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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 000000000..8c9922d1d --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +# Ned ROS stack + +Licensed under GPLv3 (see [LICENSE file](LICENSE)) + +This repository contains all ROS packages used on Ned robot (Raspberry Pi 4B - Ubuntu server 18.04.5 for ARM). +## Ned ROS Stack overview + +Here's a global overview of Ned ROS Stack : + +![Ned ros stack - global overview](https://niryo.com/wp-content/uploads/github/ned_global_overview.jpg) +## How to use Ned with a graphical interface ? + +You can [download Niryo Studio](https://niryo.com/download/?utm_source=github) (Linux, Windows and MacOS compatible). + +## Documentation link + +You can find the whole generated documentation of this project at [Niryo Documentation](https://niryo.com/) \ No newline at end of file diff --git a/niryo_robot_bringup/CMakeLists.txt b/niryo_robot_bringup/CMakeLists.txt new file mode 100644 index 000000000..8b9cdcd5c --- /dev/null +++ b/niryo_robot_bringup/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_bringup) + +find_package(catkin REQUIRED) + +catkin_package() + diff --git a/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch b/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch new file mode 100644 index 000000000..e15976653 --- /dev/null +++ b/niryo_robot_bringup/launch/desktop_gazebo_simulation.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_bringup/launch/desktop_rviz_simulation.launch b/niryo_robot_bringup/launch/desktop_rviz_simulation.launch new file mode 100644 index 000000000..45e6ece8a --- /dev/null +++ b/niryo_robot_bringup/launch/desktop_rviz_simulation.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_bringup/launch/niryo_ned_robot.launch b/niryo_robot_bringup/launch/niryo_ned_robot.launch new file mode 100644 index 000000000..ad5f26c7b --- /dev/null +++ b/niryo_robot_bringup/launch/niryo_ned_robot.launch @@ -0,0 +1,10 @@ + + + + + + > + + + + diff --git a/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml new file mode 100644 index 000000000..3510b4e29 --- /dev/null +++ b/niryo_robot_bringup/launch/niryo_robot_base_common.launch.xml @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml new file mode 100644 index 000000000..52de8c4af --- /dev/null +++ b/niryo_robot_bringup/launch/niryo_robot_base_robot.launch.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml b/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml new file mode 100644 index 000000000..107c829ab --- /dev/null +++ b/niryo_robot_bringup/launch/niryo_robot_base_simulation.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_bringup/package.xml b/niryo_robot_bringup/package.xml new file mode 100644 index 000000000..97d02dcf1 --- /dev/null +++ b/niryo_robot_bringup/package.xml @@ -0,0 +1,11 @@ + + niryo_robot_bringup + 3.0.0 + Provides roslaunch scripts to start Ned packages and initialize ROS params + Rémi Lux + Rémi Lux + Corentin Ducatez + GPLv3 + + catkin + diff --git a/niryo_robot_commander/CMakeLists.txt b/niryo_robot_commander/CMakeLists.txt new file mode 100644 index 000000000..22a64bca2 --- /dev/null +++ b/niryo_robot_commander/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_commander) + +find_package(catkin REQUIRED COMPONENTS + actionlib_msgs + geometry_msgs + niryo_robot_msgs + niryo_robot_tools +) + +add_message_files( + FILES + ArmMoveCommand.msg + PausePlanExecution.msg + RobotCommand.msg + ShiftPose.msg +) + +add_service_files( + DIRECTORY srv + FILES + GetFK.srv + GetIK.srv + JogShift.srv +) + +add_action_files( + DIRECTORY action + FILES + RobotMove.action +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES + geometry_msgs + niryo_robot_msgs + niryo_robot_tools +) + +catkin_package( + CATKIN_DEPENDS + actionlib_msgs + geometry_msgs + niryo_robot_msgs + niryo_robot_tools +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + diff --git a/niryo_robot_commander/action/RobotMove.action b/niryo_robot_commander/action/RobotMove.action new file mode 100644 index 000000000..25355a0ae --- /dev/null +++ b/niryo_robot_commander/action/RobotMove.action @@ -0,0 +1,9 @@ +# goal +niryo_robot_commander/RobotCommand cmd +--- +# result +int32 status +string message +--- +# feedback +niryo_robot_msgs/RobotState state diff --git a/niryo_robot_commander/config/commander_params.yaml b/niryo_robot_commander/config/commander_params.yaml new file mode 100644 index 000000000..3b7e4f48b --- /dev/null +++ b/niryo_robot_commander/config/commander_params.yaml @@ -0,0 +1,23 @@ +# - MoveIt! params +reference_frame: world +move_group_commander_name: arm +joint_controller_name: "/niryo_robot_follow_joint_trajectory_controller" + +# Planning settings +allow_replanning: true +goal_joint_tolerance: 0.0001 +goal_position_tolerance: 0.0001 +goal_orientation_tolerance: 0.001 + +trajectory_minimum_timeout : 3.0 +compute_plan_max_tries : 3 + +# - Other params +# "Is Active" topic's publish rate +active_publish_rate_sec: 0.1 + +command_still_active_max_tries : 3 + +tool_timeout : 3.0 + +pause_timeout : 45.0 diff --git a/niryo_robot_commander/config/jog_params.yaml b/niryo_robot_commander/config/jog_params.yaml new file mode 100644 index 000000000..b77864c88 --- /dev/null +++ b/niryo_robot_commander/config/jog_params.yaml @@ -0,0 +1,11 @@ +jog_enable_publish_rate: 1.0 + +jog_timer_rate_sec: 0.15 + +jog_limits: + translation: 0.05 # Not more than 5 cm + rotation: 0.5 # Not more that 0.5 radians + joints: 0.2 # Not more than 0.2 radians + +time_without_jog_limit: 2.0 +check_disable_jog_rate: 1.0 diff --git a/niryo_robot_commander/config/ned/robot_command_validation.yaml b/niryo_robot_commander/config/ned/robot_command_validation.yaml new file mode 100644 index 000000000..1cb974522 --- /dev/null +++ b/niryo_robot_commander/config/ned/robot_command_validation.yaml @@ -0,0 +1,28 @@ +# +# +# Validation for a RobotCommand +# (taken from urdf) +# + +position_limits: + x: + min: -0.50 + max: 0.50 + y: + min: -0.50 + max: 0.50 + z: + min: -0.15 + max: 0.60 + +rpy_limits: + roll: + min: -3.142 + max: 3.142 + pitch: + min: -3.142 + max: 3.142 + yaw: + min: -3.142 + max: 3.142 + diff --git a/niryo_robot_commander/config/rosconsole.config b/niryo_robot_commander/config/rosconsole.config new file mode 100644 index 000000000..f948f53ac --- /dev/null +++ b/niryo_robot_commander/config/rosconsole.config @@ -0,0 +1,3 @@ +# Override move_group_logger to output only warn and higher +log4j.logger.ros.moveit_core.robot_model=WARN +log4j.logger.ros.moveit_ros_occupancy_map_monitor=FATAL diff --git a/niryo_robot_commander/launch/robot_commander.launch b/niryo_robot_commander/launch/robot_commander.launch new file mode 100644 index 000000000..bef86fb02 --- /dev/null +++ b/niryo_robot_commander/launch/robot_commander.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_commander/msg/ArmMoveCommand.msg b/niryo_robot_commander/msg/ArmMoveCommand.msg new file mode 100644 index 000000000..1e5ea54c4 --- /dev/null +++ b/niryo_robot_commander/msg/ArmMoveCommand.msg @@ -0,0 +1,10 @@ +int32 cmd_type + +float64[] joints +geometry_msgs/Point position +niryo_robot_msgs/RPY rpy +geometry_msgs/Quaternion orientation +niryo_robot_commander/ShiftPose shift + +geometry_msgs/Pose[] list_poses +float32 dist_smoothing diff --git a/niryo_robot_commander/msg/PausePlanExecution.msg b/niryo_robot_commander/msg/PausePlanExecution.msg new file mode 100644 index 000000000..a02da64d1 --- /dev/null +++ b/niryo_robot_commander/msg/PausePlanExecution.msg @@ -0,0 +1,7 @@ +int8 STANDBY = 0 +int8 PLAY = 1 +int8 PAUSE = 2 +int8 RESUME = 3 +int8 CANCEL = 4 + +int8 state diff --git a/niryo_robot_commander/msg/RobotCommand.msg b/niryo_robot_commander/msg/RobotCommand.msg new file mode 100644 index 000000000..540d7782d --- /dev/null +++ b/niryo_robot_commander/msg/RobotCommand.msg @@ -0,0 +1,11 @@ +int32 MOVE_ONLY = 1 +int32 TOOL_ONLY = 2 + +int32 cmd_type + +niryo_robot_commander/ArmMoveCommand arm_cmd + +niryo_robot_tools/ToolCommand tool_cmd + +# In the future, allow a tool command to be launched at the same time as an Arm command +# 3 choices : arm only, arm + tool, tool only diff --git a/niryo_robot_commander/msg/ShiftPose.msg b/niryo_robot_commander/msg/ShiftPose.msg new file mode 100644 index 000000000..2747cea44 --- /dev/null +++ b/niryo_robot_commander/msg/ShiftPose.msg @@ -0,0 +1,2 @@ +int32 axis_number +float64 value diff --git a/niryo_robot_commander/package.xml b/niryo_robot_commander/package.xml new file mode 100644 index 000000000..3653ad235 --- /dev/null +++ b/niryo_robot_commander/package.xml @@ -0,0 +1,39 @@ + + niryo_robot_commander + 3.0.0 + + Interface between user and Moveit! to easily control Ned (arm + tools). Validates params, checks if + previous trajectory has not finished, ... + + Rémi Lux + Rémi Lux + Valentin Pitre + GPLv3 + + catkin + + actionlib_msgs + geometry_msgs + niryo_robot_msgs + niryo_robot_tools + + actionlib + actionlib_msgs + control_msgs + geometry_msgs + moveit + moveit_msgs + niryo_robot_hardware_interface + niryo_robot_msgs + niryo_robot_tools + ros_controllers + rosbridge_server + sensor_msgs + std_msgs + tf2_web_republisher + trajectory_msgs + + + python-numpy + + diff --git a/niryo_robot_commander/scripts/ArmParametersValidator.py b/niryo_robot_commander/scripts/ArmParametersValidator.py new file mode 100755 index 000000000..d1189d7e5 --- /dev/null +++ b/niryo_robot_commander/scripts/ArmParametersValidator.py @@ -0,0 +1,117 @@ +#!/usr/bin/env python + +import rospy +from urdf_parser_py.urdf import URDF + +from math import sqrt + +from niryo_robot_commander.command_enums import ArmCommanderException + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from geometry_msgs.msg import Point +from niryo_robot_msgs.msg import RPY + + +class ArmParametersValidator: + """ + Object which allows to validate arm movement + """ + + def __init__(self, validation_consts): + self.validation_consts = validation_consts + self.joints_limits = self.joints_limits_from_urdf() + + def joints_limits_from_urdf(self): + robot_urdf = URDF.from_parameter_server() + joint_name_list = ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"] + + self.joints_limits = [] + for joint in robot_urdf.joints: + if joint.name in joint_name_list: + self.joints_limits.append(joint.limit) + rospy.set_param("/niryo_robot/robot_command_validation/joint_limits/{}".format(joint.name), + {"min": joint.limit.lower, "max": joint.limit.upper}) + + return self.joints_limits + + def get_joints_limits(self): + return self.joints_limits + + def validate_trajectory(self, plan): + rospy.loginfo("Checking trajectory validity") + for joint in plan.trajectory.joint_trajectory.points: + self.validate_joints(joint.positions) + + def validate_joints(self, joint_array): + if len(joint_array) != len(self.joints_limits): + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "Joint array must have {} joints".format(len(self.joints_limits))) + + for joint_index, joint_cmd in enumerate(joint_array): + if self.joints_limits[joint_index] and not self.joints_limits[joint_index].lower <= joint_cmd <= \ + self.joints_limits[joint_index].upper: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "joint_{} not in range ({}, {})".format(joint_index + 1, self.joints_limits[ + joint_index].lower, self.joints_limits[joint_index].upper)) + + def validate_position(self, position): + if isinstance(position, Point): + x = position.x + y = position.y + z = position.z + else: + x, y, z = position + + v = self.validation_consts['position_limits'] + + if x < v['x']['min'] or x > v['x']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "x not in range ( {} , {} )".format(v['x']['min'], v['x']['max'])) + if y < v['y']['min'] or y > v['y']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "y not in range ( {} , {} )".format(v['y']['min'], v['y']['max'])) + if z < v['z']['min'] or z > v['z']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "z not in range ( {} , {} )".format(v['z']['min'], v['z']['max'])) + + def validate_orientation(self, orientation): + if isinstance(orientation, RPY): + roll = orientation.roll + pitch = orientation.pitch + yaw = orientation.yaw + else: + roll = orientation[0] + pitch = orientation[1] + yaw = orientation[2] + + v = self.validation_consts['rpy_limits'] + + if roll < v['roll']['min'] or roll > v['roll']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "roll not in range ( {} , {} )".format(v['roll']['min'], v['roll']['max'])) + + if pitch < v['pitch']['min'] or pitch > v['pitch']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "pitch not in range ( {} , {} )".format(v['pitch']['min'], v['pitch']['max'])) + + if yaw < v['yaw']['min'] or yaw > v['yaw']['max']: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "yaw not in range ( {} , {} )".format(v['yaw']['min'], v['yaw']['max'])) + + @staticmethod + def validate_orientation_quaternion(quat): + norm = quat.x ** 2 + quat.y ** 2 + quat.z ** 2 + quat.w ** 2 + norm = sqrt(norm) + if abs(norm - 1.0) > 0.001: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, + "Quaternion is not normalised.") + + @staticmethod + def validate_shift_pose(shift): + if shift.axis_number not in [0, 1, 2, 3, 4, 5]: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, "shift axis number not in [0,1,2,3,4,5]") + if shift.value < -1.0 or shift.value > 1.0: + raise ArmCommanderException(CommandStatus.INVALID_PARAMETERS, "shift value can't be null and < -1 or > 1") diff --git a/niryo_robot_commander/scripts/__init__.py b/niryo_robot_commander/scripts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_commander/scripts/arm_commander.py b/niryo_robot_commander/scripts/arm_commander.py new file mode 100644 index 000000000..e5a441776 --- /dev/null +++ b/niryo_robot_commander/scripts/arm_commander.py @@ -0,0 +1,788 @@ +#!