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[HrpsysSeqStateROSBridge] send trajectory/points/velocities and trajectory/points/effort to SequencePlayer #1131

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[HrpsysSeqStateROSBridge] send trajectory/points/velocities and trajectory/points/effort to SequencePlayer #1131

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53bf3cd
[HrpsysSeqStateROSBridge] send trajectory/points/velocities and traje…
Naoki-Hiraoka Apr 4, 2023
e7e4ddb
Merge remote-tracking branch 'origin/master' into PR-setjointvelociti…
Naoki-Hiraoka May 9, 2023
8531b15
[HrpsysJointTrajectoryBridge.cpp] send trajectory/points/velocities a…
Naoki-Hiraoka Jul 14, 2023
4fc0e4a
Merge branch 'master' into PR-setjointvelocities-torques
Naoki-Hiraoka Aug 4, 2023
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59 changes: 45 additions & 14 deletions hrpsys_ros_bridge/src/HrpsysJointTrajectoryBridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -425,10 +425,12 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] @onJointTrajectoryAction (" << this->groupname << ")");
// TODO: check size and joint names

OpenHRP::dSequenceSequence angles;
OpenHRP::dSequenceSequence angles, velocities, torques;
OpenHRP::dSequence duration;

angles.length(trajectory.points.size());
velocities.length(trajectory.points.size());
torques.length(trajectory.points.size());
duration.length(trajectory.points.size());

std::vector<std::string> joint_names = trajectory.joint_names;
Expand All @@ -454,23 +456,44 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
"[" << parent->getInstanceName() << "] @onJointTrajectoryAction (" << this->groupname << ") : trajectory.points.size() " << trajectory.points.size());
for (unsigned int i = 0; i < trajectory.points.size(); i++)
{
angles[i].length(joint_names.size());
if(angles.length() == trajectory.points.size()) angles[i].length(joint_names.size());
if(velocities.length() == trajectory.points.size()) velocities[i].length(joint_names.size());
if(torques.length() == trajectory.points.size()) torques[i].length(joint_names.size());

trajectory_msgs::JointTrajectoryPoint point = trajectory.points[i];
if(point.positions.size() != joint_names.size()) angles.length(0);
if(point.velocities.size() != joint_names.size()) velocities.length(0);
if(point.effort.size() != joint_names.size()) torques.length(0);
for (unsigned int j = 0; j < joint_names.size(); j++)
{
hrp::Link* l = parent->body->link(joint_names[j]);
if(l) l->q = point.positions[j];
else ROS_WARN_STREAM_ONCE("[" << parent->getInstanceName() << "] @onJointTrajectoryAction (" << this->groupname << ") : joint named " << joint_names[j] << " is not found. Skipping ...");
if(l) {
if(point.positions.size() == joint_names.size()) l->q = point.positions[j];
if(point.velocities.size() == joint_names.size()) l->dq = point.velocities[j];
if(point.effort.size() == joint_names.size()) l->u = point.effort[j];
} else {
ROS_WARN_STREAM_ONCE("[" << parent->getInstanceName() << "] @onJointTrajectoryAction (" << this->groupname << ") : joint named " << joint_names[j] << " is not found. Skipping ...");
}
}

parent->body->calcForwardKinematics();

std::stringstream ss;
std::stringstream ss_angles, ss_velocities, ss_torques;
for (unsigned int j = 0; j < joint_list.size(); j++)
{
angles[i][j] = parent->body->link(joint_list[j])->q;
ss << " " << point.positions[j];
hrp::Link* l = parent->body->link(joint_list[j]);
if(angles.length() == trajectory.points.size()) {
angles[i][j] = l->q;
ss_angles << " " << angles[i][j];
}
if(velocities.length() == trajectory.points.size()) {
velocities[i][j] = l->dq;
ss_velocities << " " << velocities[i][j];
}
if(torques.length() == trajectory.points.size()) {
torques[i][j] = l->u;
ss_torques << " " << torques[i][j];
}
}
ROS_INFO_STREAM(
"[" << parent->getInstanceName() << "] i:" << i << " : time_from_start " << trajectory.points[i].time_from_start.toSec());
Expand All @@ -484,7 +507,7 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
duration[i] = trajectory.points[i].time_from_start.toSec();
if ( std::abs(duration[i]) < 0.001 ) duration[i] = 0.001; // set magic delta ... https://github.com/start-jsk/rtmros_common/issues/1036
}
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] [" << ss.str() << "] " << duration[i]);
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] [" << ss_angles.str() << "] [" << ss_velocities.str() << "] [" << ss_torques.str() << "] " << duration[i]);
}

