Feature/fri cart imp control

.github/workflows/industrial_ci.yml

@@ -33,7 +33,7 @@ jobs:
       BUILDER: colcon
       ANALYZER: sonarqube
       TEST_COVERAGE: true
-      UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master github:kroshu/kuka-external-control-sdk#master'
+      UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#feature/fri_wrench_control github:kroshu/kuka-external-control-sdk#master'
       ROS_DISTRO: jazzy
       CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
       EVENT_NAME: ${{ github.event_name }}

controllers/cart_pose_controller/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package cart_pose_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.9.0 (2024-09-23)
+------------------
+* Add controller for controlling cartesian pose
+* Contributors: Mihaly Kristofi

controllers/cart_pose_controller/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(cart_pose_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(
+  cart_pose_controller_parameters
+  src/cart_pose_controller_parameters.yaml
+)
+
+add_library(${PROJECT_NAME} SHARED
+  src/cart_pose_controller.cpp)
+
+target_include_directories(${PROJECT_NAME} PRIVATE
+  include
+)
+
+ament_target_dependencies(${PROJECT_NAME} forward_command_controller kuka_drivers_core
+)
+target_link_libraries(${PROJECT_NAME} cart_pose_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(${PROJECT_NAME} PRIVATE "CART_POSE_CONTROLLER_BUILDING_LIBRARY")
+# prevent pluginlib from using boost
+target_compile_definitions(${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/cart_pose_controller/controller_plugins.xml

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

controllers/cart_pose_controller/include/cart_pose_controller/cart_pose_controller.hpp

@@ -0,0 +1,48 @@
+// Copyright 2024 Mihaly Kristofi
+//
+// 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 CART_POSE_CONTROLLER__CART_POSE_CONTROLLER_HPP_
+#define CART_POSE_CONTROLLER__CART_POSE_CONTROLLER_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "forward_command_controller/multi_interface_forward_command_controller.hpp"
+
+#include "cart_pose_controller/visibility_control.h"
+#include "cart_pose_controller_parameters.hpp"
+
+namespace kuka_controllers
+{
+class CartPoseController : public forward_command_controller::ForwardControllersBase
+{
+public:
+  CART_POSE_CONTROLLER_PUBLIC CartPoseController();
+  CART_POSE_CONTROLLER_PUBLIC controller_interface::return_type update(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override;
+  CART_POSE_CONTROLLER_PUBLIC controller_interface::InterfaceConfiguration
+  command_interface_configuration() const override;
+
+private:
+  CART_POSE_CONTROLLER_LOCAL void declare_parameters() override;
+  CART_POSE_CONTROLLER_LOCAL controller_interface::CallbackReturn read_parameters() override;
+  using Params = cart_pose_controller::Params;
+  using ParamListener = cart_pose_controller::ParamListener;
+
+  std::shared_ptr<ParamListener> param_listener_;
+  Params params_;
+};
+}  // namespace kuka_controllers
+#endif  // CART_POSE_CONTROLLER__CART_POSE_CONTROLLER_HPP_

controllers/cart_pose_controller/include/cart_pose_controller/visibility_control.h

@@ -0,0 +1,49 @@
+//    Copyright 2024 Mihaly Kristofi
+//
+//    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 CART_POSE_CONTROLLER__VISIBILITY_CONTROL_H_
+#define CART_POSE_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 CART_POSE_CONTROLLER_EXPORT __attribute__((dllexport))
+#define CART_POSE_CONTROLLER_IMPORT __attribute__((dllimport))
+#else
+#define CART_POSE_CONTROLLER_EXPORT __declspec(dllexport)
+#define CART_POSE_CONTROLLER_IMPORT __declspec(dllimport)
+#endif
+#ifdef CART_POSE_CONTROLLER_BUILDING_LIBRARY
+#define CART_POSE_CONTROLLER_PUBLIC CART_POSE_CONTROLLER_EXPORT
+#else
+#define CART_POSE_CONTROLLER_PUBLIC CART_POSE_CONTROLLER_IMPORT
+#endif
+#define CART_POSE_CONTROLLER_PUBLIC_TYPE CART_POSE_CONTROLLER_PUBLIC
+#define CART_POSE_CONTROLLER_LOCAL
+#else
+#define CART_POSE_CONTROLLER_EXPORT __attribute__((visibility("default")))
+#define CART_POSE_CONTROLLER_IMPORT
+#if __GNUC__ >= 4
+#define CART_POSE_CONTROLLER_PUBLIC __attribute__((visibility("default")))
+#define CART_POSE_CONTROLLER_LOCAL __attribute__((visibility("hidden")))
+#else
+#define CART_POSE_CONTROLLER_PUBLIC
+#define CART_POSE_CONTROLLER_LOCAL
+#endif
+#define CART_POSE_CONTROLLER_PUBLIC_TYPE
+#endif
+
+#endif  // CART_POSE_CONTROLLER__VISIBILITY_CONTROL_H_

controllers/cart_pose_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>cart_pose_controller</name>
+  <version>0.9.2</version>
+  <description>Controller for forwarding cartesian pose 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/cart_pose_controller/src/cart_pose_controller.cpp

@@ -0,0 +1,105 @@
+// Copyright 2024 Mihaly Kristofi
+//
+// 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 "cart_pose_controller/cart_pose_controller.hpp"
+
+namespace kuka_controllers
+{
+
+CartPoseController::CartPoseController() : ForwardControllersBase() {}
+
+void CartPoseController::declare_parameters()
+{
+  param_listener_ = std::make_shared<ParamListener>(get_node());
+}
+
+controller_interface::CallbackReturn CartPoseController::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_.emplace_back(joint + "/" + interface);
+    }
+  }
+
+  return controller_interface::CallbackReturn::SUCCESS;
+}
+
+controller_interface::InterfaceConfiguration CartPoseController::command_interface_configuration()
+  const
+{
+  controller_interface::InterfaceConfiguration command_interfaces_config;
+  command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
+  command_interfaces_config.names = command_interface_types_;
+  return command_interfaces_config;
+}
+
+controller_interface::return_type CartPoseController::update(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  auto joint_commands = rt_command_ptr_.readFromRT();
+
+  // no command received yet
+  if (!joint_commands || !(*joint_commands))
+  {
+    return controller_interface::return_type::OK;
+  }
+
+  if ((*joint_commands)->data.size() != command_interfaces_.size())
+  {
+    RCLCPP_ERROR_THROTTLE(
+      get_node()->get_logger(), *(get_node()->get_clock()), 1000,
+      "command size (%zu) does not match number of interfaces (%zu)",
+      (*joint_commands)->data.size(), command_interfaces_.size());
+    return controller_interface::return_type::ERROR;
+  }
+
+  for (auto index = 0ul; index < command_interfaces_.size(); index++)
+  {
+    // RCLCPP_ERROR(get_node()->get_logger(), "cart joints %i: %f ",index,
+    // (*joint_commands)->data[index]);
+    command_interfaces_.at(index).set_value((*joint_commands)->data[index]);
+  }
+
+  return controller_interface::return_type::OK;
+}
+
+}  // namespace kuka_controllers
+
+PLUGINLIB_EXPORT_CLASS(
+  kuka_controllers::CartPoseController, controller_interface::ControllerInterface)

controllers/cart_pose_controller/src/cart_pose_controller_parameters.yaml

@@ -0,0 +1,11 @@
+cart_pose_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",
+  }

controllers/kuka_controllers/package.xml

@@ -13,6 +13,8 @@
   <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>
+  <exec_depend>cart_pose_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