC JOINT_LIMITS_EXPORT
+#else
+#define JOINT_LIMITS_PUBLIC JOINT_LIMITS_IMPORT
+#endif
+#define JOINT_LIMITS_PUBLIC_TYPE JOINT_LIMITS_PUBLIC
+#define JOINT_LIMITS_LOCAL
+#else
+#define JOINT_LIMITS_EXPORT __attribute__((visibility("default")))
+#define JOINT_LIMITS_IMPORT
+#if __GNUC__ >= 4
+#define JOINT_LIMITS_PUBLIC __attribute__((visibility("default")))
+#define JOINT_LIMITS_LOCAL __attribute__((visibility("hidden")))
+#else
+#define JOINT_LIMITS_PUBLIC
+#define JOINT_LIMITS_LOCAL
+#endif
+#define JOINT_LIMITS_PUBLIC_TYPE
+#endif
+
+#endif  // JOINT_LIMITS__VISIBILITY_CONTROL_H_

joint_limits/joint_limiters.xml

@@ -0,0 +1,9 @@
+<library path="simple_joint_limiter">
+  <class name="joint_limits/SimpleJointLimiter"
+         type="joint_limits::SimpleJointLimiter&lt;joint_limits::JointLimits&gt;"
+         base_class_type="joint_limits::JointLimiterInterface&lt;joint_limits::JointLimits&gt;">
+    <description>
+      Simple joint limiter using clamping approach.
+    </description>
+  </class>
+</library>

joint_limits/package.xml

@@ -1,10 +1,10 @@
 <package format="3">
   <name>joint_limits</name>
   <version>3.9.0</version>
-  <description>Interfaces for handling of joint limits for controllers or hardware.</description>
+  <description>Package for with interfaces for handling of joint limits for use in controllers or in hardware. The package also implements a simple, default joint limit strategy by clamping the values.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
+  <maintainer email="denis.stogl@stoglrobotics.de">Denis Štogl</maintainer>
 
   <license>Apache License 2.0</license>
 
@@ -14,11 +14,14 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>trajectory_msgs</depend>
 
-  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

joint_limits/src/joint_limiter_interface.cpp

@@ -0,0 +1,72 @@
+// Copyright (c) 2021, 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.
+
+/// \author Denis Stogl
+
+#include "joint_limits/joint_limiter_interface.hpp"
+
+#include <string>
+#include <vector>
+
+#include "joint_limits/joint_limits_rosparam.hpp"
+
+// TODO(anyone): Add handing of SoftLimits
+namespace joint_limits
+{
+template <>
+bool JointLimiterInterface<JointLimits>::init(
+  const std::vector<std::string> joint_names, const rclcpp::Node::SharedPtr & node,
+  const std::string & /*robot_description_topic*/)
+{
+  number_of_joints_ = joint_names.size();
+  joint_limits_.resize(number_of_joints_);
+  node_ = node;
+
+  bool result = true;
+
+  // TODO(destogl): get limits from URDF
+
+  // Initialize and get joint limits from parameter server
+  for (auto i = 0ul; i < number_of_joints_; ++i)
+  {
+    if (!declare_parameters(joint_names[i], node))
+    {
+      RCLCPP_ERROR(
+        node->get_logger(), "JointLimiter: Joint '%s': parameter declaration has failed",
+        joint_names[i].c_str());
+      result = false;
+      break;
+    }
+    if (!joint_limits::get_joint_limits(joint_names[i], node, joint_limits_[i]))
+    {
+      RCLCPP_ERROR(
+        node->get_logger(), "JointLimiter: Joint '%s': getting parameters has failed",
+        joint_names[i].c_str());
+      result = false;
+      break;
+    }
+    RCLCPP_INFO(
+      node->get_logger(), "Joint '%s':\n%s", joint_names[i].c_str(),
+      joint_limits_[i].to_string().c_str());
+  }
+
+  if (result)
+  {
+    result = on_init();
+  }
+
+  return result;
+}
+
+}  // namespace joint_limits