/usr/bin/env python + +# Lib +import rospy +import moveit_commander +from tf.transformations import quaternion_from_euler, euler_from_quaternion + +import copy +import threading + +import math +import numpy as np +import random + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from actionlib_msgs.msg import GoalStatus +from geometry_msgs.msg import Pose, Point, Quaternion +from control_msgs.msg import FollowJointTrajectoryActionGoal +from control_msgs.msg import FollowJointTrajectoryActionResult +from control_msgs.msg import FollowJointTrajectoryActionFeedback +from moveit_msgs.msg import PositionIKRequest +from moveit_msgs.msg import MoveItErrorCodes +from moveit_msgs.msg import RobotState as RobotStateMoveIt +from sensor_msgs.msg import JointState +from std_msgs.msg import Empty, Header, Int32 +from trajectory_msgs.msg import JointTrajectory +from visualization_msgs.msg import Marker, MarkerArray + +from niryo_robot_msgs.msg import RobotState, RPY + +# Services +from moveit_msgs.srv import GetPositionFK, GetPositionIK +from niryo_robot_msgs.srv import Trigger +from niryo_robot_commander.srv import GetFK, GetIK +from niryo_robot_msgs.srv import SetInt + +# Enums +from niryo_robot_commander.command_enums import MoveCommandType, ArmCommanderException + + +class ArmCommander: + """ + Object which command the Arm via MoveIt + """ + + def __init__(self, parameters_validator): + + # Getting reference frame from robot_commander.launch + self.__reference_frame = rospy.get_param("~reference_frame") + + # - Subscribers + joint_controller_base_name = rospy.get_param("~joint_controller_name") + rospy.Subscriber('{}/follow_joint_trajectory/goal'.format(joint_controller_base_name), + FollowJointTrajectoryActionGoal, self.__callback_new_goal) + + rospy.Subscriber('{}/follow_joint_trajectory/result'.format(joint_controller_base_name), + FollowJointTrajectoryActionResult, self.__callback_goal_result) + + rospy.Subscriber('{}/follow_joint_trajectory/feedback'.format(joint_controller_base_name), + FollowJointTrajectoryActionFeedback, self.__callback_current_feedback) + + self.__traj_goal_pub = rospy.Publisher('{}/follow_joint_trajectory/goal'.format(joint_controller_base_name), + FollowJointTrajectoryActionGoal, queue_size=1) + + self.__joints = None + self.__joints_name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] + rospy.Subscriber('/joint_states', JointState, self.__callback_sub_joint_states) + + # - Direct topic to joint_trajectory_controller + self.__current_goal_id = None + self.__current_feedback = None + self.__current_goal_result = GoalStatus.LOST + + self.__joint_trajectory_publisher = rospy.Publisher('{}/command'.format(joint_controller_base_name), + JointTrajectory, queue_size=10) + self.__reset_controller_service = rospy.ServiceProxy('/niryo_robot/joints_interface/steppers_reset_controller', + Trigger) + + # -- Commanders + # - Move It Commander + # Get Arm MoveGroupCommander + self.__arm = moveit_commander.MoveGroupCommander(rospy.get_param("~move_group_commander_name")) + # Get end effector link + self.__end_effector_link = self.__arm.get_end_effector_link() + + # Set pose reference frame + self.__arm.set_pose_reference_frame(self.__reference_frame) + + # Set planning parameters + self.__arm.allow_replanning(rospy.get_param("~allow_replanning")) + self.__arm.set_goal_joint_tolerance(rospy.get_param("~goal_joint_tolerance")) + self.__arm.set_goal_position_tolerance(rospy.get_param("~goal_position_tolerance")) + self.__arm.set_goal_orientation_tolerance(rospy.get_param("~goal_orientation_tolerance")) + + rospy.loginfo("Arm commander - MoveIt! successfully connected to move_group '{}'".format(self.__arm.get_name())) + rospy.logdebug("Arm commander - MoveIt! will move '{}' in the" + " planning_frame '{}'".format(self.__end_effector_link, self.__arm.get_planning_frame())) + + # Validation + self.__parameters_validator = parameters_validator + + # Event which allows to timeout if trajectory take too long + self.__traj_finished_event = threading.Event() + + # Others params + self.__trajectory_minimum_timeout = rospy.get_param("~trajectory_minimum_timeout") + self.__compute_plan_max_tries = rospy.get_param("~compute_plan_max_tries") + + # - CALLABLE SERVICES + + # Arm velocity + self.__max_velocity_scaling_factor = 100 # Start robot with max velocity + self.__max_velocity_scaling_factor_pub = rospy.Publisher( + '/niryo_robot/max_velocity_scaling_factor', Int32, queue_size=10) + self.timer = rospy.Timer(rospy.Duration(1), self.__publish_arm_max_velocity_scaling_factor) + rospy.Service('/niryo_robot_commander/set_max_velocity_scaling_factor', SetInt, + self.__callback_set_max_velocity_scaling_factor) + + # Kinematics + rospy.Service('/niryo_robot/kinematics/forward', GetFK, + self.__callback_get_forward_kinematics) + rospy.Service('/niryo_robot/kinematics/inverse', GetIK, + self.__callback_get_inverse_kinematics) + + # -- Publishers call + def __publish_arm_max_velocity_scaling_factor(self, _): + """ + Publish Integer between 1 and 100 which correspond to the function name :) + :param _: TimeEvent object which is not used + :return: None + """ + msg = Int32() + msg.data = self.__max_velocity_scaling_factor + self.__max_velocity_scaling_factor_pub.publish(msg) + + def __set_position_hold_mode(self): + """ + Stop the Robot where it is + :return: None + """ + msg = JointTrajectory() + msg.header.stamp = rospy.Time.now() + msg.points = [] + self.__joint_trajectory_publisher.publish(msg) + + def __reset_controller(self): + self.__reset_controller_service() + # very important delay to avoid unexpected issues from ros_control + rospy.sleep(0.05) + + # -- Callbacks + def __callback_sub_joint_states(self, joint_states): + self.__joints = list(joint_states.position[:6]) + + def __callback_new_goal(self, msg): + """ + Happens when a new goal is published. Set the current goal + :param msg: Object containing info on the new goal + :type msg: FollowJointTrajectoryActionGoal + :return: None + """ + self.__current_goal_id = msg.goal_id.id + rospy.logdebug("Arm commander - Got a goal id : {}".format(self.__current_goal_id)) + + def __callback_current_feedback(self, msg): + self.__current_feedback = msg + + def __callback_goal_result(self, msg): + """ + Function called when the action is finished + :param msg: + :return: + """ + if msg.status.goal_id.id == self.__current_goal_id: + self.__current_goal_result = msg.status.status + rospy.logdebug("Arm commander - Result : ".format(self.__current_goal_result)) + self.__traj_finished_event.set() + else: + rospy.loginfo("Arm commander - Received result, WRONG GOAL ID") + + def __callback_set_max_velocity_scaling_factor(self, req): + if not 0 < req.value <= 100: + return {'status': CommandStatus.INVALID_PARAMETERS, 'message': 'Value must be between 1 and 100'} + try: + self.__set_max_velocity_scaling_factor(req.value / 100.0) + except ArmCommanderException as e: + return {'status': CommandStatus.ARM_COMMANDER_FAILURE, 'message': e.message} + self.__max_velocity_scaling_factor = req.value + self.__publish_arm_max_velocity_scaling_factor(None) + return {'status': CommandStatus.SUCCESS, 'message': 'Success'} + + def __callback_get_forward_kinematics(self, req): + return self.get_forward_kinematics(joints=req.joints) + + def __callback_get_inverse_kinematics(self, req): + pose = req.pose + if pose.orientation == Quaternion(): + angles = pose.rpy + qx, qy, qz, qw = quaternion_from_euler(angles.roll, angles.pitch, angles.yaw) + pose.orientation = Quaternion(qx, qy, qz, qw) + pose = Pose(pose.position, pose.orientation) + success, joints = self.get_inverse_kinematics(pose=pose) + return success, joints + + # -- Executors + def __compute_and_execute_plan_to_target(self): + """ + Firstly try to compute the plan to the set target. + If fails a first time, will try ComputePMaxTries times to stop the arm and recompute the plan + Then, execute the plan + :return: status, message + """ + for tries in range(self.__compute_plan_max_tries + 1): # We are going to try 3 times + # if we are re-trying, first stop current plan + if tries > 0: + self.stop_current_plan() + rospy.sleep(0.1) + + plan = self.__get_computed_plan() + if not plan: + raise ArmCommanderException( + CommandStatus.PLAN_FAILED, "MoveIt failed to compute the plan.") + + self.__reset_controller() + rospy.logdebug("Arm commander - Send MoveIt trajectory to controller.") + status, message = self.__execute_plan(plan) + + if status != CommandStatus.SHOULD_RESTART: + return status, message + if tries >= self.__compute_plan_max_tries: + rospy.logerr("Arm commander - Big failure from the controller. Try to restart the robot") + return CommandStatus.SHOULD_RESTART, "Please restart the robot and try again." + rospy.logwarn("Arm commander - Will retry to compute " + "& execute trajectory {} time(s)".format(self.__compute_plan_max_tries - tries)) + + def __compute_and_execute_trajectory(self, list_poses, dist_smoothing=0.01): + """ + Hard try to to smooth Trajectories, not really working at the moment + :param list_poses: list of Pose object + :param dist_smoothing: smoothing distance + :return: None + """ + # rospy.logerr(list_poses) + list_plans = [] + new_state = RobotStateMoveIt() + new_state.joint_state.header.stamp = rospy.Time.now() + new_state.joint_state.name = self.__joints_name + # rospy.logerr(list_poses) + for i, pose_target in enumerate(list_poses): + # Getting plan to target + self.__arm.set_pose_target(pose_target, self.__end_effector_link) + list_plans.append(self.__arm.plan()) + + # Generating new start state for future iteration + success, new_state.joint_state.position = self.get_inverse_kinematics(pose=pose_target) + if not success: + self.__arm.set_start_state_to_current_state() + raise ArmCommanderException(CommandStatus.INVERT_KINEMATICS_FAILURE, "IK Fail") + self.__arm.set_start_state(new_state) + + self.__arm.set_start_state_to_current_state() + plan = self.__link_plans(dist_smoothing, *list_plans) + # self.__display_traj(plan, id_=int(1000 * dist_smoothing)) + return self.__execute_plan(plan) + + def __display_traj(self, plan, id_=1): + topic_display = 'visualization_marker_array' + if topic_display in rospy.get_published_topics(): + markers_array = rospy.wait_for_message(topic_display, MarkerArray).markers + else: + markers_array = [] + marker_pub = rospy.Publisher(topic_display, MarkerArray, + queue_size=10, latch=True) + + cardboard_marker = Marker() + cardboard_marker.header.frame_id = "world" + cardboard_marker.header.stamp = rospy.Time.now() + cardboard_marker.ns = "trajectory" + cardboard_marker.id = id_ + cardboard_marker.type = cardboard_marker.LINE_STRIP + cardboard_marker.action = cardboard_marker.ADD + + cardboard_marker.scale.x = 0.01 + + cardboard_marker.color.r = random.random() + cardboard_marker.color.g = random.random() + cardboard_marker.color.b = random.random() + cardboard_marker.color.a = 0.8 + + cardboard_marker.points = [self.get_forward_kinematics(joints.positions).position for joints in + plan.joint_trajectory.points] + + cardboard_marker.lifetime = rospy.Duration(0) + markers_array.append(cardboard_marker) + marker_pub.publish(markers_array) + + def __get_computed_plan(self): + """ + Get computed plan from MoveIt + :return: the computed plan if MoveIt succeed else None + """ + plan = self.__arm.plan() + return None if not plan.joint_trajectory.points else plan + + def __compute_and_execute_cartesian_plan(self, list_poses): + """ + Compute a cartesian plan according to list_poses and then, execute it + The robot will follow a straight line between each points + If the plan is not validate, raise ArmCommanderException + :param list_poses: + :return: status, message + """ + try: + plan = self.__compute_cartesian_plan(list_poses) + except Exception: + raise ArmCommanderException(CommandStatus.ARM_COMMANDER_FAILURE, "IK Fail") + return self.__execute_plan(plan) + + def __compute_cartesian_plan(self, list_poses): + """ + Compute cartesian plan from a list of poses + As 2 poses cannot be the same, the first operation is to filter list_poses to be sure this condition is met + :param list_poses: list of Pose Object + :return: Computed plan : RobotTrajectory object + """ + + def dist_2_poses(p1, p2): + np_pose1 = np.array([p1.position.x, p1.position.y, p1.position.z, p1.orientation.x, p1.orientation.y, + p1.orientation.z, p1.orientation.w]) + np_pose2 = np.array([p2.position.x, p2.position.y, p2.position.z, p2.orientation.x, p2.orientation.y, + p2.orientation.z, p2.orientation.w]) + + return np.linalg.norm(np_pose1 - np_pose2) + + if len(list_poses) == 0: + return GoalStatus.REJECTED, "No Waypoints" + for i in reversed(range(len(list_poses) - 1)): + if dist_2_poses(list_poses[i + 1], list_poses[i]) < 0.001: + list_poses.pop(i) + trajectory_plan, fraction = self.__arm.compute_cartesian_path(list_poses, eef_step=0.05, jump_threshold=0.0) + return trajectory_plan + + def __execute_plan(self, plan): + """ + Execute the plan given + Firstly, calculate a timeout which is : 1.5 times *the estimated time of the plan* + Then send execute command to MoveIt and wait until the execution finished or the timeout happens + :param plan: Computed plan + :type plan: RobotTrajectory + :return: CommandStatus, message + """ + if not plan: + raise ArmCommanderException(CommandStatus.NO_PLAN_AVAILABLE, + "You are trying to execute a plan which doesn't exist") + # Reset + self.__traj_finished_event.clear() + self.__current_goal_id = None + self.__current_goal_result = GoalStatus.LOST + + trajectory_time_out = max(1.5 * self.__get_plan_time(plan), self.__trajectory_minimum_timeout) + + # Send trajectory and wait + self.__arm.execute(plan, wait=False) + if self.__traj_finished_event.wait(trajectory_time_out): + if self.__current_goal_result == GoalStatus.SUCCEEDED: + return CommandStatus.SUCCESS, "Command has been successfully processed" + elif self.__current_goal_result == GoalStatus.PREEMPTED: + return CommandStatus.STOPPED, "Command has been successfully stopped" + elif self.__current_goal_result == GoalStatus.ABORTED: + # if joint_trajectory_controller aborts the goal, it will still try to + # finish executing the trajectory --> so we ask it to stop from here + # http://wiki.ros.org/joint_trajectory_controller -> preemption policy + # Send an empty trajectory from the topic interface + self.__set_position_hold_mode() + abort_str = "Command has been aborted due to a collision or " \ + "a motor not able to follow the given trajectory" + return CommandStatus.CONTROLLER_PROBLEMS, abort_str + + else: # problem from ros_control itself + self.