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Merged in feature/interior_point_example (pull request #686)
add IPM legged robot example Approved-by: Farbod Farshidian
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ocs2_robotic_examples/ocs2_legged_robot/config/multiplot/friction_cone.xml
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ocs2_robotic_examples/ocs2_legged_robot_ros/launch/legged_robot_ipm.launch
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| <?xml version="1.0" ?> | ||
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| <launch> | ||
| <!-- visualization config --> | ||
| <arg name="rviz" default="true" /> | ||
| <arg name="description_name" default="legged_robot_description"/> | ||
| <arg name="multiplot" default="false"/> | ||
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| <!-- The task file for the mpc. --> | ||
| <arg name="taskFile" default="$(find ocs2_legged_robot)/config/mpc/task.info"/> | ||
| <!-- The reference related config file of the robot --> | ||
| <arg name="referenceFile" default="$(find ocs2_legged_robot)/config/command/reference.info"/> | ||
| <!-- The URDF model of the robot --> | ||
| <arg name="urdfFile" default="$(find ocs2_robotic_assets)/resources/anymal_c/urdf/anymal.urdf"/> | ||
| <!-- The file defining gait definition --> | ||
| <arg name="gaitCommandFile" default="$(find ocs2_legged_robot)/config/command/gait.info"/> | ||
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| <!-- rviz --> | ||
| <group if="$(arg rviz)"> | ||
| <param name="$(arg description_name)" textfile="$(arg urdfFile)"/> | ||
| <arg name="rvizconfig" default="$(find ocs2_legged_robot_ros)/rviz/legged_robot.rviz" /> | ||
| <node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rvizconfig)" output="screen" /> | ||
| </group> | ||
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| <!-- multiplot --> | ||
| <group if="$(arg multiplot)"> | ||
| <include file="$(find ocs2_legged_robot_ros)/launch/multiplot.launch"> | ||
| <arg name="metrics_config" value="$(find ocs2_legged_robot)/config/multiplot/friction_cone.xml" /> | ||
| </include> | ||
| </group> | ||
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| <!-- make the files into global parameters --> | ||
| <param name="multiplot" value="$(arg multiplot)"/> | ||
| <param name="taskFile" value="$(arg taskFile)" /> | ||
| <param name="referenceFile" value="$(arg referenceFile)" /> | ||
| <param name="urdfFile" value="$(arg urdfFile)" /> | ||
| <param name="gaitCommandFile" value="$(arg gaitCommandFile)"/> | ||
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| <node pkg="ocs2_legged_robot_ros" type="legged_robot_ipm_mpc" name="legged_robot_ipm_mpc" | ||
| output="screen" launch-prefix=""/> | ||
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| <node pkg="ocs2_legged_robot_ros" type="legged_robot_dummy" name="legged_robot_dummy" | ||
| output="screen" launch-prefix="gnome-terminal --"/> | ||
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| <node pkg="ocs2_legged_robot_ros" type="legged_robot_target" name="legged_robot_target" | ||
| output="screen" launch-prefix="gnome-terminal --"/> | ||
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| <node pkg="ocs2_legged_robot_ros" type="legged_robot_gait_command" name="legged_robot_gait_command" | ||
| output="screen" launch-prefix="gnome-terminal --"/> | ||
| </launch> |
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ocs2_robotic_examples/ocs2_legged_robot_ros/launch/multiplot.launch
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ocs2_robotic_examples/ocs2_legged_robot_ros/src/LeggedRobotIpmMpcNode.cpp
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| /****************************************************************************** | ||
| Copyright (c) 2017, Farbod Farshidian. All rights reserved. | ||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
| * Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
| * Redistributions in binary form must reproduce the above copyright notice, | ||
| this list of conditions and the following disclaimer in the documentation | ||