parent->m_mutex.unlock();
Expand All @@ -493,12 +516,16 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
if (groupname.length() > 0)
{ // group
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] setJointAnglesOfGroup: " << groupname);
parent->m_service0->setJointAnglesOfGroup(groupname.c_str(), angles[0], duration[0]);
if(angles.length() > 0) parent->m_service0->setJointAnglesOfGroup(groupname.c_str(), angles[0], duration[0]);
if(velocities.length() > 0) parent->m_service0->setJointVelocitiesOfGroup(groupname.c_str(), velocities[0], duration[0]);
if(torques.length() > 0) parent->m_service0->setJointTorquesOfGroup(groupname.c_str(), torques[0], duration[0]);
}
else
{ // fullbody
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] setJointAngles");
parent->m_service0->setJointAngles(angles[0], duration[0]);
if(angles.length() > 0) parent->m_service0->setJointAngles(angles[0], duration[0]);
if(velocities.length() > 0) parent->m_service0->setJointVelocities(velocities[0], duration[0]);
if(torques.length() > 0) parent->m_service0->setJointTorques(torques[0], duration[0]);
}
}
else
Expand All @@ -509,10 +536,12 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
// hrpsys < 315.16.0 have bugs in setJointAnglesSequenceOfGroup https://github.com/fkanehiro/hrpsys-base/pull/1237
if (LessThanVersion(parent->hrpsys_version, std::string("315.16.0"))) {
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] playPatternOfGroup: " << groupname);
parent->m_service0->playPatternOfGroup(groupname.c_str(), angles, duration);
if(angles.length() > 0) parent->m_service0->playPatternOfGroup(groupname.c_str(), angles, duration);
} else {
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] setJointAnglesSequenceOfGroup: " << groupname);
parent->m_service0->setJointAnglesSequenceOfGroup(groupname.c_str(), angles, duration);
if(angles.length() > 0) parent->m_service0->setJointAnglesSequenceOfGroup(groupname.c_str(), angles, duration);
if(velocities.length() > 0) parent->m_service0->setJointVelocitiesSequenceOfGroup(groupname.c_str(), velocities, duration);
if(torques.length() > 0) parent->m_service0->setJointTorquesSequenceOfGroup(groupname.c_str(), torques, duration);
}
}
else
Expand All @@ -521,10 +550,12 @@ void HrpsysJointTrajectoryBridge::jointTrajectoryActionObj::onJointTrajectory(
if (LessThanVersion(parent->hrpsys_version, std::string("315.5.0"))) {
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] playPattern");
OpenHRP::dSequenceSequence rpy, zmp;
parent->m_service0->playPattern(angles, rpy, zmp, duration);
if(angles.length() > 0) parent->m_service0->playPattern(angles, rpy, zmp, duration);
} else {
ROS_INFO_STREAM("[" << parent->getInstanceName() << "] setJointAnglesSequence");
parent->m_service0->setJointAnglesSequence(angles, duration);
if(angles.length() > 0) parent->m_service0->setJointAnglesSequence(angles, duration);
if(velocities.length() > 0) parent->m_service0->setJointVelocitiesSequence(velocities, duration);
if(torques.length() > 0) parent->m_service0->setJointTorquesSequence(torques, duration);
}
}
}
Expand Down
36 changes: 28 additions & 8 deletions hrpsys_ros_bridge/src/HrpsysSeqStateROSBridge.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -175,10 +175,12 @@ void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory
ROS_INFO_STREAM("[" << getInstanceName() << "] @onJointTrajectoryAction ");
//std::cerr << goal->trajectory.joint_names.size() << std::endl;