__current_goal_id = None + return CommandStatus.SHOULD_RESTART, "" + else: + # This timeout will happen if something fails in ros_control + # It is not related to a trajectory failure + self.__current_goal_id = None + return CommandStatus.SHOULD_RESTART, "" + + # --- Callable functions + + def stop_arm(self): + rospy.loginfo("Arm commander - Send STOP to arm") + self.__arm.stop() + + def stop_current_plan(self): + rospy.loginfo("Arm commander - Send STOP to arm and RESET to controller") + self.__arm.stop() + self.__reset_controller() + + def set_joint_target(self, arm_cmd): + """ + Set controller target to a joint target + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + joints = list(arm_cmd.joints) + self.__validate_params_move(MoveCommandType.JOINTS, joints) + return self.__set_joint_target_moveit(joints) + + def __set_joint_target_moveit(self, joints): + """ + Set MoveIt target to a joint target + Then execute the trajectory to the target + :param joints: joints list + :type : list[float] + :return: status, message + """ + self.__arm.set_joint_value_target(joints) + return self.__compute_and_execute_plan_to_target() + + def set_pose_target_from_cmd(self, arm_cmd): + """ + Set MoveIt target to a pose target with RPY + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + self.__validate_params_move(MoveCommandType.POSE, arm_cmd.position, arm_cmd.rpy) + x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z + roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw + return self.__set_pose_target_moveit(x, y, z, roll, pitch, yaw) + + def __set_pose_target_moveit(self, x, y, z, roll, pitch, yaw): + self.__arm.set_pose_target([x, y, z, roll, pitch, yaw], self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_position_target(self, arm_cmd): + """ + Set MoveIt target to a position target + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + self.__validate_params_move(MoveCommandType.POSITION, arm_cmd.position) + x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z + self.__arm.set_position_target([x, y, z], self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_rpy_target(self, arm_cmd): + """ + Set MoveIt target to a rpy target + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + self.__validate_params_move(MoveCommandType.RPY, arm_cmd.rpy) + roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw + self.__arm.set_rpy_target([roll, pitch, yaw], self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_pose_quat_target(self, arm_cmd): + """ + Set MoveIt target to a Pose target with quaternion + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + self.__validate_params_move(MoveCommandType.POSE_QUAT, arm_cmd.position, arm_cmd.orientation) + x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z + q_x, q_y, q_z, q_w = arm_cmd.orientation.x, arm_cmd.orientation.y, arm_cmd.orientation.z, arm_cmd.orientation.w + self.__arm.set_pose_target([x, y, z, q_x, q_y, q_z, q_w], self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_pose_quat_from_pose(self, pose): + """ + Set MoveIt target to a Pose target with quaternion + Then execute the trajectory to the target + :param pose: Pose message containing target values + :type : Pose + :return: status, message + """ + self.__validate_params_move(MoveCommandType.POSE_QUAT, pose.position, pose.orientation) + self.__arm.set_pose_target(pose, self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_shift_pose_target(self, arm_cmd): + """ + Set MoveIt target to a shifted target from actual position + Then execute the trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + self.__validate_params_move(MoveCommandType.SHIFT_POSE, arm_cmd.shift) + self.__arm.shift_pose_target(arm_cmd.shift.axis_number, arm_cmd.shift.value, self.__end_effector_link) + return self.__compute_and_execute_plan_to_target() + + def set_linear_trajectory(self, arm_cmd): + """ + Set MoveIt target to a Pose target with RPY + Then execute a Linear trajectory to the target + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + x, y, z = arm_cmd.position.x, arm_cmd.position.y, arm_cmd.position.z + roll, pitch, yaw = arm_cmd.rpy.roll, arm_cmd.rpy.pitch, arm_cmd.rpy.yaw + x_q, y_q, z_q, w_q = quaternion_from_euler(roll, pitch, yaw) + msg_pose = Pose(Point(x, y, z), Quaternion(x_q, y_q, z_q, w_q)) + + return self.__compute_and_execute_cartesian_plan([msg_pose]) + + # - Trajectory + def execute_trajectory(self, arm_cmd): + """ + Version 1 : Go to first pose using "classic" trajectory then compute cartesian path between all points + Version 2 : Going to all poses one by one using "classical way" + Version 3 : Generate all plans, merge them & smooth transitions + + """ + list_poses = arm_cmd.list_poses + if len(list_poses) == 0: + return CommandStatus.NO_PLAN_AVAILABLE, "Can't generate plan from a list of length 0" + + dist_smoothing = arm_cmd.dist_smoothing + + if dist_smoothing == 0.0: + if len(list_poses) < 3: # Classical moves + for pose in list_poses: + ret = self.set_pose_quat_from_pose(pose) + if ret[0] != CommandStatus.SUCCESS: + return ret + return CommandStatus.SUCCESS, "Trajectory is Good!" + else: # Linear path + # We are going to the initial pose using "classical" method + pose_init = list_poses.pop(0) + self.set_pose_quat_from_pose(pose_init) + return self.__compute_and_execute_cartesian_plan(list_poses) + + else: + return self.__compute_and_execute_trajectory(list_poses, dist_smoothing=dist_smoothing) + + def draw_spiral_trajectory(self, arm_cmd): + """ + Generate waypoints to draw a spiral and generate a cartesian path with these waypoints + Then execute the trajectory plan + + :param arm_cmd: ArmMoveCommand message containing target values + :type : ArmMoveCommand + :return: status, message + """ + min_radius = 0.003 + radius, angle_step, total_steps = [float(arg) for arg in arm_cmd.args] + + center_position = self.__arm.get_current_pose().pose.position + target_pose = self.__arm.get_current_pose().pose + + waypoints = [] + angle_step_rad = math.radians(angle_step) + angle = 0 + for i in range(2): + for dist_from_center in np.linspace(0, float(radius), num=total_steps): + if i == 1: + dist_from_center = radius - dist_from_center + dist_from_center += min_radius + y_offset = dist_from_center * math.cos(angle) + z_offset = dist_from_center * math.sin(angle) + target_pose.position.y = center_position.y + y_offset + target_pose.position.z = center_position.z + z_offset + waypoints.append(copy.deepcopy(target_pose)) + angle += angle_step_rad + return self.__compute_and_execute_cartesian_plan(waypoints) + + def __retime_plan(self, plan, velocity_scaling_factor=1.0, acceleration_scaling_factor=1.0, optimize=False): + """ + Take a plan and retime it + """ + start_state = self.__get_plan_start_robot_state(plan) + + if optimize: + algorithm = "time_optimal_trajectory_generation" + else: + algorithm = "iterative_time_parameterization" + + plan_out = self.__arm.retime_trajectory(start_state, plan, + velocity_scaling_factor=velocity_scaling_factor, + acceleration_scaling_factor=acceleration_scaling_factor, + algorithm=algorithm + ) + return plan_out + + def __get_plan_start_robot_state(self, plan): + start_state = RobotStateMoveIt() + start_state.joint_state.header.frame_id = "world" + start_state.joint_state.position = plan.joint_trajectory.points[0].positions + start_state.joint_state.name = self.__joints_name + return start_state + + def __link_plans(self, dist_smoothing=0.0, *plans): + """ + Link plans together with a smooth transition between each of them + """ + + def dist_2_poses(p1, p2): + np_pose1 = np.array([p1.position.x, p1.position.y, p1.position.z]) + np_pose2 = np.array([p2.position.x, p2.position.y, p2.position.z]) + dist = np.linalg.norm(np_pose1 - np_pose2) + return dist + + def find_limit_point(plan_, dist_smooth, reverse): + len_plan = len(plan_.joint_trajectory.points) + ind_ref = -1 if reverse else 0 + reference_pos = self.get_forward_kinematics(plan_.joint_trajectory.points[ind_ref].positions) + for raw_ind in range(1, len_plan): + if reverse: + ind = len_plan - raw_ind - 1 + else: + ind = raw_ind + pose_i = self.get_forward_kinematics(plan_.joint_trajectory.points[ind].positions) + dist_pose_to_target = dist_2_poses(reference_pos, pose_i) + if dist_pose_to_target > dist_smooth: + return ind + else: + if reverse: + return 0 + else: + return len_plan - 1 + + smooth_zones = [] + offset = 0 + for plan_in, plan_out in zip(plans[:-1], plans[1:]): + begin_index = offset + find_limit_point(plan_in, dist_smoothing, reverse=True) + offset += len(plan_in.joint_trajectory.points) - 1 + mid_index = offset + end_index = mid_index + find_limit_point(plan_out, dist_smoothing, reverse=False) + smooth_zones.append((begin_index, mid_index, end_index)) + + big_plan = plans[0] + time_offset = big_plan.joint_trajectory.points[-1].time_from_start + + for plan in plans[1:]: + for i in range(1, len(plan.joint_trajectory.points)): + plan.joint_trajectory.points[i].time_from_start += time_offset + + big_plan.joint_trajectory.points += plan.joint_trajectory.points[1:] + + time_offset += plan.joint_trajectory.points[-1].time_from_start + + def ind_to_pos(ind): + return np.array(big_plan.joint_trajectory.points[ind].positions) + + def bezier(p0, p1, p2, t): + return ((1 - t) ** 2) * p0 + 2 * (1 - t) * t * p1 + (t ** 2) * p2 + + for smooth_zone in smooth_zones: + begin_index, mid_index, end_index = smooth_zone + begin_positions, mid_positions, end_positions = map(ind_to_pos, [begin_index, mid_index, end_index]) + for point_index in range(begin_index + 1, end_index): + ratio = float(point_index - begin_index) / (end_index - begin_index) + bezier_result = bezier(begin_positions, mid_positions, end_positions, ratio) + big_plan.joint_trajectory.points[point_index].positions = bezier_result + + final_plan = self.__retime_plan(big_plan, optimize=True) + return final_plan + + def __set_max_velocity_scaling_factor(self, percentage): + """ + Ask MoveIt to set the relative speed to (percentage)% + :param percentage: + :return: None + """ + self.__arm.set_max_velocity_scaling_factor(percentage) + + # - General Purposes + + def __validate_params_move(self, command_type, *args): + """ + Validate parameters according to command_type + The function will raise an error if command is not valid + :param command_type: + :type command_type: MoveCommandType + :param args: parameters + :return: None + """ + if command_type == MoveCommandType.JOINTS: + self.__parameters_validator.validate_joints(args[0]) + elif command_type == MoveCommandType.POSE: + self.__parameters_validator.validate_position(args[0]) + self.__parameters_validator.validate_orientation(args[1]) + elif command_type == MoveCommandType.POSITION: + self.__parameters_validator.validate_position(args[0]) + elif command_type == MoveCommandType.RPY: + self.__parameters_validator.validate_orientation(args[0]) + elif command_type == MoveCommandType.EXECUTE_TRAJ: + self.__parameters_validator.validate_trajectory(args[0]) + elif command_type == MoveCommandType.POSE_QUAT: + self.__parameters_validator.validate_position(args[0]) + self.__parameters_validator.validate_orientation_quaternion(args[1]) + elif command_type == MoveCommandType.SHIFT_POSE: + self.__parameters_validator.validate_shift_pose(args[0]) + else: + raise ArmCommanderException(CommandStatus.UNKNOWN_COMMAND, "Wrong command type") + + @staticmethod + def __get_plan_time(plan): + """ + Extract duration from a plan. If it cannot be done, raise ArmCommanderException + :param plan: plan given by MoveIt + :type plan: RobotTrajectory + :return: duration in seconds + """ + if plan and plan.joint_trajectory.points: + return plan.joint_trajectory.points[-1].time_from_start.to_sec() + else: + raise ArmCommanderException(CommandStatus.NO_PLAN_AVAILABLE, + "No current plan found") + + def get_forward_kinematics(self, joints): + """ + Get forward kinematic from joints + :param joints: list of joints value + :type joints: Pose + :return: A RobotState object + """ + try: + rospy.wait_for_service('compute_fk', 2) + except (rospy.ServiceException, rospy.ROSException) as e: + rospy.logerr("Arm commander - Impossible to connect to FK service : " + str(e)) + return RobotState() + try: + moveit_fk = rospy.ServiceProxy('compute_fk', GetPositionFK) + fk_link = ['base_link', 'tool_link'] + header = Header(0, rospy.Time.now(), "world") + rs = RobotStateMoveIt() + rs.joint_state.name = self.__joints_name + rs.joint_state.position = joints + response = moveit_fk(header, fk_link, rs) + except rospy.ServiceException as e: + rospy.logerr("Arm commander - Failed to get FK : " + str(e)) + return RobotState() + + quaternion = [response.pose_stamped[1].pose.orientation.x, response.pose_stamped[1].pose.orientation.y, + response.pose_stamped[1].pose.orientation.z, response.pose_stamped[1].pose.orientation.w] + + rpy = euler_from_quaternion(quaternion) + quaternion = (round(quaternion[0], 3), round(quaternion[1], 3), round(quaternion[2], 3), + round(quaternion[3], 3)) + point = (round(response.pose_stamped[1].pose.position.x, 3), + round(response.pose_stamped[1].pose.position.y, 3), + round(response.pose_stamped[1].pose.position.z, 3)) + + return RobotState(Point(*point), RPY(*rpy), Quaternion(*quaternion)) + + def get_inverse_kinematics(self, pose): + try: + rospy.wait_for_service('compute_ik', 2) + except (rospy.ServiceException, rospy.ROSException) as e: + rospy.logerr("Arm commander - Impossible to connect to IK service : " + str(e)) + return False, [] + try: + moveit_ik = rospy.ServiceProxy('compute_ik', GetPositionIK) + req = PositionIKRequest() + req.group_name = self.__arm.get_name() + req.ik_link_name = self.__end_effector_link + + req.robot_state.joint_state.name = self.__joints_name + req.robot_state.joint_state.position = self.