Adding demo for Example 3 : Industrial Robots with integrated sensor

ros2_control_demo_hardware/CMakeLists.txt

@@ -21,6 +21,7 @@ add_library(
   ${PROJECT_NAME}
   SHARED
   src/rrbot_system_position_only.cpp
+  src/rrbot_system_with_sensor.cpp
 )
 target_include_directories(
   ${PROJECT_NAME}

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_with_sensor.hpp

@@ -0,0 +1,77 @@
+// Copyright 2021 ros2_control Development Team
+//
+// 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 ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_WITH_SENSOR_HPP_
+#define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_WITH_SENSOR_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+
+#include "hardware_interface/base_interface.hpp"
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/handle.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "hardware_interface/types/hardware_interface_status_values.hpp"
+#include "rclcpp/macros.hpp"
+#include "ros2_control_demo_hardware/visibility_control.h"
+
+using hardware_interface::return_type;
+
+namespace ros2_control_demo_hardware
+{
+class RRBotSystemWithSensorHardware : public
+  hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+{
+public:
+  RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemWithSensorHardware);
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  return_type configure(const hardware_interface::HardwareInfo & info) override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  return_type start() override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  return_type stop() override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  return_type read() override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  return_type write() override;
+
+private:
+  // Parameters for the RRBot simulation
+  double hw_start_sec_;
+  double hw_stop_sec_;
+
+  // Store the command for the simulated robot
+  std::vector<double> hw_joint_commands_;
+  std::vector<double> hw_joint_states_;
+  std::vector<double> hw_sensor_states_;
+};
+
+}  // namespace ros2_control_demo_hardware
+
+#endif  // ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_WITH_SENSOR_HPP_

ros2_control_demo_hardware/ros2_control_demo_hardware.xml

@@ -3,7 +3,14 @@
          type="ros2_control_demo_hardware::RRBotSystemPositionOnlyHardware"
          base_class_type="hardware_interface::SystemInterface">
     <description>
-      The ROS2 Control minimal robot protocol. This is example for start porting the robot from ROS 1.
+      The ros2_control RRbot example using a system hardware interface-type and only one command and state interface. This example is the starting point to implement a hardware interface for robots providing one communication path for all its joints.
+    </description>
+  </class>
+  <class name="ros2_control_demo_hardware/RRBotSystemWithSensorHardware"
+         type="ros2_control_demo_hardware::RRBotSystemWithSensorHardware"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      The ros2_control RRbot example using a system hardware interface-type and only one command and state interface. This example is the starting point to implement a hardware interface for robots with sensors providing one communication path.
     </description>
   </class>
 </library>

