Feature/fri wrench control

controllers/kuka_controllers/package.xml

@@ -13,6 +13,7 @@
   <exec_depend>fri_configuration_controller</exec_depend>
   <exec_depend>fri_state_broadcaster</exec_depend>
   <exec_depend>joint_group_impedance_controller</exec_depend>
+  <exec_depend>wrench_controller</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

controllers/wrench_controller/CHANGELOG.rst

@@ -0,0 +1,16 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package wrench_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.9.2 (2024-07-10)
+------------------
+* Fix GCC warning causing unstable build
+
+0.9.1 (2024-07-08)
+------------------
+* Add missing test dependency
+
+0.9.0 (2024-07-08)
+------------------
+* Add controller for updating stiffness and damping command interfaces
+* Contributors: Aron Svastits

controllers/wrench_controller/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(wrench_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(forward_command_controller)
+find_package(kuka_drivers_core)
+find_package(generate_parameter_library)
+
+include_directories(include)
+
+generate_parameter_library(
+  wrench_controller_parameters
+  src/wrench_controller_parameters.yaml
+)
+
+add_library(${PROJECT_NAME} SHARED
+  src/wrench_controller.cpp)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  include
+)
+
+ament_target_dependencies(${PROJECT_NAME} forward_command_controller kuka_drivers_core
+)
+target_link_libraries(${PROJECT_NAME} wrench_controller_parameters)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME} PRIVATE "WRENCH_CONTROLLER_BUILDING_LIBRARY")
+# prevent pluginlib from using boost
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(FILES controller_plugins.xml
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_export_include_directories(
+  include
+)
+
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+
+ament_package()

controllers/wrench_controller/controller_plugins.xml

@@ -0,0 +1,7 @@
+<library path="wrench_controller">
+  <class name="kuka_controllers/WrenchController" type="kuka_controllers::WrenchController" base_class_type="controller_interface::ControllerInterface">
+    <description>
+      This controller forwards the wrench commands in real time
+    </description>
+  </class>
+</library>

controllers/wrench_controller/include/wrench_controller/visibility_control.h

@@ -0,0 +1,49 @@
+//    Copyright 2023 Aron Svastits
+//
+//    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 WRENCH_CONTROLLER__VISIBILITY_CONTROL_H_
+#define WRENCH_CONTROLLER__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 WRENCH_CONTROLLER_EXPORT __attribute__((dllexport))
+#define WRENCH_CONTROLLER_IMPORT __attribute__((dllimport))
+#else
+#define WRENCH_CONTROLLER_EXPORT __declspec(dllexport)
+#define WRENCH_CONTROLLER_IMPORT __declspec(dllimport)
+#endif
+#ifdef WRENCH_CONTROLLER_BUILDING_LIBRARY
+#define WRENCH_CONTROLLER_PUBLIC WRENCH_CONTROLLER_EXPORT
+#else
+#define WRENCH_CONTROLLER_PUBLIC WRENCH_CONTROLLER_IMPORT
+#endif
+#define WRENCH_CONTROLLER_PUBLIC_TYPE WRENCH_CONTROLLER_PUBLIC
+#define WRENCH_CONTROLLER_LOCAL
+#else
+#define WRENCH_CONTROLLER_EXPORT __attribute__((visibility("default")))
+#define WRENCH_CONTROLLER_IMPORT
+#if __GNUC__ >= 4
+#define WRENCH_CONTROLLER_PUBLIC __attribute__((visibility("default")))
+#define WRENCH_CONTROLLER_LOCAL __attribute__((visibility("hidden")))
+#else
+#define WRENCH_CONTROLLER_PUBLIC
+#define WRENCH_CONTROLLER_LOCAL
+#endif
+#define WRENCH_CONTROLLER_PUBLIC_TYPE
+#endif
+
+#endif  // WRENCH_CONTROLLER__VISIBILITY_CONTROL_H_

controllers/wrench_controller/include/wrench_controller/wrench_controller.hpp

@@ -0,0 +1,45 @@
+// Copyright 2022 Aron Svastits
+//
+// 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 WRENCH_CONTROLLER__WRENCH_CONTROLLER_HPP_
+#define WRENCH_CONTROLLER__WRENCH_CONTROLLER_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "forward_command_controller/multi_interface_forward_command_controller.hpp"
+
+#include "wrench_controller/visibility_control.h"
+#include "wrench_controller_parameters.hpp"
+
+namespace kuka_controllers
+{
+class WrenchController : public forward_command_controller::ForwardControllersBase
+{
+public:
+  WRENCH_CONTROLLER_PUBLIC WrenchController();
+
+private:
+  WRENCH_CONTROLLER_LOCAL void declare_parameters() override;
+  WRENCH_CONTROLLER_LOCAL controller_interface::CallbackReturn read_parameters() override;
+
+  using Params = wrench_controller::Params;
+  using ParamListener = wrench_controller::ParamListener;
+
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
+};
+}  // namespace kuka_controllers
+#endif  // WRENCH_CONTROLLER__WRENCH_CONTROLLER_HPP_

controllers/wrench_controller/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wrench_controller</name>
+  <version>0.9.2</version>
+  <description>Controller for forwarding wrench commands</description>
+
+  <maintainer email="[email protected]">Mihaly Kristofi</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>forward_command_controller</depend>
+  <depend>pluginlib</depend>
+  <depend>kuka_drivers_core</depend>
+  <depend>generate_parameter_library</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

