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use gz-physics#283 to implement joint_states/effort feedback (backport #186) #607

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Merged
ahcorde merged 3 commits into from
Jul 29, 2025
Merged

use gz-physics#283 to implement joint_states/effort feedback (backport #186) #607

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b44c33b
use gz-physics#283 to implement joint_states/effort feedback (#186)
andreasBihlmaier Oct 28, 2024
66fdd50
Fix fortress
christophfroehlich Jun 10, 2025
cc7fce7
Merge branch 'humble' into mergify/bp/humble/pr-186
christophfroehlich Jul 28, 2025
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57 changes: 44 additions & 13 deletions gz_ros2_control/src/gz_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,14 +24,17 @@
#ifdef GZ_HEADERS
#include <gz/msgs/imu.pb.h>

#include <gz/physics/Geometry.hh>
#include <gz/sim/components/AngularVelocity.hh>
#include <gz/sim/components/Imu.hh>
#include <gz/sim/components/JointForce.hh>
#include <gz/sim/components/JointAxis.hh>
#include <gz/sim/components/JointForceCmd.hh>
#include <gz/sim/components/JointPosition.hh>
#include <gz/sim/components/JointPositionReset.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointTransmittedWrench.hh>
#include <gz/sim/components/JointType.hh>
#include <gz/sim/components/JointVelocityCmd.hh>
#include <gz/sim/components/JointVelocity.hh>
#include <gz/sim/components/JointVelocityReset.hh>
#include <gz/sim/components/LinearAcceleration.hh>
#include <gz/sim/components/Name.hh>
Expand All @@ -41,17 +44,22 @@
#include <gz/transport/Node.hh>
#define GZ_TRANSPORT_NAMESPACE gz::transport::
#define GZ_MSGS_NAMESPACE gz::msgs::
#define GZ_PHYSICS_NAMESPACE gz::physics::
#define GZ_VECTOR_DOT dot
#else
#include <ignition/msgs/imu.pb.h>

#include <ignition/math/Vector3.hh>
#include <ignition/gazebo/components/AngularVelocity.hh>
#include <ignition/gazebo/components/Imu.hh>
#include <ignition/gazebo/components/JointForce.hh>
#include <ignition/gazebo/components/JointAxis.hh>
#include <ignition/gazebo/components/JointForceCmd.hh>
#include <ignition/gazebo/components/JointPosition.hh>
#include <ignition/gazebo/components/JointPositionReset.hh>
#include <ignition/gazebo/components/JointVelocity.hh>
#include <ignition/gazebo/components/JointTransmittedWrench.hh>
#include <ignition/gazebo/components/JointType.hh>
#include <ignition/gazebo/components/JointVelocityCmd.hh>
#include <ignition/gazebo/components/JointVelocity.hh>
#include <ignition/gazebo/components/JointVelocityReset.hh>
#include <ignition/gazebo/components/LinearAcceleration.hh>
#include <ignition/gazebo/components/Name.hh>
Expand All @@ -61,6 +69,8 @@
#include <ignition/transport/Node.hh>
#define GZ_TRANSPORT_NAMESPACE ignition::transport::
#define GZ_MSGS_NAMESPACE ignition::msgs::
#define GZ_PHYSICS_NAMESPACE ignition::math::
#define GZ_VECTOR_DOT Dot
#endif

#include <hardware_interface/hardware_info.hpp>
Expand All @@ -70,6 +80,12 @@ struct jointData
/// \brief Joint's names.
std::string name;

/// \brief Joint's type.
sdf::JointType joint_type;

/// \brief Joint's axis.
sdf::JointAxis joint_axis;

/// \brief Current joint position
double joint_position;

Expand Down Expand Up @@ -236,6 +252,10 @@ bool GazeboSimSystem::initSim(

sim::Entity simjoint = enableJoints[joint_name];
this->dataPtr->joints_[j].sim_joint = simjoint;
this->dataPtr->joints_[j].joint_type = _ecm.Component<sim::components::JointType>(
simjoint)->Data();
this->dataPtr->joints_[j].joint_axis = _ecm.Component<sim::components::JointAxis>(
simjoint)->Data();

// Create joint position component if one doesn't exist
if (!_ecm.EntityHasComponentType(
Expand All @@ -253,12 +273,12 @@ bool GazeboSimSystem::initSim(
_ecm.CreateComponent(simjoint, sim::components::JointVelocity());
}

// Create joint force component if one doesn't exist
// Create joint transmitted wrench component if one doesn't exist
if (!_ecm.EntityHasComponentType(
simjoint,
sim::components::JointForce().TypeId()))
sim::components::JointTransmittedWrench().TypeId()))
{
_ecm.CreateComponent(simjoint, sim::components::JointForce());
_ecm.CreateComponent(simjoint, sim::components::JointTransmittedWrench());
}

// Accept this joint and continue configuration
Expand Down Expand Up @@ -576,11 +596,10 @@ hardware_interface::return_type GazeboSimSystem::read(
this->dataPtr->ecm->Component<sim::components::JointVelocity>(
this->dataPtr->joints_[i].sim_joint);

// TODO(ahcorde): Revisit this part ignitionrobotics/ign-physics#124
// Get the joint force
// const auto * jointForce =
// _ecm.Component<sim::components::JointForce>(
// this->dataPtr->sim_joints_[j]);
// Get the joint force via joint transmitted wrench
const auto * jointWrench =
this->dataPtr->ecm->Component<sim::components::JointTransmittedWrench>(
this->dataPtr->joints_[i].sim_joint);

// Get the joint position
const auto * jointPositions =
Expand All @@ -589,7 +608,19 @@ hardware_interface::return_type GazeboSimSystem::read(

this->dataPtr->joints_[i].joint_position = jointPositions->Data()[0];
this->dataPtr->joints_[i].joint_velocity = jointVelocity->Data()[0];
// this->dataPtr->joint_effort_[j] = jointForce->Data()[0];
GZ_PHYSICS_NAMESPACE Vector3d force_or_torque;
if (this->dataPtr->joints_[i].joint_type == sdf::JointType::PRISMATIC) {
force_or_torque = {jointWrench->Data().force().x(),
jointWrench->Data().force().y(), jointWrench->Data().force().z()};
} else { // REVOLUTE and CONTINUOUS
force_or_torque = {jointWrench->Data().torque().x(),
jointWrench->Data().torque().y(), jointWrench->Data().torque().z()};
}
// Calculate the scalar effort along the joint axis
this->dataPtr->joints_[i].joint_effort = force_or_torque.GZ_VECTOR_DOT(
GZ_PHYSICS_NAMESPACE Vector3d{this->dataPtr->joints_[i].joint_axis.Xyz()[0],
this->dataPtr->joints_[i].joint_axis.Xyz()[1],
this->dataPtr->joints_[i].joint_axis.Xyz()[2]});
}

for (unsigned int i = 0; i < this->dataPtr->imus_.size(); ++i) {
Expand Down
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