| and/or other materials provided with the distribution. | ||
| * Neither the name of the copyright holder nor the names of its | ||
| contributors may be used to endorse or promote products derived from | ||
| this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| ******************************************************************************/ | ||
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| #include <ros/init.h> | ||
| #include <ros/package.h> | ||
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| #include <ocs2_ipm/IpmMpc.h> | ||
| #include <ocs2_legged_robot/LeggedRobotInterface.h> | ||
| #include <ocs2_ros_interfaces/mpc/MPC_ROS_Interface.h> | ||
| #include <ocs2_ros_interfaces/synchronized_module/RosReferenceManager.h> | ||
| #include <ocs2_ros_interfaces/synchronized_module/SolverObserverRosCallbacks.h> | ||
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| #include "ocs2_legged_robot_ros/gait/GaitReceiver.h" | ||
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| using namespace ocs2; | ||
| using namespace legged_robot; | ||
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| int main(int argc, char** argv) { | ||
| const std::string robotName = "legged_robot"; | ||
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| // Initialize ros node | ||
| ::ros::init(argc, argv, robotName + "_mpc"); | ||
| ::ros::NodeHandle nodeHandle; | ||
| // Get node parameters | ||
| bool multiplot = false; | ||
| std::string taskFile, urdfFile, referenceFile; | ||
| nodeHandle.getParam("/multiplot", multiplot); | ||
| nodeHandle.getParam("/taskFile", taskFile); | ||
| nodeHandle.getParam("/urdfFile", urdfFile); | ||
| nodeHandle.getParam("/referenceFile", referenceFile); | ||
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| // Robot interface | ||
| constexpr bool useHardFrictionConeConstraint = true; | ||
| LeggedRobotInterface interface(taskFile, urdfFile, referenceFile, useHardFrictionConeConstraint); | ||
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| // Gait receiver | ||
| auto gaitReceiverPtr = | ||
| std::make_shared<GaitReceiver>(nodeHandle, interface.getSwitchedModelReferenceManagerPtr()->getGaitSchedule(), robotName); | ||
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| // ROS ReferenceManager | ||
| auto rosReferenceManagerPtr = std::make_shared<RosReferenceManager>(robotName, interface.getReferenceManagerPtr()); | ||
| rosReferenceManagerPtr->subscribe(nodeHandle); | ||
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| // MPC | ||
| IpmMpc mpc(interface.mpcSettings(), interface.ipmSettings(), interface.getOptimalControlProblem(), interface.getInitializer()); | ||
| mpc.getSolverPtr()->setReferenceManager(rosReferenceManagerPtr); | ||
| mpc.getSolverPtr()->addSynchronizedModule(gaitReceiverPtr); | ||
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| // observer for friction cone constraints (only add this for debugging as it slows down the solver) | ||
| if (multiplot) { | ||
| auto createStateInputBoundsObserver = [&](const std::string& termName) { | ||
| const ocs2::scalar_array_t observingTimePoints{0.0}; | ||
| const std::vector<std::string> topicNames{"metrics/" + termName + "/0MsLookAhead"}; | ||
| auto callback = ocs2::ros::createConstraintCallback(nodeHandle, {0.0}, topicNames, | ||
| ocs2::ros::CallbackInterpolationStrategy::linear_interpolation); | ||
| return ocs2::SolverObserver::ConstraintTermObserver(ocs2::SolverObserver::Type::Intermediate, termName, std::move(callback)); | ||
| }; | ||
| for (size_t i = 0; i < interface.getCentroidalModelInfo().numThreeDofContacts; i++) { | ||
| const std::string& footName = interface.modelSettings().contactNames3DoF[i]; | ||
| mpc.getSolverPtr()->addSolverObserver(createStateInputBoundsObserver(footName + "_frictionCone")); | ||
| } | ||
| } | ||
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| // Launch MPC ROS node | ||
| MPC_ROS_Interface mpcNode(mpc, robotName); | ||
| mpcNode.launchNodes(nodeHandle); | ||
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| // Successful exit | ||
| return 0; | ||
| } |