controllers/wrench_controller/src/wrench_controller.cpp

@@ -0,0 +1,66 @@
+// Copyright 2022 Aron Svastits
+//
+// 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 "pluginlib/class_list_macros.hpp"
+
+#include "kuka_drivers_core/hardware_interface_types.hpp"
+
+#include "wrench_controller/wrench_controller.hpp"
+
+namespace kuka_controllers
+{
+
+WrenchController::WrenchController() : ForwardControllersBase() {}
+
+void WrenchController::declare_parameters()
+{
+  param_listener_ = std::make_shared<ParamListener>(get_node());
+}
+
+controller_interface::CallbackReturn WrenchController::read_parameters()
+{
+  if (!param_listener_)
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "Error encountered during init");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+  params_ = param_listener_->get_params();
+
+  if (params_.joints.empty())
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "'joints' parameter is empty");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+
+  if (params_.interface_names.empty())
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "'interfaces' parameter is empty");
+    return controller_interface::CallbackReturn::ERROR;
+  }
+
+  for (const auto & joint : params_.joints)
+  {
+    for (const auto & interface : params_.interface_names)
+    {
+      command_interface_types_.push_back(joint + "/" + interface);
+    }
+  }
+
+  return controller_interface::CallbackReturn::SUCCESS;
+}
+
+}  // namespace kuka_controllers
+
+PLUGINLIB_EXPORT_CLASS(
+  kuka_controllers::WrenchController, controller_interface::ControllerInterface)

controllers/wrench_controller/src/wrench_controller_parameters.yaml

@@ -0,0 +1,11 @@
+wrench_controller:
+  joints: {
+    type: string_array,
+    default_value: [],
+    description: "Name of the joints to control",
+  }
+  interface_names: {
+    type: string_array,
+    default_value: [],
+    description: "Names of the interfaces to command",
+  }

kuka_drivers_core/include/kuka_drivers_core/controller_names.hpp

@@ -27,6 +27,8 @@ static constexpr char FRI_STATE_BROADCASTER[] = "fri_state_broadcaster";
 // Controller names with default values
 static constexpr char JOINT_TRAJECTORY_CONTROLLER[] = "joint_trajectory_controller";
 static constexpr char JOINT_GROUP_IMPEDANCE_CONTROLLER[] = "joint_group_impedance_controller";
+static constexpr char CARTESIAN_IMPEDANCE_CONTROLLER[] = "cartesian_impedance_controller";
+
 }  // namespace kuka_drivers_core
 
 #endif  // KUKA_DRIVERS_CORE__CONTROLLER_NAMES_HPP_

kuka_drivers_core/include/kuka_drivers_core/hardware_interface_types.hpp

@@ -25,6 +25,11 @@ static constexpr char HW_IF_DAMPING[] = "damping";
 // Constant defining external torque interface
 static constexpr char HW_IF_EXTERNAL_TORQUE[] = "external_torque";
 
+// Constand defining cartesian coordinate interfaces
+static constexpr char HW_IF_X[] = "x";
+static constexpr char HW_IF_Y[] = "y";
+static constexpr char HW_IF_Z[] = "z";
+
 /* Interface prefixes */
 // Constant defining prefix for I/O interfaces
 static constexpr char IO_PREFIX[] = "gpio";
@@ -34,7 +39,10 @@ static constexpr char CONFIG_PREFIX[] = "runtime_config";
 static constexpr char FRI_STATE_PREFIX[] = "fri_state";
 // Constant defining prefix for states
 static constexpr char STATE_PREFIX[] = "state";
-
+// Constant defining wrench interface prefixes
+static constexpr char HW_IF_WRENCH_PREFIX[] = "wrench";
+static constexpr char HW_IF_FORCE_PREFIX[] = "force";
+static constexpr char HW_IF_TORQUE_PREFIX[] = "torque";
 /* Configuration interfaces */
 // Constant defining control_mode configuration interface
 static constexpr char CONTROL_MODE[] = "control_mode";

kuka_sunrise_fri_driver/config/cartesian_impedance_controller_config.yaml

@@ -0,0 +1,9 @@
+cartesian_impedance_controller:
+  ros__parameters:
+    joints:
+    - CartDOF.X
+    - CartDOF.Y
+    - CartDOF.Z
+    - CartDOF.A
+    - CartDOF.B
+    - CartDOF.C

kuka_sunrise_fri_driver/config/driver_config.yaml

@@ -1,9 +1,12 @@
 robot_manager:
   ros__parameters:
-    control_mode: 1
+    control_mode: 8
     position_controller_name: "joint_trajectory_controller"
     torque_controller_name: "effort_controller"
+    wrench_controller_name: "wrench_controller"
     receive_multiplier: 1
-    send_period_ms: 10
+    send_period_ms: 5
     joint_damping: [0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7]
     joint_stiffness: [100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0]
+    cartesian_damping: [0.7, 0.7, 0.7, 0.7, 0.7, 0.7]
+    cartesian_stiffness: [2000.0, 2000.0, 2000.0, 200.0, 200.0, 200.0]

kuka_sunrise_fri_driver/config/ros2_controller_config.yaml

@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    update_rate: 200  # Hz
 
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
@@ -12,10 +12,14 @@ controller_manager:
       type: kuka_controllers/FRIStateBroadcaster
     event_broadcaster:
       type: kuka_controllers/EventBroadcaster
+    wrench_controller:
+      type: kuka_controllers/WrenchController
 
     # Configuration controllers
     joint_group_impedance_controller:
       type: kuka_controllers/JointGroupImpedanceController
+    cartesian_impedance_controller:
+      type: kuka_controllers/JointGroupImpedanceController
     fri_configuration_controller:
       type: kuka_controllers/FRIConfigurationController
     control_mode_handler:

kuka_sunrise_fri_driver/config/wrench_controller_config.yaml

@@ -0,0 +1,12 @@
+wrench_controller:
+  ros__parameters:
+    joints:
+    - wrench
+
+    interface_names:
+    - force/x
+    - force/z
+    - force/y
+    - torque/x
+    - torque/y
+    - torque/z