OpenHRP::dSequenceSequence angles;
OpenHRP::dSequenceSequence angles, velocities, torques;
OpenHRP::dSequence duration;

angles.length(trajectory.points.size()) ;
velocities.length(trajectory.points.size()) ;
torques.length(trajectory.points.size()) ;
duration.length(trajectory.points.size()) ;

std::vector<std::string> joint_names = trajectory.joint_names;
Expand All @@ -187,17 +189,29 @@ void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory
if ( m_mcangle.data.length() == body->joints().size() ) {
for (unsigned int i = 0; i < body->joints().size(); i++){
body->joint(i)->q = m_mcangle.data[i];
body->joint(i)->dq = 0.0;
body->joint(i)->u = 0.0;
}
}

for (unsigned int i=0; i < trajectory.points.size(); i++) {
angles[i].length(body->joints().size());
if(angles.length() == trajectory.points.size()) angles[i].length(body->joints().size());
if(velocities.length() == trajectory.points.size()) velocities[i].length(body->joints().size());
if(torques.length() == trajectory.points.size()) torques[i].length(body->joints().size());

trajectory_msgs::JointTrajectoryPoint point = trajectory.points[i];
if(point.positions.size() != trajectory.joint_names.size()) angles.length(0);
if(point.velocities.size() != trajectory.joint_names.size()) velocities.length(0);
if(point.effort.size() != trajectory.joint_names.size()) torques.length(0);
for (unsigned int j=0; j < trajectory.joint_names.size(); j++ ) {
hrp::Link* l = body->link(joint_names[j]);
if(l) l->q = point.positions[j];
else ROS_WARN_STREAM_ONCE("[" << getInstanceName() << "] @onJointTrajectoryAction : joint named " << joint_names[j] << " is not found. Skipping ...");
if(l) {
if(point.positions.size() == trajectory.joint_names.size()) l->q = point.positions[j];
if(point.velocities.size() == trajectory.joint_names.size()) l->dq = point.velocities[j];
if(point.effort.size() == trajectory.joint_names.size()) l->u = point.effort[j];
} else {
ROS_WARN_STREAM_ONCE("[" << getInstanceName() << "] @onJointTrajectoryAction : joint named " << joint_names[j] << " is not found. Skipping ...");
}
}

body->calcForwardKinematics();
Expand All @@ -206,7 +220,9 @@ void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory
std::vector<hrp::Link*>::const_iterator it = body->joints().begin();
while ( it != body->joints().end() ) {
hrp::Link* l = ((hrp::Link*)*it);
angles[i][j] = l->q;
if(angles.length() == trajectory.points.size()) angles[i][j] = l->q;
if(velocities.length() == trajectory.points.size()) velocities[i][j] = l->dq;
if(torques.length() == trajectory.points.size()) torques[i][j] = l->u;
++it;++j;
}

Expand All @@ -222,14 +238,18 @@ void HrpsysSeqStateROSBridge::onJointTrajectory(trajectory_msgs::JointTrajectory
m_mutex.unlock();

if ( duration.length() == 1 ) {
m_service0->setJointAngles(angles[0], duration[0]);
if(angles.length() > 0) m_service0->setJointAngles(angles[0], duration[0]);
if(velocities.length() > 0) m_service0->setJointVelocities(velocities[0], duration[0]);
if(torques.length() > 0) m_service0->setJointTorques(torques[0], duration[0]);
} else {
// hrpsys < 315.5.0 does not have clearJointAngles, so need to use old API
if (LessThanVersion(hrpsys_version, std::string("315.5.0"))) {
OpenHRP::dSequenceSequence rpy, zmp;
m_service0->playPattern(angles, rpy, zmp, duration);
if(angles.length() > 0) m_service0->playPattern(angles, rpy, zmp, duration);
} else {
m_service0->setJointAnglesSequence(angles, duration);
if(angles.length() > 0) m_service0->setJointAnglesSequence(angles, duration);
if(velocities.length() > 0) m_service0->setJointVelocitiesSequence(velocities, duration);
if(torques.length() > 0) m_service0->setJointTorquesSequence(torques, duration);
}
}
traj_start_tm = ros::Time::now();
Expand Down