__joints + req.pose_stamped.pose = pose + + response = moveit_ik(req) + except rospy.ServiceException as e: + rospy.logerr("Arm commander - Service call failed: {}".format(e)) + return False, [] + if response.error_code.val == MoveItErrorCodes.NO_IK_SOLUTION: + rospy.logerr("Arm commander - MoveIt didn't find an IK solution") + return False, [] + elif response.error_code.val != MoveItErrorCodes.SUCCESS: + rospy.logerr("Arm commander - IK Failed : code error {}".format(response.error_code.val)) + return False, [] + return True, list(response.solution.joint_state.position[:6]) diff --git a/niryo_robot_commander/scripts/jog_controller.py b/niryo_robot_commander/scripts/jog_controller.py new file mode 100755 index 000000000..c758401fc --- /dev/null +++ b/niryo_robot_commander/scripts/jog_controller.py @@ -0,0 +1,327 @@ +#!/usr/bin/env python +""" +The Jog Controller allows to easily command the robot manually. It means that you can use +mouse input, Leap Motion, Wii Controller or even Image processing to calculate determine +where the robot should go +This controller can be used : +- directly by using ROS Topic | ROS Low Level (see the file client_jog_interface_mouse.py which shows how to use +a mouse to control the robot) +- with Python ROS Wrapper | "Medium" Level +- through the TCP server | High Level +""" + +import rospy +import math +from niryo_robot_commander.command_enums import ArmCommanderException + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from geometry_msgs.msg import Quaternion +from sensor_msgs.msg import JointState +from std_msgs.msg import Bool +from trajectory_msgs.msg import JointTrajectory +from trajectory_msgs.msg import JointTrajectoryPoint + +from niryo_robot_msgs.msg import HardwareStatus +from niryo_robot_msgs.msg import RobotState + +# Services +from niryo_robot_commander.srv import GetIK +from niryo_robot_commander.srv import JogShift, JogShiftRequest +from niryo_robot_msgs.srv import SetBool +from niryo_robot_msgs.srv import GetBool + + +class JogController: + def __init__(self, parameters_validator): + # - Publisher which publishes if JogController is enabled + self._enabled = False + self._jog_enabled_publisher = rospy.Publisher('/niryo_robot/jog_interface/is_enabled', + Bool, queue_size=1) + rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~jog_enable_publish_rate")), + self._publish_jog_enabled) + self._check_disable_jog_timer = None + self._last_command_timer = rospy.get_time() + + self._publish_jog_enabled() + + # Service to enable Jog Controller + rospy.Service('/niryo_robot/jog_interface/enable', + SetBool, self.__callback_enable_jog) + + # - Direct publisher to joint controller + self._joint_trajectory_publisher = rospy.Publisher( + rospy.get_param("~joint_controller_name") + '/command', JointTrajectory, + queue_size=3) + # Publishing rate + self._timer_rate = rospy.get_param("~jog_timer_rate_sec") + self._publisher_joint_trajectory_timer = None + + # - Subscribers + self._joint_states = None + rospy.Subscriber('/joint_states', JointState, + self.__callback_joint_states) + + self._robot_state = None + rospy.Subscriber('/niryo_robot/robot_state', RobotState, + self.__callback_sub_robot_state) + + self.__learning_mode_on = None + rospy.Subscriber('/niryo_robot/learning_mode/state', Bool, + self.__callback_sub_learning_mode) + + self.__hardware_status = None + rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus, + self.__callback_hardware_status) + + # - Service + rospy.Service('/niryo_robot/jog_interface/jog_shift_commander', JogShift, + self.__callback_jog_commander) + + # - Kinematics + self._new_robot_state = RobotState() + self._last_robot_state_published = RobotState() + self._service_ik = rospy.ServiceProxy('/niryo_robot/kinematics/inverse', GetIK) + + # - Values Init + self._shift_mode = None + self._last_target_values = [0.0 for _ in range(6)] + self._target_values = None + + # Validation + self.__parameters_validator = parameters_validator + jog_limits = rospy.get_param("~jog_limits") + self.__pose_translation_max = jog_limits["translation"] + self.__pose_rotation_max = jog_limits["rotation"] + self.__joints_rotation_max = jog_limits["joints"] + + # - Others param + self.__time_without_jog_limit = rospy.get_param("~time_without_jog_limit") + + # - Callbacks + + def __callback_sub_robot_state(self, robot_state): + self._robot_state = robot_state + + def __callback_joint_states(self, joint_states_msg): + self._joint_states = joint_states_msg.position[:6] + + def __callback_sub_learning_mode(self, learning_mode): + self.__learning_mode_on = learning_mode.data + + def __callback_hardware_status(self, msg): + self.__hardware_status = msg + + def __callback_enable_jog(self, req): + if req.value: + return self.enable() + else: + return self.disable() + + def __callback_jog_commander(self, msg): + if self.__hardware_status.calibration_needed or self.__hardware_status.calibration_in_progress: + return CommandStatus.ABORTED, "Cannot send command cause Jog because calibration is not done" + if self.__learning_mode_on: + try: + rospy.wait_for_service('/niryo_robot/learning_mode/activate', 2) + service = rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool) + result = service(True) + if result.status != CommandStatus.SUCCESS: + return CommandStatus.ABORTED, "Cannot send command cause Jog because learning mode is on and" \ + " cannot be disabled" + rospy.sleep(0.1) + except (rospy.ROSException, rospy.ServiceException): + return CommandStatus.ABORTED, "Error while trying to turn Off learning mode" + + if not self._enabled: + ret, str_msg = self.enable() + if ret == CommandStatus.ABORTED: + return CommandStatus.ABORTED, "Cannot send command cause Jog is not activated and cannot be" + self._last_command_timer = rospy.get_time() + + shift_mode = msg.cmd + if shift_mode != self._shift_mode: + self._reset_last_pub() + self._shift_mode = shift_mode + + shift_command = list(msg.shift_values) + if shift_mode == JogShiftRequest.POSE_SHIFT: + shift_command[:3] = [min([v, math.copysign(self.__pose_translation_max, v)], key=abs) for v in + shift_command[:3]] + shift_command[3:] = [min([v, math.copysign(self.__pose_rotation_max, v)], key=abs) for v in + shift_command[3:]] + try: + success, potential_target_values = self._get_new_joints_w_ik(shift_command) + except ArmCommanderException as e: + return e.status, "Error while validating pose : {}".format(e.message) + if not success: + return CommandStatus.NO_PLAN_AVAILABLE, "Unable to find on invert kinematics for the target position" + else: + self._target_values = potential_target_values + else: + # Accumulate multiple commands if they come faster than the publish rate + shift_command = [min([v, math.copysign(self.__joints_rotation_max, v)], key=abs) for v in shift_command] + target_values = [actual + shift for actual, shift in + zip(self._last_target_values, shift_command)] + + target_values = self.__limit_params_joints(target_values) + + try: + self.__validate_params_joints(target_values) + except ArmCommanderException as e: + return e.status, "Error while validating joints : {}".format(e.message) + + self._target_values = target_values + self._new_robot_state = RobotState() + return CommandStatus.SUCCESS, "Command send" + + # - Publishers + + def _publish_jog_enabled(self, *_): + msg = Bool() + msg.data = self._enabled + try: + self._jog_enabled_publisher.publish(msg) + except rospy.ROSException: + return + + def _publish_joint_trajectory(self, *_): + if not self._enabled: + return + if self._target_values is None: + return + msg = JointTrajectory() + msg.header.stamp = rospy.Time.now() + msg.joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] + + point = JointTrajectoryPoint() + point.positions = self._target_values + point.time_from_start = rospy.Duration(self._timer_rate) + + msg.points = [point] + + self._joint_trajectory_publisher.publish(msg) + + # Reset Target + self._target_values = None + + # Save state for next time + self._last_target_values = point.positions + self._last_robot_state_published = self._new_robot_state + + # - Setters & Getters + @staticmethod + def can_be_enable(): + """ + Check if Jog Controller can be enabled + Basically, it checks if commander is running + + :return: Bool indicating if Controller can be enabled + :rtype: bool + """ + try: + rospy.wait_for_service('/niryo_robot_commander/is_active') + is_active_service = rospy.ServiceProxy('/niryo_robot_commander/is_active', GetBool) + response = is_active_service() + return not response.value + except rospy.ServiceException: + return False + + def enable(self): + """ + Enable jog controller if possible + + :return: status, message + :rtype: (GoalStatus, str) + """ + if self.can_be_enable(): + rospy.wait_for_message('/niryo_robot/robot_state', RobotState, timeout=2) + rospy.wait_for_message('/joint_states', JointState, timeout=2) + self._enabled = True + self._reset_last_pub() + self._last_command_timer = rospy.get_time() + self._publisher_joint_trajectory_timer = rospy.Timer(rospy.Duration(self._timer_rate), self._publish_joint_trajectory) + self._check_disable_jog_timer = rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~jog_enable_publish_rate")), + self._check_for_disable) + msg_str = "Jog Controller - Enabled" + rospy.loginfo(msg_str) + return CommandStatus.SUCCESS, msg_str + else: + msg_str = "Jog Controller - Wait for the end of command to enable Jog Controller" + rospy.logwarn(msg_str) + return CommandStatus.ABORTED, msg_str + + def disable(self): + """ + Disable jog controller + + :return: status, message + :rtype: (GoalStatus, str) + """ + self._enabled = False + self._shift_mode = None + self._target_values = None + # Shutdown timer (Only launched when jog enabled) + self._publisher_joint_trajectory_timer.shutdown() + self._publisher_joint_trajectory_timer = None + self._check_disable_jog_timer.shutdown() + self._check_disable_jog_timer = None + + msg_str = "Jog Controller - Disabled" + rospy.loginfo(msg_str) + return CommandStatus.SUCCESS, msg_str + + def is_enabled(self): + """ + Return the if Jog Controller is enable + + :return: True if enable else False + :rtype: bool + """ + return self._enabled + + # - Useful Functions + def _check_for_disable(self, *_): + if not self.is_enabled(): + return + delta_time = rospy.get_time() - self._last_command_timer + if delta_time > self.__time_without_jog_limit: + self.disable() + + def _reset_last_pub(self): + self._last_target_values = self._joint_states + self._last_robot_state_published = self._robot_state + + def _get_new_joints_w_ik(self, shift_command): + self._new_robot_state = RobotState() + self._new_robot_state.position.x = self._last_robot_state_published.position.x + shift_command[0] + self._new_robot_state.position.y = self._last_robot_state_published.position.y + shift_command[1] + self._new_robot_state.position.z = self._last_robot_state_published.position.z + shift_command[2] + self._new_robot_state.rpy.roll = self._last_robot_state_published.rpy.roll + shift_command[3] + self._new_robot_state.rpy.pitch = self._last_robot_state_published.rpy.pitch + shift_command[4] + self._new_robot_state.rpy.yaw = self._last_robot_state_published.rpy.yaw + shift_command[5] + self._new_robot_state.orientation = Quaternion() + + self.__validate_params_pose(self._new_robot_state) + + response = self._service_ik(self._new_robot_state) + return response.success, response.joints + + def __validate_params_pose(self, new_robot_state): + self.__parameters_validator.validate_position(new_robot_state.position) + self.__parameters_validator.validate_orientation(new_robot_state.rpy) + + def __validate_params_joints(self, joints): + self.__parameters_validator.validate_joints(joints) + + def __limit_params_joints(self, joints): + joints_limits = self.__parameters_validator.get_joints_limits() + for j, joint_value in enumerate(joints): + joints[j] = max(joints_limits[j].lower, min(joints_limits[j].upper, joint_value)) + return joints + + +if __name__ == '__main__': + pass diff --git a/niryo_robot_commander/scripts/motor_debug.py b/niryo_robot_commander/scripts/motor_debug.py new file mode 100644 index 000000000..444681433 --- /dev/null +++ b/niryo_robot_commander/scripts/motor_debug.py @@ -0,0 +1,235 @@ +#!/usr/bin/env python + +from niryo_robot_python_ros_wrapper.ros_wrapper import * +import rospy +import actionlib +import math + +# Services +from roscpp.srv import SetLoggerLevel, SetLoggerLevelRequest, GetLoggers +from niryo_robot_msgs.srv import Trigger, SetBool, SetInt +from std_srvs.srv import Empty, EmptyResponse +from niryo_robot_rpi.srv import LedBlinker, LedBlinkerRequest + +# Messages +from control_msgs.msg import FollowJointTrajectoryAction +from control_msgs.msg import FollowJointTrajectoryGoal +from std_msgs.msg import Bool +from trajectory_msgs.msg import JointTrajectoryPoint +from niryo_robot_msgs.msg import CommandStatus + +CHECK_EQUAT_STATES_SENSIBILITY = 0.2 + + +class MotordebugException(Exception): + pass + + +class MotorDebug: + def __init__(self): + # - Action serv + self.__action_server_name = rospy.get_param("~joint_controller_name") + "/follow_joint_trajectory" + + self.__traj_client = actionlib.SimpleActionClient(self.__action_server_name, FollowJointTrajectoryAction) + self.__traj_client.wait_for_server() + + # - Log services + self.__hardware_log_level_service_name = "/niryo_robot_hardware_interface/set_logger_level" + self.__hardware_log_level_service = rospy.ServiceProxy(self.__hardware_log_level_service_name, SetLoggerLevel) + self.__get_hardware_loggers_service_name = "/niryo_robot_hardware_interface/get_loggers" + self.__get_hardware_loggers_service = rospy.ServiceProxy(self.__get_hardware_loggers_service_name, GetLoggers) + + self.__commander_log_level_service_name = "/niryo_robot_commander/set_logger_level" + self.__commander_log_level_service = rospy.ServiceProxy(self.__commander_log_level_service_name, SetLoggerLevel) + + # - Services + self.__motor_debug_service_start = rospy.Service('~motor_debug_start', SetInt, + self.__callback_motor_debug_start) + self.__motor_debug_service_stop = rospy.Service('~motor_debug_stop', Empty, self.__callback_motor_debug_stop) + + self.__motor_report_service_name = "/niryo_robot_hardware_interface/launch_motors_report" + self.__motor_report_service = rospy.ServiceProxy(self.__motor_report_service_name, Trigger) + self.__stop_motor_report_service_name = "/niryo_robot_hardware_interface/stop_motors_report" + self.__stop_motor_report_service = rospy.ServiceProxy(self.