ros2_control_demo_hardware/src/rrbot_system_with_sensor.cpp

@@ -0,0 +1,240 @@
+// Copyright 2021 ros2_control Development Team
+//
+// 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.
+
+#include "ros2_control_demo_hardware/rrbot_system_with_sensor.hpp"
+
+#include <chrono>
+#include <cmath>
+#include <limits>
+#include <memory>
+#include <vector>
+
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace ros2_control_demo_hardware
+{
+
+return_type RRBotSystemWithSensorHardware::configure(
+  const hardware_interface::HardwareInfo & info)
+{
+  if (configure_default(info) != return_type::OK) {
+    return return_type::ERROR;
+  }
+
+  hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
+  hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
+  hw_joint_states_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
+  hw_joint_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
+  hw_sensor_states_.resize(
+    info_.sensors[0].state_interfaces.size(),
+    std::numeric_limits<double>::quiet_NaN());
+
+  for (const hardware_interface::ComponentInfo & joint : info_.joints) {
+    // RRBotSystemWithSensor has exactly one state and command interface on each joint
+    if (joint.command_interfaces.size() != 1) {
+      RCLCPP_FATAL(
+        rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+        "Joint '%s' has %d command interfaces found. 1 expected.",
+        joint.name.c_str(), joint.command_interfaces.size());
+      return return_type::ERROR;
+    }
+
+    if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
+      RCLCPP_FATAL(
+        rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+        "Joint '%s' have %s command interfaces found. '%s' expected.",
+        joint.name.c_str(), joint.command_interfaces[0].name.c_str(),
+        hardware_interface::HW_IF_POSITION);
+      return return_type::ERROR;
+    }
+
+    if (joint.state_interfaces.size() != 1) {
+      RCLCPP_FATAL(
+        rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+        "Joint '%s' has %d state interface. 1 expected.",
+        joint.name.c_str(), joint.state_interfaces.size());
+      return return_type::ERROR;
+    }
+
+    if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
+      RCLCPP_FATAL(
+        rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+        "Joint '%s' have %s state interface. '%s' expected.",
+        joint.name.c_str(), joint.state_interfaces[0].name.c_str(),
+        hardware_interface::HW_IF_POSITION);
+      return return_type::ERROR;
+    }
+  }
+
+  // RRBotSystemWithSensor has six state interfaces for one sensor
+  if (info_.sensors[0].state_interfaces.size() != 2) {
+    RCLCPP_FATAL(
+      rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+      "Sensor '%s' has %d state interface. 2 expected.",
+      info_.sensors[0].name.c_str(), info_.sensors[0].state_interfaces.size());
+    return return_type::ERROR;
+  }
+
+  status_ = hardware_interface::status::CONFIGURED;
+  return return_type::OK;
+}
+
+std::vector<hardware_interface::StateInterface>
+RRBotSystemWithSensorHardware::export_state_interfaces()
+{
+  std::vector<hardware_interface::StateInterface> state_interfaces;
+  for (uint i = 0; i < info_.joints.size(); i++) {
+    state_interfaces.emplace_back(
+      hardware_interface::StateInterface(
+        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_joint_states_[i]));
+  }
+
+  // export sensor state interface
+  for (uint i = 0; i < info_.sensors[0].state_interfaces.size(); i++) {
+    state_interfaces.emplace_back(
+      hardware_interface::StateInterface(
+        info_.sensors[0].name, info_.sensors[0].state_interfaces[i].name, &hw_sensor_states_[i]));
+  }
+
+  return state_interfaces;
+}
+
+std::vector<hardware_interface::CommandInterface>
+RRBotSystemWithSensorHardware::export_command_interfaces()
+{
+  std::vector<hardware_interface::CommandInterface> command_interfaces;
+  for (uint i = 0; i < info_.joints.size(); i++) {
+    command_interfaces.emplace_back(
+      hardware_interface::CommandInterface(
+        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_joint_commands_[i]));
+  }
+
+  return command_interfaces;
+}
+
+return_type RRBotSystemWithSensorHardware::start()
+{
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Starting ...please wait...");
+
+  for (int i = 0; i <= hw_start_sec_; i++) {
+    rclcpp::sleep_for(std::chrono::seconds(1));
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+      "%.1f seconds left...", hw_start_sec_ - i);
+  }
+
+  // set some default values for joints
+  for (uint i = 0; i < hw_joint_states_.size(); i++) {
+    if (std::isnan(hw_joint_states_[i])) {
+      hw_joint_states_[i] = 0;
+      hw_joint_commands_[i] = 0;
+    }
+  }
+
+  // set default value for sensor
+  if (std::isnan(hw_sensor_states_[0])) {
+    hw_sensor_states_[0] = 0;
+  }
+
+  status_ = hardware_interface::status::STARTED;
+
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "System Sucessfully started!");
+
+  return return_type::OK;
+}
+
+return_type RRBotSystemWithSensorHardware::stop()
+{
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Stopping ...please wait...");
+
+  for (int i = 0; i <= hw_stop_sec_; i++) {
+    rclcpp::sleep_for(std::chrono::seconds(1));
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+      "%.1f seconds left...", hw_stop_sec_ - i);
+  }
+
+  status_ = hardware_interface::status::STOPPED;
+
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "System sucessfully stopped!");
+
+  return return_type::OK;
+}
+
+hardware_interface::return_type RRBotSystemWithSensorHardware::read()
+{
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Reading...please wait...");
+
+  for (uint i = 0; i < hw_joint_states_.size(); i++) {
+    // Simulate RRBot's movement
+    hw_joint_states_[i] = hw_joint_commands_[i] +
+      (hw_joint_states_[i] - hw_joint_commands_[i]) / 2.0;
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+      "Got state %.5f for joint %d!", hw_joint_states_[i], i);
+  }
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Joints sucessfully read!");
+
+  // Simulate RRBot's sensor data
+  hw_sensor_states_[0] = 1.1;
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Got state %.5f for sensor 0!", hw_sensor_states_[0]);
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Sensors sucessfully read!");
+
+  return return_type::OK;
+}
+
+hardware_interface::return_type ros2_control_demo_hardware::RRBotSystemWithSensorHardware::write()
+{
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Writing...please wait...");
+
+  for (uint i = 0; i < hw_joint_commands_.size(); i++) {
+    // Simulate sending commands to the hardware
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+      "Got command %.5f for joint %d!", hw_joint_commands_[i], i);
+  }
+  RCLCPP_INFO(
+    rclcpp::get_logger("RRBotSystemWithSensorHardware"),
+    "Joints sucessfully written!");
+
+  return return_type::OK;
+}
+
+}  // namespace ros2_control_demo_hardware
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  ros2_control_demo_hardware::RRBotSystemWithSensorHardware,
+  hardware_interface::SystemInterface
+)

ros2_control_demo_robot/controllers/rrbot_with_sensor_controllers.yaml

@@ -0,0 +1,29 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 2  # Hz
+
+    forward_command_controller_position:
+      type: forward_command_controller/ForwardCommandController
+
+    joint_state_controller:
+      type: joint_state_controller/JointStateController
+
+    ur_controllers:
+      type: ur_controllers/ForceTorqueStateController
+
+forward_command_controller_position:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+    interface_name: position
+
+ur_controllers:
+  ros__parameters:
+    sensor_name: tcp_fts_sensor
+    state_interface_names:
+      - fx
+      - tz
+    frame_id: rrbot_tcp
+    lower_limits: -100
+    upper_limits: 100