__stop_motor_report_service_name, Trigger) + + self.__set_led_state_service = rospy.ServiceProxy('/niryo_robot_rpi/set_led_custom_blinker', + LedBlinker) + + self.__reset_controller_service = rospy.ServiceProxy('/niryo_robot/joints_interface/steppers_reset_controller', + Trigger) + + # - Subscribers + self.__is_active_publisher = rospy.Subscriber('~is_active', Bool, self.__callback_commander_is_active) + + # - Params + self._joint_limits = rospy.get_param("/niryo_robot/robot_command_validation/joint_limits") + self._joint_names = sorted(self._joint_limits.keys()) + + self.__is_running = False + self.__robot = NiryoRosWrapper() + + def __callback_commander_is_active(self, msg): + # if commander is active, stop motor debug + if msg.data: + self.__is_running = False + + def __callback_motor_debug_stop(self, _): + self.__is_running = False + self.__stop_motor_report_service() + self.__cancel() + #self._set_log_debug(False) + self.__robot.set_learning_mode(True) + self.__set_led_state_service(False, 0, 0, 0) + return EmptyResponse() + + def __callback_motor_debug_start(self, req): + if not self.__is_running: + self.__run(req.value) + return CommandStatus.SUCCESS, "Success" + return CommandStatus.ABORTED, "Debug motor already started or commander is running" + + def __check_state(self): + if not self.__is_running: + rospy.logwarn("Motor Debug - Cancelled") + self.__cancel() + raise MotordebugException("Cancelled") + + def __cancel(self): + self.__reset_controller_service() + # very important delay to avoid unexpected issues from ros_control + rospy.sleep(0.05) + + def __run(self, nb_loops): + try: + error_counter = 0 + self.__is_running = True + self.__set_led_state_service(False, 0, 0, 0) + if nb_loops < 1: + #self._set_log_debug(True) + self._display_hardware_params() + status, message = self._scan_with_motor_report() + self.__check_state() + rospy.loginfo("Motor Debug - {}".format(message)) + + if status != CommandStatus.SUCCESS: + error_counter += 1 + else: + default_joint_pose = [0.0] * len(self._joint_names) + self.__robot.calibrate_auto() + self.__robot.set_learning_mode(False) + rospy.sleep(1) + + rospy.loginfo("Motor Debug - Go to default pose") + error_counter += 0 if self._play_trajectory(self._create_goal(default_joint_pose)) else 1 + for _ in range(nb_loops): + for joint_index, joint_name in enumerate(self._joint_names): + rospy.loginfo("Motor Debug - Test {} limits".format(joint_name)) + for limit_type in ["min", "max"]: + if joint_index == 1 and limit_type == 'min': + continue + rospy.loginfo("Motor Debug - Go to {} limit of {}".format(limit_type, joint_name)) + test_limit_joints = default_joint_pose[:] + test_limit_joints[joint_index] = self._joint_limits[joint_name][limit_type] + test_limit_joints[joint_index] -= math.copysign(0.1, test_limit_joints[joint_index]) + error_counter += 0 if self._play_trajectory(self._create_goal(test_limit_joints)) else 1 + + rospy.loginfo("Motor Debug - Return to default pose") + error_counter += 0 if self._play_trajectory(self._create_goal(default_joint_pose)) else 1 + + self.__set_led_state_service(error_counter > 0, 5, LedBlinkerRequest.LED_WHITE, 60) + if error_counter > 0: + break + + rospy.sleep(1) + self.__robot.set_learning_mode(True) + #self._set_log_debug(False) + self.__is_running = False + + self.__set_led_state_service(error_counter > 0, 5, LedBlinkerRequest.LED_WHITE, 360) + + except: + self.__is_running = False + self.__robot.set_learning_mode(True) + + def _scan_with_motor_report(self): + try: + rospy.wait_for_service(self.__motor_report_service_name, 2) + except rospy.ROSException: + rospy.logwarn("Motor Debug - Report motor service is not connected") + return CommandStatus.FAIL, "Report motor service is not connected" + + response = self.__motor_report_service() + return response.status, response.message + + def _play_trajectory(self, goal): + self.__check_state() + rospy.loginfo("Motor Debug - Waiting for the joint_trajectory_action server") + self.__traj_client.wait_for_server() + rospy.loginfo("joint_trajectory_action server is ready") + + # When to start the trajectory: 0.1s from now + goal.trajectory.header.stamp = rospy.Time.now() + rospy.Duration(0.1) + rospy.loginfo("Send Goad") + self.__traj_client.send_goal(goal) + + rospy.loginfo("Goal sent: is waiting for result") + self.__traj_client.wait_for_result(timeout=rospy.Duration(6)) + + result = self.__traj_client.get_result() + if not result: + rospy.loginfo("Trajectory command has reached timeout limit") + return False + + rospy.loginfo("Trajectory finished") + rospy.sleep(2) + self.__check_state() + return self._check_if_goal_reached(goal) + + def _check_if_goal_reached(self, goal): + current_joints = self.__robot.get_joints() + target_joints = goal.trajectory.points[-1].positions + + rospy.loginfo("Target joints: {} \nCurrent joints: {}".format(target_joints, current_joints)) + for joint_index in range(len(current_joints)): + if not (target_joints[joint_index] - CHECK_EQUAT_STATES_SENSIBILITY <= current_joints[joint_index] <= + target_joints[ + joint_index] + CHECK_EQUAT_STATES_SENSIBILITY): + rospy.logerr("Motor Debug - The joint targets were not properly reached") + return False + + return True + + def _create_goal(self, joints_position, duration=2): + goal = FollowJointTrajectoryGoal() + goal.trajectory.joint_names = self._joint_names + goal.trajectory.points = [JointTrajectoryPoint()] + goal.trajectory.points[0].positions = joints_position + goal.trajectory.points[0].velocities = [0.0] * len(self._joint_names) + goal.trajectory.points[0].time_from_start = rospy.Duration(duration) + return goal + + def _set_log_debug(self, debug_mode): + # loggers_list = self.__get_hardware_loggers_service() + for logger_name in ["ros.niryo_robot_hardware_interface", "ros.conveyor_interface", "ros.dynamixel_driver", + "ros.stepper_driver", "ros.tools_interface", "rosout"]: + log_state = SetLoggerLevelRequest(logger=logger_name, level='DEBUG' if debug_mode else 'INFO') + self.__hardware_log_level_service(log_state) + + for logger_name in ["rospy.rosout", "rosout"]: + log_state = SetLoggerLevelRequest(logger=logger_name, level='DEBUG' if debug_mode else 'INFO') + self.__commander_log_level_service(log_state) + + def _display_hardware_params(self): + rospy.loginfo("Motor Debug - Hardware params" + '\n' + self._display_dict( + rospy.get_param("/niryo_robot_hardware_interface"))) + + def _display_dict(self, dict_to_display, prefix=' '): + string_to_display = "" + for key in sorted(dict_to_display.keys()): + if isinstance(dict_to_display[key], dict): + values_to_string = self._display_dict(dict_to_display[key], prefix=prefix + " ") + string_to_display += prefix + key + ":\n" + values_to_string + else: + string_to_display += "{}{}: {}\n".format(prefix, key, dict_to_display[key]) + + return string_to_display diff --git a/niryo_robot_commander/scripts/robot_commander_node.py b/niryo_robot_commander/scripts/robot_commander_node.py new file mode 100755 index 000000000..90283fb57 --- /dev/null +++ b/niryo_robot_commander/scripts/robot_commander_node.py @@ -0,0 +1,497 @@ +#!/usr/bin/env python + +# Lib +import rospy +import actionlib +import threading + +import sys + +# Commanders +from arm_commander import ArmCommander +from tool_commander import ToolCommander +from tool_commander_simu import ToolCommanderSimu +import moveit_commander +from ArmParametersValidator import ArmParametersValidator +from motor_debug import MotorDebug + +from jog_controller import JogController +from niryo_robot_commander.command_enums import * + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# For State Publisher +import tf +from tf import LookupException, ConnectivityException, ExtrapolationException +from tf.transformations import quaternion_from_euler +from math import pi + +# Messages +from actionlib_msgs.msg import GoalStatus +from std_msgs.msg import Bool +from geometry_msgs.msg import Quaternion +from niryo_robot_commander.msg import RobotCommand +from niryo_robot_msgs.msg import RobotState, HardwareStatus + +# Services +from niryo_robot_msgs.srv import Trigger +from niryo_robot_msgs.srv import SetBool +from niryo_robot_msgs.srv import GetBool + +# Action msgs +from niryo_robot_commander.msg import PausePlanExecution +from niryo_robot_commander.msg import RobotMoveAction +from niryo_robot_commander.msg import RobotMoveResult + + +class RobotCommanderNode: + """ + This class is in charge of the Robot Commander Node + It contains: + - The State Publisher + - Arm & Tools Commanders + + Its main goal is to interpret command, and launch execution according to this command + """ + + def __init__(self): + rospy.logdebug("Robot Commander - Entering in Init") + # Initialize MoveIt! + moveit_commander.roscpp_initialize(sys.argv) + # - Load all the sub-commanders + # First, get Parameters Validator for Arm + arm_param_validator = ArmParametersValidator(rospy.get_param("/niryo_robot/robot_command_validation")) + # Initialize Arm + self.__arm_commander = ArmCommander(arm_param_validator) + # Initialize tool commander + if not rospy.get_param("~simu_gripper"): + self.__tool_commander = ToolCommander() + else: + self.__tool_commander = ToolCommanderSimu() + + rospy.logdebug("Robot Commander - Sub Commanders are loaded") + + # Initialize motor debug + self.__motor_debug = MotorDebug() + + # Dict which link MoveCommand to arm functions + self.dict_interpreter_move_cmd = { + # Move to One Pose + MoveCommandType.JOINTS: self.__arm_commander.set_joint_target, + MoveCommandType.POSE: self.__arm_commander.set_pose_target_from_cmd, + MoveCommandType.POSITION: self.__arm_commander.set_position_target, + MoveCommandType.RPY: self.__arm_commander.set_rpy_target, + MoveCommandType.POSE_QUAT: self.__arm_commander.set_pose_quat_target, + MoveCommandType.LINEAR_POSE: self.__arm_commander.set_linear_trajectory, + MoveCommandType.SHIFT_POSE: self.__arm_commander.set_shift_pose_target, + + # Trajectory + MoveCommandType.EXECUTE_TRAJ: self.__arm_commander.execute_trajectory, + + # Add-Ons + MoveCommandType.DRAW_SPIRAL: self.__arm_commander.draw_spiral_trajectory, + } + + # - Subscribers + self.__learning_mode_on = True + rospy.Subscriber('/niryo_robot/learning_mode/state', Bool, + self.__callback_learning_mode) + + self.__hardware_status = None + rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus, + self.__callback_hardware_status) + + self.__pause_state = PausePlanExecution.STANDBY + rospy.Subscriber('/niryo_robot_rpi/pause_state', PausePlanExecution, + self.__callback_pause_movement) + + # Event which allows to timeout if pause take too long + self.__pause_finished_event = threading.Event() + self.__pause_finished_event.set() + self.__pause_timeout = rospy.get_param("~pause_timeout") + + # - Services + rospy.Service('~stop_command', Trigger, + self.__callback_stop_command) + + rospy.Service('~is_active', GetBool, + self.__callback_is_active) + + # Robot Action Server + self.__current_goal_handle = actionlib.ServerGoalHandle() + self.__action_server = actionlib.ActionServer('~robot_action', RobotMoveAction, + goal_cb=self.__callback_goal, cancel_cb=self.__callback_cancel, + auto_start=False) + self.__action_server_thread = threading.Thread() + self.__action_server_lock = threading.Lock() + self.__command_still_active_max_tries = rospy.get_param("~command_still_active_max_tries") + + # Starting Action server + self.__start_action_server() + + rospy.logdebug("Robot Commander - Services & Actions server are created") + + # - Publisher + self.__is_active_publisher = rospy.Publisher('~is_active', + Bool, queue_size=5) + rospy.Timer(rospy.Duration(rospy.get_param("~active_publish_rate_sec")), self.__publish_is_active) + + # Jog + self.__jog_controller = JogController(arm_param_validator) + + # Publish robot state (position, orientation, tool) + self.__state_publisher = StatePublisher() + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("Robot Commander - Started") + + def __start_action_server(self): + self.__action_server.start() + rospy.logdebug("Robot Commander - Action Server started") + + # -- CALLBACKS + # - Subscribers + def __publish_is_active(self, *_): + msg = Bool() + msg.data = self.__current_goal_is_active() + try: + self.__is_active_publisher.publish(msg) + except rospy.ROSException: + return + + # - Subscribers + def __callback_learning_mode(self, msg): + activate = msg.data + if not self.__learning_mode_on and activate: + self.__arm_commander.stop_arm() + self.__learning_mode_on = activate + + def __callback_hardware_status(self, msg): + self.__hardware_status = msg + + # - Services + def __callback_stop_command(self, _): + self.__cancel_command() + return CommandStatus.SUCCESS, "Command stopped" + + def __callback_is_active(self, _): + return self.__current_goal_is_active() + + def __callback_pause_movement(self, msg): + self.__pause_state = msg.state + if msg.state == PausePlanExecution.PAUSE: + rospy.loginfo("Robot Commander - Receive Set Pause Mode from button") + self.__pause_finished_event.clear() + self.__cancel_command() + elif msg.state == PausePlanExecution.CANCEL: + self.__pause_finished_event.set() + self.__cancel_command() + rospy.loginfo("Robot Commander - Receive Cancel Command from button") + else: + self.__pause_finished_event.set() + + # - Action Server + def __callback_goal(self, goal_handle): + """ + This function verifies that all conditions are met in order to execute the request + :param goal_handle: object use to communicate with the action server + :return: None + """ + rospy.loginfo("Commander Action Serv - Received goal. Check if can be executed") + + # Check if hw status has been received at least once + if self.__hardware_status is None: + result = self.create_result(CommandStatus.HARDWARE_NOT_OK, + "Hardware Status still not received, please restart the robot") + goal_handle.set_rejected(result) + return + + # Check if motor connection problem + if not self.__hardware_status.connection_up: + result = self.create_result(CommandStatus.HARDWARE_NOT_OK, + "Motor connection problem, you can't send a command now") + goal_handle.set_rejected(result) + return + + # Check if calibration is needed + if self.__hardware_status.calibration_needed: + result = self.create_result(CommandStatus.CALIBRATION_NOT_DONE, + "You need to calibrate the robot before sending a command") + goal_handle.set_rejected(result) + return + + # Check if calibration is in progress + if self.__hardware_status.calibration_in_progress: + result = self.create_result(CommandStatus.CALIBRATION_NOT_DONE, + "Calibration in progress, wait until it ends to send a command") + goal_handle.set_rejected(result) + return + + # Check if jog controller enabled + if self.__jog_controller.is_enabled(): + result = self.create_result(CommandStatus.JOG_CONTROLLER_ENABLED, + "You need to deactivate jog controller to execute a new command") + goal_handle.set_rejected(result) + return + + # check if still have a goal + if self.__current_goal_is_active(): + # If still have a goal, wait a bit to be sure it's not goal is still active + # due to concurrency issue + for i in range(self.__command_still_active_max_tries): + rospy.logwarn("Commander Action Serv - Current goal seems to be still active, " + "will retry {} time(s)".format(self.__command_still_active_max_tries - i)) + rospy.sleep(0.2) + if not self.__current_goal_is_active(): + break + else: + result = self.create_result(CommandStatus.GOAL_STILL_ACTIVE, + "Current command is still active") + goal_handle.set_rejected(result) + return + + # Check if learning mode ON + if self.__learning_mode_on and self.goal_to_cmd_type(goal_handle) != RobotCommand.TOOL_ONLY: + if not self.__set_learning_mode(False): + result = self.create_result(CommandStatus.LEARNING_MODE_ON, + "Learning mode could not be deactivated") + goal_handle.set_rejected(result) + return + # set accepted + self.__current_goal_handle = goal_handle + self.__current_goal_handle.set_accepted() + rospy.loginfo("Commander Action Serv - Goal has been accepted") + + # Launch compute + execution in a new thread + self.__action_server_thread = threading.Thread(target=self.__execute_goal_action, + name="worker_execute_goal_action") + self.__action_server_thread.start() + rospy.logdebug("Commander Action Serv - Executing command in a new thread") + + def __callback_cancel(self, goal_handle): + rospy.loginfo("Commander Action Serv - Received cancel command") + + if goal_handle == self.__current_goal_handle: + self.__cancel_current_command() + else: + rospy.logdebug("Commander Action Serv - No current goal, nothing to do") + + # -- EXECUTORS + def __reset_pause_play_state(self): + self.__pause_finished_event.set() + self.__pause_state = PausePlanExecution.STANDBY + + def __current_goal_is_active(self): + if not self.__current_goal_handle.goal: + return False + return self.__current_goal_handle.get_goal_status().status in [GoalStatus.ACTIVE, GoalStatus.PENDING] + + def __cancel_due_to_pause(self): + # Check if plan is paused + if not self.__pause_finished_event.wait(timeout=self.__pause_timeout): + self.__current_goal_handle.set_canceled() + rospy.logwarn("Commander Action Serv - Goal has been paused since too long, " + "cancelling it") + return True + + if self.__pause_state == PausePlanExecution.CANCEL: + self.__current_goal_handle.set_canceled() + rospy.loginfo("Commander Action Serv - Goal has been successfully canceled") + return True + + return False + + def __execute_goal_action(self): + """ + Threaded function which interpret and execute the command + It waits until the action finished and set goal_handle according to the result + :return: None + """ + if self.__cancel_due_to_pause(): + self.__reset_pause_play_state() + return + try: + cmd = self.__current_goal_handle.goal.goal.cmd + (status, message) = self.__interpret_and_execute_command(cmd) + response = self.create_result(status, message) + result = response + except (RobotCommanderException, ArmCommanderException, ToolCommanderException) as e: + result = self.create_result(e.status, e.message) + response = None + rospy.loginfo("Commander Action Serv - An exception was " + "thrown during command execution : {}".format(e.message)) + + # Check if plan is paused and should be restarted + if self.__pause_state == PausePlanExecution.PAUSE: + if self.__cancel_due_to_pause(): + self.__reset_pause_play_state() + elif self.__pause_state == PausePlanExecution.RESUME: + rospy.loginfo("Commander Action Serv - Resuming goal action") + return self.__execute_goal_action() + else: + self.__current_goal_handle.set_aborted(result) + rospy.logwarn("Commander Action Serv - Unknown result, goal has been set as aborted") + # Check response + elif not response: + self.__current_goal_handle.set_aborted(result) + rospy.logwarn("Commander Action Serv - Execution has been aborted") + elif response.status == CommandStatus.SUCCESS: + self.__current_goal_handle.set_succeeded(result) + rospy.loginfo("Commander Action Serv - Goal has been set as succeeded") + elif response.status == CommandStatus.STOPPED: + self.__current_goal_handle.set_canceled(result) + rospy.loginfo("Commander Action Serv - Goal has been successfully canceled") + elif response.status == CommandStatus.CONTROLLER_PROBLEMS: + self.__current_goal_handle.set_aborted(result) + rospy.logwarn("Commander Action Serv - Controller failed during execution : " + + "Goal has been aborted.\n" + + "This is due to either a collision, or a motor unable to follow a given command" + + " (overload, extreme positions, ...)") + else: + self.__current_goal_handle.set_aborted(result) + rospy.logwarn("Commander Action Serv - Unknown result, goal has been set as aborted") + + self.__pause_finished_event.set() + + def __interpret_and_execute_command(self, cmd): + """ + Take a Robot command, give it to Arm or Tools commander, and return the result + :param cmd: RobotCommand (see niryo_robot_msgs) + :return: status, message + """ + cmd_type = cmd.cmd_type + + if cmd_type == RobotCommand.MOVE_ONLY: + arm_cmd = cmd.arm_cmd + arm_cmd_type = arm_cmd.cmd_type + # noinspection PyArgumentList + return self.dict_interpreter_move_cmd[arm_cmd_type](arm_cmd) + + elif cmd_type == RobotCommand.TOOL_ONLY: + return self.__tool_commander.send_tool_command(cmd.tool_cmd) + + else: + return CommandStatus.UNKNOWN_COMMAND, "Commander Action Serv - Unknown command" + + def __cancel_command(self): + self.__arm_commander.stop_current_plan() # Send a cancel signal to Moveit interface + self.__tool_commander.stop_tool_command() + + @staticmethod + def __set_learning_mode(set_bool): + try: + rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=1) + srv = rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool) + resp = srv(set_bool) + return resp.status == CommandStatus.SUCCESS + except (rospy.ServiceException, rospy.ROSException): + return False + + @staticmethod + def create_result(status, message): + """ + Create a RobotMoveResult object which can be send to the Action Server + :param status: + :param message: + :return: RobotMoveResult object + """ + result = RobotMoveResult() + result.status = status + result.message = message + return result + + def __cancel_current_command(self): + try: + self.__cancel_command() + except RobotCommanderException: + rospy.logwarn("Commander Action Serv - Could not cancel current command ") + + @staticmethod + def goal_to_cmd_type(goal_handle): + return goal_handle.goal.goal.cmd.cmd_type + + +# -- STATE PUBLISHER + +class StatePublisher: + """ + This object read Transformation Publisher and Publish the RobotState + in the Topic '/niryo_robot/robot_state' at a certain rate + """ + + def __init__(self): + + # Tf listener (position + rpy) of end effector tool + self.__position = [0, 0, 0] + self.__quaternion = [0, 0, 0, 0] + self.__rpy = [0, 0, 0] + self.__tf_listener = tf.TransformListener() + + # State publisher + self.__robot_state_publisher = rospy.Publisher( + '/niryo_robot/robot_state', RobotState, queue_size=5) + + # Get params from rosparams + rate_publish_state = rospy.get_param("/niryo_robot/robot_state/rate_publish_state") + + rospy.Timer(rospy.Duration(1.0 / rate_publish_state), self.__publish_state) + + def __update_ee_link_pose(self): + try: + (pos, rot) = self.__tf_listener.lookupTransform('base_link', 'tool_link', rospy.Time(0)) + self.__position = pos + self.__quaternion = rot + self.__rpy = tf.transformations.euler_from_quaternion(rot) + except (LookupException, ConnectivityException, ExtrapolationException): + rospy.loginfo_throttle(1, "State Publisher - Failed to get TF base_link -> ee_link") + + def __publish_state(self, _): + self.__update_ee_link_pose() + msg = RobotState() + msg.position.x = self.__position[0] + msg.position.y = self.__position[1] + msg.position.z = self.__position[2] + msg.rpy.roll = self.__rpy[0] + msg.rpy.pitch = self.__rpy[1] + msg.rpy.yaw = self.__rpy[2] + msg.orientation.x = self.__quaternion[0] + msg.orientation.y = self.__quaternion[1] + msg.orientation.z = self.__quaternion[2] + msg.orientation.w = self.__quaternion[3] + try: + self.__robot_state_publisher.publish(msg) + except rospy.ROSException: + return + + @staticmethod + def get_orientation_from_angles(r, p, y): + quaternion = quaternion_from_euler(r, p, y) + orientation = Quaternion() + orientation.x = quaternion[0] + orientation.y = quaternion[1] + orientation.z = quaternion[2] + orientation.w = quaternion[3] + return orientation + + @staticmethod + def get_rpy_from_quaternion(rot): + euler = tf.transformations.euler_from_quaternion(rot) + # Force angles in [-PI, PI] + for i, angle in enumerate(euler): + if angle > pi: + euler[i] = angle % (2 * pi) - 2 * pi + elif angle < -pi: + euler[i] = angle % (2 * pi) + return euler + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_commander', anonymous=False, log_level=rospy.INFO) + try: + node = RobotCommanderNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_commander/scripts/tool_commander.py b/niryo_robot_commander/scripts/tool_commander.py new file mode 100644 index 000000000..5f31f93b0 --- /dev/null +++ b/niryo_robot_commander/scripts/tool_commander.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python +# Lib +import rospy +import actionlib + +# Messages +from niryo_robot_tools.msg import ToolAction +from niryo_robot_tools.msg import ToolGoal + +# Action msgs +from actionlib_msgs.msg import GoalStatus + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Exception +from niryo_robot_commander.command_enums import ToolCommanderException + + +class ToolCommander: + """ + Class which allows interaction with Tool action server + """ + + def __init__(self): + self.__tool_timeout = rospy.get_param("~simu_gripper") + + self.__action_client = actionlib.SimpleActionClient('/niryo_robot_tools/action_server', ToolAction) + rospy.logdebug("Tool Commander - Waiting for action server : niryo_robot_tools/action_server...") + self.__action_client.wait_for_server() + rospy.logdebug("Tool Commander - Found action server : niryo_robot_tools/action_server") + rospy.loginfo("Tool Commander - Started") + + def send_tool_command(self, cmd): + """ + Send tool command and wait for goal transition to Done + Finally, check if the command finished well + :param cmd: + :type cmd: ToolCommand + :return: status, message + """ + goal = self.create_goal(cmd) + self.__action_client.send_goal(goal) + rospy.loginfo("Tool Commander - Command sent") + + # Wait for goal transition to DONE + bool_done = self.__action_client.wait_for_result(timeout=rospy.Duration(self.__tool_timeout)) + + result = self.__action_client.get_result() + if not result: + rospy.loginfo("Tool Commander - Action Server's result is None") + return CommandStatus.TOOL_FAILURE, "Tool command has reached timeout limit" + + message = "Tool Commander - " + result.message + # If goal has been rejected/aborted, stop tracking it and return error + if self.has_problem(): + self.__action_client.stop_tracking_goal() + raise ToolCommanderException(CommandStatus.TOOL_FAILURE, message) + + if bool_done: + rospy.loginfo(message) + return CommandStatus.SUCCESS, "Tool command has been successfully processed" + else: + rospy.logwarn(message) + return CommandStatus.TOOL_FAILURE, "Tool command has reached timeout limit" + + def stop_tool_command(self): + self.__action_client.stop_tracking_goal() + + def get_command_status(self): + """ + Returns LOST if this SimpleActionClient isn't tracking a goal. See documentation : + http://docs.ros.org/melodic/api/actionlib/html/classactionlib_1_1simple__action__client_1_1SimpleActionClient.html + """ + return self.__action_client.get_state() + + def has_problem(self): + return self.get_command_status() != GoalStatus.SUCCEEDED + + @staticmethod + def create_goal(cmd): + """ + Create ToolGoal + :param cmd: ToolCommand + :type cmd: ToolCommand + :return: ToolGoal + """ + goal = ToolGoal() + goal.cmd = cmd + return goal diff --git a/niryo_robot_commander/scripts/tool_commander_simu.py b/niryo_robot_commander/scripts/tool_commander_simu.py new file mode 100644 index 000000000..2c6a8d5da --- /dev/null +++ b/niryo_robot_commander/scripts/tool_commander_simu.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python + +# Lib +import rospy +import moveit_commander + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from actionlib_msgs.msg import GoalStatus + +# Services +from niryo_robot_msgs.srv import Trigger + + +class ToolCommanderSimu: + """ + Object which command the Tool via MoveIt + """ + + def __init__(self): + self.__reference_frame = rospy.get_param("~reference_frame") + + # Get Tool MoveGroupCommander + self.__tool = moveit_commander.MoveGroupCommander("tool") + + # Set pose reference frame + self.__tool.set_pose_reference_frame(self.__reference_frame) + + self.__set_gripper() + + list_commands_all_tools = rospy.get_param("/niryo_robot_tools/command_list") + + self.__open_gripper_cmd_id = list_commands_all_tools["open_gripper"] + self.__close_gripper_cmd_id = list_commands_all_tools["close_gripper"] + + @staticmethod + def __set_gripper(): + rospy.wait_for_service('/niryo_robot_tools/update_tool', 3) + service = rospy.ServiceProxy('/niryo_robot_tools/update_tool', Trigger) + result = service() + if result.status != CommandStatus.SUCCESS: + raise Exception(result.message) + + def send_tool_command(self, req): + """ + Check niryo_robot_tools/config/end_effectors.yaml for cmd_signification + """ + cmd = req.cmd_type + if cmd == self.__open_gripper_cmd_id: + rospy.loginfo("Tool Commander - Setting tool move group to open position") + + self.__tool.set_named_target("open") + self.__tool.go() + elif cmd == self.__close_gripper_cmd_id: + rospy.loginfo("Tool Commander - Setting tool move group to close position") + + self.__tool.set_named_target("close") + self.__tool.go() + return CommandStatus.SUCCESS, "Tool Commander - Command has been successfully processed" + + def stop_tool_command(self): + pass + + def get_command_status(self): + pass + + def has_problem(self): + return self.get_command_status() in [GoalStatus.ABORTED, GoalStatus.REJECTED] diff --git a/niryo_robot_commander/setup.py b/niryo_robot_commander/setup.py new file mode 100644 index 000000000..bf0ce62c0 --- /dev/null +++ b/niryo_robot_commander/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_commander'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_commander/src/__init__.py b/niryo_robot_commander/src/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_commander/src/niryo_robot_commander/__init__.py b/niryo_robot_commander/src/niryo_robot_commander/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_commander/src/niryo_robot_commander/command_enums.py b/niryo_robot_commander/src/niryo_robot_commander/command_enums.py new file mode 100644 index 000000000..1263c8af8 --- /dev/null +++ b/niryo_robot_commander/src/niryo_robot_commander/command_enums.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python + + +class MoveCommandType(object): + # From fixed params + JOINTS = 11 + POSE = 12 + POSITION = 13 + RPY = 14 + POSE_QUAT = 15 + LINEAR_POSE = 16 + + # From actual pose + SHIFT_POSE = 21 + + # Trajectory + EXECUTE_TRAJ = 31 + + # Tools + TOOL = 51 + + # ADD-ONS + DRAW_SPIRAL = 90 + + +class ToolsCommand(object): + DO_STUFF = 1 + + +class MovingStyle(object): + CLASSIC = 1 + LINEAR = 2 + + +# - Exceptions + +class RobotCommanderException(Exception): + def __init__(self, status, message): + self.status = status + self.message = message + + +class ArmCommanderException(Exception): + def __init__(self, status, message): + self.status = status + self.message = message + + +class ToolCommanderException(Exception): + def __init__(self, status, message): + self.status = status + self.message = message + + +class JogControllerException(Exception): + def __init__(self, status, message): + self.status = status + self.message = message diff --git a/niryo_robot_commander/srv/GetFK.srv b/niryo_robot_commander/srv/GetFK.srv new file mode 100644 index 000000000..c15c13d75 --- /dev/null +++ b/niryo_robot_commander/srv/GetFK.srv @@ -0,0 +1,3 @@ +float32[] joints +--- +niryo_robot_msgs/RobotState pose diff --git a/niryo_robot_commander/srv/GetIK.srv b/niryo_robot_commander/srv/GetIK.srv new file mode 100644 index 000000000..587cf0153 --- /dev/null +++ b/niryo_robot_commander/srv/GetIK.srv @@ -0,0 +1,4 @@ +niryo_robot_msgs/RobotState pose +--- +bool success +float32[] joints diff --git a/niryo_robot_commander/srv/JogShift.srv b/niryo_robot_commander/srv/JogShift.srv new file mode 100644 index 000000000..59a909247 --- /dev/null +++ b/niryo_robot_commander/srv/JogShift.srv @@ -0,0 +1,10 @@ +int32 JOINTS_SHIFT = 1 +int32 POSE_SHIFT = 2 + +int32 cmd + +float32[] shift_values + +--- +int32 status +string message diff --git a/niryo_robot_description/CMakeLists.txt b/niryo_robot_description/CMakeLists.txt new file mode 100644 index 000000000..1401b1fc0 --- /dev/null +++ b/niryo_robot_description/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_description) + +find_package(catkin REQUIRED) + +catkin_package() diff --git a/niryo_robot_description/config/default_config.rviz b/niryo_robot_description/config/default_config.rviz new file mode 100644 index 000000000..70128d19b --- /dev/null +++ b/niryo_robot_description/config/default_config.rviz @@ -0,0 +1,220 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 617 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hand_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool_link: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + wrist_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + arm_link: + Value: false + base_link: + Value: false + elbow_link: + Value: false + forearm_link: + Value: false + hand_link: + Value: false + shoulder_link: + Value: false + tool_link: + Value: false + world: + Value: false + wrist_link: + Value: false + Marker Scale: 0.6000000238418579 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + base_link: + shoulder_link: + arm_link: + elbow_link: + forearm_link: + wrist_link: + hand_link: + tool_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.0546685457229614 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.008815915323793888 + Y: 0.08343396335840225 + Z: 0.1888124644756317 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2953985631465912 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.348588943481445 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1433 + X: 104 + Y: 0 diff --git a/niryo_robot_description/launch/display.launch b/niryo_robot_description/launch/display.launch new file mode 100644 index 000000000..a58e3ce6b --- /dev/null +++ b/niryo_robot_description/launch/display.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/niryo_robot_description/launch/without_mesh_display.launch b/niryo_robot_description/launch/without_mesh_display.launch new file mode 100644 index 000000000..177ce533c --- /dev/null +++ b/niryo_robot_description/launch/without_mesh_display.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + diff --git a/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL b/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL new file mode 100644 index 000000000..ee464c0c6 Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/base_gripper_1.STL differ diff --git a/niryo_robot_description/meshes/gripper_1/mors_1.STL b/niryo_robot_description/meshes/gripper_1/mors_1.STL new file mode 100644 index 000000000..fcf0ca1d9 Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/mors_1.STL differ diff --git a/niryo_robot_description/meshes/gripper_1/mors_2.STL b/niryo_robot_description/meshes/gripper_1/mors_2.STL new file mode 100644 index 000000000..738de15c6 Binary files /dev/null and b/niryo_robot_description/meshes/gripper_1/mors_2.STL differ diff --git a/niryo_robot_description/meshes/ned/collada/arm_link.dae b/niryo_robot_description/meshes/ned/collada/arm_link.dae new file mode 100644 index 000000000..56a60feb0 --- /dev/null +++ b/niryo_robot_description/meshes/ned/collada/arm_link.dae @@ -0,0 +1,3768 @@ + + + + + SimLab Soft http://www.simLab-soft.com + SimLab Collada Exporter for SolidWorks + + 2020-12-08T17:47:04 + 2020-12-08T17:47:04 + + Z_UP + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0.108939 0 0 -1 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225 220 220 161 161 161 161 220 220 162 162 220 220 218 218 162 162 162 162 218 218 216 216 147 147 127 127 150 150 127 127 219 219 150 150 150 150 219 219 152 152 219 219 154 154 152 152 111 111 138 138 96 96 85 85 84 84 73 73 84 84 78 78 73 73 73 73 78 78 55 55 202 202 206 206 183 183 62 62 58 58 42 42 2 2 3 3 6 6 210 210 215 215 127 127 215 215 217 217 127 127 127 127 217 217 219 219 154 154 219 219 156 156 219 219 221 221 156 156 156 156 221 221 159 159 221 221 223 223 159 159 159 159 223 223 225 225 140 140 79 79 138 138 79 79 88 88 138 138 138 138 88 88 96 96 147 147 145 145 127 127 145 145 143 143 127 127 127 127 143 143 125 125 143 143 141 141 125 125 125 125 141 141 122 122 141 141 139 139 122 122 122 122 139 139 120 120 139 139 136 136 120 120 120 120 136 136 138 138 42 42 58 58 40 40 58 58 61 61 40 40 40 40 61 61 33 33 81 81 86 86 74 74 78 78 72 72 55 55 72 72 68 68 55 55 55 55 68 68 47 47 68 68 62 62 47 47 47 47 62 62 44 44 62 62 42 42 44 44 4 4 1 1 8 8 1 1 5 5 8 8 8 8 5 5 12 12 118 118 130 130 115 115 130 130 131 131 115 115 115 115 131 131 132 132 101 101 102 102 106 106 102 102 119 119 106 106 106 106 119 119 110 110 119 119 124 124 110 110 110 110 124 124 116 116 124 124 128 128 116 116 116 116 128 128 118 118 128 128 129 129 118 118 118 118 129 129 130 130 175 175 177 177 127 127 177 177 179 179 127 127 127 127 179 179 206 206 179 179 181 181 206 206 206 206 181 181 183 183 213 213 211 211 187 187 211 211 207 207 187 187 187 187 207 207 185 185 207 207 203 203 185 185 185 185 203 203 183 183 203 203 199 199 183 183 183 183 199 199 202 202 172 172 167 167 92 92 103 103 107 107 174 174 107 107 113 113 174 174 174 174 113 113 117 117 21 21 25 25 66 66 12 12 5 5 16 16 5 5 9 9 16 16 16 16 9 9 20 20 9 9 13 13 20 20 20 20 13 13 22 22 59 59 65 65 56 56 65 65 69 69 56 56 56 56 69 69 74 74 69 69 75 75 74 74 74 74 75 75 81 81 170 170 86 86 166 166 86 86 92 92 166 166 166 166 92 92 164 164 92 92 167 167 164 164 172 172 92 92 174 174 92 92 98 98 174 174 174 174 98 98 103 103 19 19 14 14 15 15 14 14 10 10 15 15 15 15 10 10 11 11 10 10 6 6 11 11 11 11 6 6 7 7 6 6 3 3 7 7 24 24 66 66 28 28 66 66 60 60 28 28 28 28 60 60 34 34 19 19 21 21 14 14 21 21 66 66 14 14 14 14 66 66 18 18 66 66 24 24 18 18 56 56 48 48 59 59 48 48 45 45 59 59 59 59 45 45 57 57 45 45 43 43 57 57 57 57 43 43 60 60 43 43 41 41 60 60 60 60 41 41 34 34 165 165 157 157 169 169 157 157 163 163 169 169 169 169 163 163 171 171 13 13 17 17 22 22 17 17 23 23 22 22 22 22 23 23 26 26 23 23 27 27 26 26 26 26 27 27 30 30 25 25 29 29 53 53 29 29 31 31 53 53 53 53 31 31 35 35 135 135 137 137 123 123 137 137 148 148 123 123 132 132 133 133 123 123 133 133 134 134 123 123 123 123 134 134 135 135 90 90 36 36 83 83 36 36 77 77 83 83 90 90 94 94 36 36 94 94 100 100 36 36 36 36 100 100 105 105 38 38 64 64 39 39 64 64 54 54 39 39 39 39 54 54 52 52 99 99 93 93 63 63 93 93 87 87 63 63 87 87 82 82 63 63 63 63 82 82 53 53 82 82 76 76 53 53 53 53 76 76 25 25 76 76 70 70 25 25 25 25 70 70 66 66 97 97 89 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3 3 4 4 2 2 4 4 0 0 2 2 2 2 0 0 1 1 8 8 7 7 6 6 7 7 4 4 6 6 6 6 4 4 5 5 4 4 3 3 5 5 8 8 9 9 7 7 9 9 10 10 7 7 7 7 10 10 11 11 10 10 12 12 11 11 12 12 13 13 11 11 11 11 13 13 14 14 18 18 17 17 16 16 17 17 14 14 16 16 16 16 14 14 15 15 14 14 13 13 15 15 2848 2848 19 19 2849 2849 19 19 20 20 2850 2850 2851 2851 20 20 21 21 25 25 24 24 23 23 24 24 21 21 23 23 23 23 21 21 22 22 21 21 20 20 22 22 25 25 26 26 24 24 26 26 27 27 24 24 24 24 27 27 28 28 27 27 29 29 28 28 29 29 30 30 28 28 28 28 30 30 31 31 30 30 32 32 31 31 32 32 33 33 31 31 31 31 33 33 34 34 33 33 35 35 34 34 35 35 36 36 34 34 34 34 36 36 39 39 36 36 37 37 39 39 39 39 37 37 38 38 42 42 43 43 41 41 43 43 39 39 41 41 41 41 39 39 40 40 39 39 38 38 40 40 42 42 44 44 43 43 44 44 45 45 43 43 43 43 45 45 47 47 45 45 46 46 47 47 46 46 48 48 47 47 47 47 48 48 50 50 52 52 53 53 51 51 53 53 50 50 51 51 51 51 50 50 49 49 50 50 48 48 49 49 52 52 54 54 53 53 54 54 55 55 53 53 53 53 55 55 57 57 59 59 60 60 58 58 60 60 57 57 58 58 58 58 57 57 56 56 57 57 55 55 56 56 59 59 61 61 60 60 61 61 62 62 60 60 60 60 62 62 64 64 62 62 63 63 64 64 63 63 2852 2852 64 64 64 64 2853 2853 2854 2854 69 69 70 70 68 68 70 70 67 67 68 68 68 68 67 67 66 66 67 67 65 65 66 66 69 69 71 71 70 70 71 71 72 72 70 70 70 70 72 72 74 74 76 76 77 77 75 75 77 77 74 74 75 75 75 75 74 74 73 73 74 74 72 72 73 73 76 76 78 78 77 77 78 78 79 79 77 77 77 77 79 79 81 81 79 79 80 80 81 81 80 80 84 84 81 81 81 81 84 84 86 86 92 92 93 93 88 88 93 93 86 86 88 88 88 88 86 86 85 85 86 86 84 84 85 85 92 92 94 94 93 93 94 94 91 91 93 93 93 93 91 91 90 90 83 83 82 82 87 87 82 82 90 90 87 87 87 87 90 90 89 89 90 90 91 91 89 89 152 152 169 169 168 168 178 178 186 186 185 185 230 230 238 238 237 237 248 248 256 256 255 255 276 276 291 291 290 290 300 300 308 308 307 307 325 325 327 327 326 326 352 352 362 362 361 361 375 375 381 381 380 380 404 404 424 424 423 423 431 431 436 436 435 435 438 438 429 429 428 428 418 418 408 408 406 406 390 390 387 387 386 386 364 364 351 351 350 350 336 336 334 334 333 333 314 314 299 299 298 298 285 285 282 282 281 281 239 239 229 229 228 228 213 213 212 212 211 211 187 187 177 177 176 176 161 161 160 160 159 159 2855 2855 2856 2856 105 105 2857 2857 114 114 105 105 2858 2858 126 126 2859 2859 126 126 145 145 2860 2860 113 113 103 103 114 114 103 103 104 104 114 114 114 114 104 104 105 105 2861 2861 2862 2862 136 136 2863 2863 154 154 136 136 136 136 154 154 137 137 154 154 155 155 137 137 137 137 155 155 138 138 155 155 156 156 138 138 138 138 156 156 139 139 156 156 157 157 139 139 139 139 157 157 140 140 157 157 158 158 140 140 140 140 158 158 141 141 158 158 159 159 141 141 2864 2864 2865 2865 258 258 2866 2866 2867 2867 258 258 258 258 2868 2868 259 259 2869 2869 2870 2870 259 259 259 259 2871 2871 260 260 2872 2872 2873 2873 260 260 260 260 2874 2874 261 261 2875 2875 2876 2876 261 261 261 261 2877 2877 262 262 2878 2878 2879 2879 262 262 262 262 2880 2880 263 263 2881 2881 2882 2882 263 263 2883 2883 2884 2884 197 197 2885 2885 180 180 197 197 197 197 180 180 199 199 180 180 181 181 199 199 199 199 181 181 200 200 181 181 182 182 200 200 200 200 182 182 201 201 182 182 183 183 201 201 201 201 183 183 202 202 183 183 184 184 202 202 202 202 184 184 203 203 184 184 185 185 203 203 116 116 108 108 109 109 108 108 107 107 109 109 95 95 96 96 107 107 96 96 97 97 107 107 107 107 97 97 109 109 97 97 98 98 109 109 109 109 98 98 110 110 98 98 99 99 110 110 110 110 99 99 111 111 99 99 100 100 111 111 111 111 100 100 112 112 100 100 101 101 112 112 112 112 101 101 113 113 101 101 102 102 113 113 113 113 102 102 103 103 124 124 116 116 123 123 116 116 109 109 123 123 123 123 109 109 122 122 109 109 110 110 122 122 122 122 110 110 121 121 110 110 111 111 121 121 121 121 111 111 120 120 111 111 112 112 120 120 120 120 112 112 119 119 112 112 113 113 119 119 119 119 113 113 118 118 113 113 114 114 118 118 118 118 114 114 2886 2886 114 114 2887 2887 2888 2888 2889 2889 2890 2890 118 118 2891 2891 136 136 118 118 118 118 136 136 119 119 136 136 137 137 119 119 119 119 137 137 120 120 137 137 138 138 120 120 120 120 138 138 121 121 138 138 139 139 121 121 121 121 139 139 122 122 139 139 140 140 122 122 122 122 140 140 123 123 140 140 141 141 123 123 123 123 141 141 124 124 141 141 142 142 124 124 159 159 160 160 141 141 160 160 143 143 141 141 141 141 143 143 142 142 177 177 161 161 176 176 161 161 159 159 176 176 176 176 159 159 175 175 159 159 158 158 175 175 175 175 158 158 174 174 158 158 157 157 174 174 174 174 157 157 173 173 157 157 156 156 173 173 173 173 156 156 172 172 156 156 155 155 172 172 172 172 155 155 171 171 155 155 154 154 171 171 171 171 154 154 2892 2892 154 154 2893 2893 2894 2894 195 195 187 187 194 194 187 187 176 176 194 194 194 194 176 176 193 193 176 176 175 175 193 193 193 193 175 175 192 192 175 175 174 174 192 192 192 192 174 174 191 191 174 174 173 173 191 191 191 191 173 173 190 190 173 173 172 172 190 190 190 190 172 172 189 189 172 172 171 171 189 189 189 189 171 171 2895 2895 171 171 2896 2896 2897 2897 2898 2898 2899 2899 189 189 2900 2900 206 206 189 189 189 189 206 206 190 190 206 206 207 207 190 190 190 190 207 207 191 191 207 207 208 208 191 191 191 191 208 208 192 192 208 208 209 209 192 192 192 192 209 209 193 193 209 209 210 210 193 193 193 193 210 210 194 194 210 210 211 211 194 194 194 194 211 211 195 195 211 211 212 212 195 195 2901 2901 2902 2902 206 206 2903 2903 223 223 206 206 206 206 223 223 207 207 223 223 224 224 207 207 207 207 224 224 208 208 224 224 225 225 208 208 208 208 225 225 209 209 225 225 226 226 209 209 209 209 226 226 210 210 226 226 227 227 210 210 210 210 227 227 211 211 227 227 228 228 211 211 211 211 228 228 213 213 228 228 229 229 213 213 247 247 239 239 246 246 239 239 228 228 246 246 246 246 228 228 245 245 228 228 227 227 245 245 245 245 227 227 244 244 227 227 226 226 244 244 244 244 226 226 243 243 226 226 225 225 243 243 243 243 225 225 242 242 225 225 224 224 242 242 242 242 224 224 241 241 224 224 223 223 241 241 241 241 223 223 2904 2904 223 223 2905 2905 2906 2906 2907 2907 2908 2908 241 241 2909 2909 258 258 241 241 241 241 258 258 242 242 258 258 259 259 242 242 242 242 259 259 243 243 259 259 260 260 243 243 243 243 260 260 244 244 260 260 261 261 244 244 244 244 261 261 245 245 261 261 262 262 245 245 245 245 262 262 246 246 262 262 263 263 246 246 246 246 263 263 247 247 263 263 264 264 247 247 2910 2910 2911 2911 263 263 2912 2912 265 265 263 263 263 263 265 265 264 264 299 299 285 285 298 298 285 285 281 281 298 298 298 298 281 281 297 297 281 281 280 280 297 297 297 297 280 280 296 296 280 280 279 279 296 296 296 296 279 279 295 295 279 279 278 278 295 295 295 295 278 278 294 294 278 278 277 277 294 294 294 294 277 277 293 293 277 277 275 275 293 293 293 293 275 275 2913 2913 275 275 2914 2914 2915 2915 317 317 314 314 316 316 314 314 298 298 316 316 316 316 298 298 315 315 298 298 297 297 315 315 315 315 297 297 313 313 297 297 296 296 313 313 313 313 296 296 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163 164 164 168 168 164 164 167 167 168 168 168 168 167 167 173 173 128 128 125 125 121 121 125 125 122 122 121 121 121 121 122 122 116 116 122 122 118 118 116 116 116 116 118 118 111 111 118 118 115 115 111 111 111 111 115 115 104 104 115 115 112 112 104 104 104 104 112 112 109 109 134 134 137 137 139 139 137 137 140 140 139 139 139 139 140 140 144 144 140 140 143 143 144 144 143 143 147 147 144 144 144 144 147 147 148 148 147 147 150 150 148 148 148 148 150 150 154 154 150 150 153 153 154 154 154 154 153 153 158 158 153 153 157 157 158 158 158 158 157 157 160 160 219 219 209 209 211 211 209 209 206 206 211 211 211 211 206 206 205 205 206 206 202 202 205 205 205 205 202 202 200 200 188 188 187 187 192 192 187 187 191 191 192 192 192 192 191 191 198 198 191 191 194 194 198 198 194 194 197 197 198 198 198 198 197 197 203 203 197 197 201 201 203 203 203 203 201 201 208 208 201 201 204 204 208 208 208 208 204 204 215 215 204 204 207 207 215 215 207 207 210 210 215 215 215 215 210 210 220 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0.0170069 0.00812101 0.00315176 0.0170023 0.00811594 0.0031 0.0169823 0.00578996 0.00324142 0.0169623 0.00581463 0.0032 0.016958 0.00584743 0.0031 0.0169497 0.00583015 0.00315176 0.0169454 0.00583544 0.0031 0.0169241 0.00842687 0.0033 0.016896 0.00838342 0.00329319 0.0168698 0.00834294 0.00327321 0.0168518 0.0055288 0.0033 0.0168473 0.00830817 0.00324142 0.01683 0.00828149 0.0032 0.0168292 0.00824842 0.0031 0.0168259 0.00557359 0.00329319 0.0168191 0.00826472 0.00315176 0.0168154 0.008259 0.0031 0.0168017 0.00561534 0.00327321 0.0167809 0.00565119 0.00324142 0.016765 0.00567869 0.0032 0.016755 0.00569598 0.00315176 0.0167516 0.00570188 0.0031 0.0166896 0.00855387 0.0033 0.0166686 0.00850656 0.00329319 0.0166651 0.0056605 0.0031 0.016649 0.00846247 0.00327321 0.0166322 0.00842461 0.00324142 0.0166193 0.00839556 0.0032 0.0166112 0.00837729 0.00315176 0.0166112 0.00541366 0.0033 0.0166084 0.00837106 0.0031 0.0165926 0.00546196 0.00329319 0.0165752 0.00550697 0.00327321 0.0165603 0.00554563 0.00324142 0.0165489 0.00557528 0.0032 0.0165417 0.00559393 0.00315176 0.0165393 0.00560029 0.0031 0.016518 0.00840296 0.0031 0.016438 0.00864261 0.0033 0.0164246 0.00859259 0.00329319 0.0164122 0.00854599 0.00327321 0.0164015 0.00850596 0.00324142 0.0163934 0.00847525 0.0032 0.0163882 0.00845595 0.00315176 0.0163865 0.00844936 0.0031 0.0163555 0.00533758 0.0033 0.0163447 0.0053882 0.00329319 0.0163387 0.00554061 0.0031 0.0163346 0.00543537 0.00327321 0.0163259 0.00547588 0.00324142 0.0163193 0.00550696 0.0032 0.0163151 0.0055265 0.00315176 0.0163137 0.00553316 0.0031 0.0161807 0.00848725 0.0031 0.0161756 0.0086909 0.0033 0.0161703 0.00863942 0.00329319 0.0161653 0.00859144 0.00327321 0.016161 0.00855024 0.00324142 0.0161577 0.00851863 0.0032 0.0161557 0.00849875 0.00315176 0.016155 0.00849197 0.0031 0.016091 0.00530244 0.0033 0.0160883 0.00535413 0.00329319 0.0160857 0.0054023 0.00327321 0.0160835 0.00544366 0.00324142 0.0160818 0.0054754 0.0032 0.0160807 0.00549535 0.00315176 0.0160803 0.00550215 0.0031 0.0159932 0.00550433 0.0031 0.0159197 0.00849785 0.0031 0.0159193 0.00850465 0.00315176 0.0159182 0.0085246 0.0032 0.0159165 0.00855634 0.00324142 0.0159143 0.0085977 0.00327321 0.0159117 0.00864587 0.00329319 0.015909 0.00869756 0.0033 0.015845 0.00550803 0.0031 0.0158443 0.00550125 0.00315176 0.0158423 0.00548137 0.0032 0.015839 0.00544976 0.00324142 0.0158347 0.00540856 0.00327321 0.0158333 0.00848637 0.0031 0.0158297 0.00536058 0.00329319 0.0158244 0.0053091 0.0033 0.0156863 0.00846684 0.0031 0.0156849 0.0084735 0.00315176 0.0156807 0.00849304 0.0032 0.0156741 0.00852412 0.00324142 0.0156654 0.00856463 0.00327321 0.0156553 0.0086118 0.00329319 0.0156478 0.00554433 0.0031 0.0156445 0.00866242 0.0033 0.0156135 0.00555064 0.0031 0.0156118 0.00554405 0.00315176 0.0156066 0.00552475 0.0032 0.0155985 0.00549404 0.00324142 0.0155878 0.00545401 0.00327321 0.0155754 0.00540741 0.00329319 0.015562 0.00535739 0.0033 0.0154941 0.00840964 0.0031 0.0154607 0.00839971 0.0031 0.0154583 0.00840607 0.00315176 0.0154511 0.00842472 0.0032 0.0154397 0.00845437 0.00324142 0.0154248 0.00849303 0.00327321 0.0154074 0.00853804 0.00329319 0.0153916 0.00562894 0.0031 0.0153888 0.00858634 0.0033 0.0153888 0.00562271 0.00315176 0.0153807 0.00560445 0.0032 0.0153678 0.00557539 0.00324142 0.015351 0.00553753 0.00327321 0.0153314 0.00549344 0.00329319 0.0153226 0.00566627 0.0031 0.0153104 0.00544613 0.0033 0.0152484 0.00829812 0.0031 0.015245 0.00830402 0.00315176 0.015235 0.00832131 0.0032 0.0152191 0.00834881 0.00324142 0.0151983 0.00838466 0.00327321 0.0151846 0.005741 0.0031 0.0151838 0.00825362 0.0031 0.0151809 0.00573528 0.00315176 0.0151741 0.00842641 0.00329319 0.01517 0.00571851 0.0032 0.0151527 0.00569183 0.00324142 0.0151482 0.0084712 0.0033 0.0151302 0.00565706 0.00327321 0.015104 0.00561658 0.00329319 0.0150759 0.00557313 0.0033 0.0150546 0.00816456 0.0031 0.0150503 0.00816985 0.00315176 0.0150377 0.00818537 0.0032 0.0150322 0.00585759 0.0031 0.0150177 0.00821004 0.00324142 0.0149977 0.00588406 0.0031 0.0149931 0.00587899 0.00315176 0.0149916 0.0082422 0.00327321 0.0149798 0.00586412 0.0032 0.0149612 0.00827965 0.00329319 0.0149585 0.00584048 0.00324142 0.0149308 0.00580966 0.00327321 0.0149285 0.00831984 0.0033 0.0149156 0.00803234 0.0031 0.0148986 0.00577377 0.00329319 0.0148841 0.00800233 0.0031 0.014879 0.00800689 0.00315176 0.0148641 0.00802024 0.0032 0.014864 0.00573526 0.0033 0.0148405 0.00804147 0.00324142 0.0148354 0.00605459 0.0031 0.0148301 0.0060503 0.00315176 0.0148146 0.00603771 0.0032 0.0148097 0.00806915 0.00327321 0.0147959 0.00611199 0.0031 0.01479 0.00601767 0.00324142 0.0147738 0.00810139 0.00329319 0.0147578 0.00599157 0.00327321 0.014741 0.00781542 0.0031 0.0147353 0.00781912 0.00315176 0.0147353 0.00813598 0.0033 0.0147203 0.00596117 0.00329319 0.0147185 0.00782999 0.0032 0.0147078 0.00775413 0.0031 0.0147019 0.00624841 0.0031 0.014696 0.006245 0.00315176 0.0146918 0.00784726 0.00324142 0.0146802 0.00592854 0.0033 0.0146787 0.00623499 0.0032 0.0146571 0.00786978 0.00327321 0.0146512 0.00621906 0.00324142 0.0146289 0.00760843 0.0031 0.0146228 0.00641359 0.0031 0.0146227 0.00761119 0.00315176 0.0146166 0.007896 0.00329319 0.0146153 0.00619831 0.00327321 0.0146044 0.0076193 0.0032 0.0146003 0.00646074 0.0031 0.0145939 0.00645829 0.00315176 0.0145754 0.00763219 0.00324142 0.0145753 0.0064511 0.0032 0.0145736 0.00617414 0.00329319 0.0145731 0.00792414 0.0033 0.014568 0.00743574 0.0031 0.0145506 0.00738646 0.0031 0.0145456 0.00643968 0.00324142 0.0145441 0.00738821 0.00315176 0.0145375 0.00764899 0.00327321 0.0145332 0.00668634 0.0031 0.0145288 0.0061482 0.0033 0.0145265 0.00668491 0.00315176 0.0145251 0.00674679 0.0031 0.0145247 0.00739336 0.0032 0.014508 0.00715497 0.0031 0.014507 0.00642479 0.00327321 0.014507 0.00668074 0.0032 0.0145065 0.00709401 0.0031 0.0145022 0.00691966 0.0031 0.0145012 0.00715567 0.00315176 0.0144953 0.0069193 0.00315176 0.014494 0.00740155 0.00324142 0.0144934 0.00766856 0.00329319 0.0144814 0.00715774 0.0032 0.0144759 0.00667409 0.00324142 0.0144754 0.00691823 0.0032 0.014462 0.00640744 0.00329319 0.014454 0.00741222 0.00327321 0.0144498 0.00716102 0.00324142 0.0144461 0.00768955 0.0033 0.0144437 0.00691653 0.00324142 0.0144354 0.00666543 0.00327321 0.0144137 0.00638883 0.0033 0.0144086 0.0071653 0.00327321 0.0144074 0.00742465 0.00329319 0.0144023 0.00691431 0.00327321 0.0143882 0.00665534 0.00329319 0.0143606 0.00717028 0.00329319 0.0143574 0.00743798 0.0033 0.0143541 0.00691173 0.00329319 0.0143376 0.00664452 0.0033 0.0143091 0.00717563 0.0033 0.0143024 0.00690895 0.0033 0.0174978 0.00708034 0.0031 0.0174978 0.00708034 -0.0083 0.017497 0.0069059 -0.0083 0.017492 0.00684503 0.0031 0.0174784 0.00725368 -0.0083 0.0174715 0.00673358 0.0031 0.0174668 0.00731366 0.0031 0.017466 0.00673455 -0.0083 0.0174494 0.00661354 0.0031 0.017435 0.0065632 -0.0083 0.0174345 0.00742228 0.0031 0.0174292 0.00742073 -0.0083 0.0173997 0.00753926 0.0031 0.01738 0.00758778 -0.0083 0.017374 0.00639978 0.0031 0.0173711 0.00639157 0.0031 0.0173653 0.00640362 -0.0083 0.0173019 0.00774374 0.0031 0.0172981 0.00775159 0.0031 0.0172956 0.00624404 -0.0083 0.0172937 0.00773899 -0.0083 0.017259 0.00618458 0.0031 0.0172073 0.0078902 -0.0083 0.0171954 0.00610152 0.0031 0.0171909 0.00610484 -0.0083 0.0171646 0.00794541 0.0031 0.0171159 0.00599767 0.0031 0.0170925 0.00802119 0.0031 0.0170884 0.00801741 -0.0083 0.0170863 0.00596564 -0.0083 0.0170023 0.00811594 0.0031 0.0169695 0.00814462 -0.0083 0.016958 0.00584743 0.0031 0.0169524 0.00585431 -0.0083 0.0169454 0.00583544 0.0031 0.0168292 0.00824842 0.0031 0.0168244 0.00824098 -0.0083 0.0168185 0.00574299 -0.0083 0.0168154 0.008259 0.0031 0.0167516 0.00570188 0.0031 0.0166794 0.00833734 -0.0083 0.0166651 0.0056605 0.0031 0.0166625 0.00566556 -0.0083 0.0166084 0.00837106 0.0031 0.0165393 0.00560029 0.0031 0.016518 0.00840296 0.0031 0.016516 0.00839765 -0.0083 0.0165065 0.00558812 -0.0083 0.0163865 0.00844936 0.0031 0.0163526 0.00845796 -0.0083 0.0163387 0.00554061 0.0031 0.0163369 0.00554874 -0.0083 0.0163137 0.00553316 0.0031 0.0161807 0.00848725 0.0031 0.0161798 0.00847897 -0.0083 0.0161673 0.00550936 -0.0083 0.016155 0.00849197 0.0031 0.0160803 0.00550215 0.0031 0.0160069 0.00849998 -0.0083 0.0159932 0.00550433 0.0031 0.0159932 0.00551016 -0.0083 0.0159197 0.00849785 0.0031 0.015845 0.00550803 0.0031 0.0158338 0.00848056 -0.0083 0.0158333 0.00848637 0.0031 0.015819 0.00551096 -0.0083 0.0156863 0.00846684 0.0031 0.0156608 0.00846114 -0.0083 0.0156498 0.0055519 -0.0083 0.0156478 0.00554433 0.0031 0.0156135 0.00555064 0.0031 0.0154969 0.00840233 -0.0083 0.0154941 0.00840964 0.0031 0.0154805 0.00559283 -0.0083 0.0154607 0.00839971 0.0031 0.0153916 0.00562894 0.0031 0.015333 0.00834353 -0.0083 0.0153252 0.0056717 -0.0083 0.0153226 0.00566627 0.0031 0.0152484 0.00829812 0.0031 0.015187 0.00824851 -0.0083 0.0151846 0.005741 0.0031 0.0151838 0.00825362 0.0031 0.01517 0.00575057 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299 299 935 935 936 936 299 299 937 937 938 938 299 299 299 299 939 939 319 319 940 940 941 941 319 319 319 319 942 942 335 335 943 943 944 944 335 335 335 335 945 945 343 343 946 946 947 947 343 343 948 948 949 949 343 343 950 950 951 951 343 343 343 343 952 952 339 339 953 953 954 954 339 339 339 339 955 955 328 328 956 956 957 957 328 328 958 958 959 959 328 328 328 328 960 960 307 307 961 961 962 962 307 307 307 307 963 963 289 289 964 964 965 965 289 289 966 966 967 967 289 289 968 968 969 969 289 289 289 289 970 970 273 273 971 971 972 972 273 273 273 273 973 973 258 258 974 974 975 975 258 258 258 258 976 976 242 242 977 977 978 978 242 242 979 979 980 980 242 242 981 981 982 982 242 242 242 242 983 983 227 227 984 984 985 985 227 227 227 227 986 986 212 212 987 987 988 988 212 212 989 989 990 990 212 212 212 212 991 991 192 192 992 992 993 993 192 192 192 192 994 994 177 177 995 995 996 996 177 177 997 997 998 998 177 177 999 999 1000 1000 177 177 177 177 1001 1001 162 162 1002 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4 4 1 1 0 0 1 1 3 3 0 0 0 0 3 3 2 2 3 3 7 7 2 2 2 2 7 7 6 6 7 7 11 11 6 6 6 6 11 11 10 10 11 11 530 530 10 10 10 10 531 531 532 532 15 15 19 19 14 14 14 14 19 19 18 18 19 19 23 23 18 18 18 18 23 23 22 22 23 23 27 27 22 22 22 22 27 27 26 26 27 27 31 31 26 26 26 26 31 31 30 30 31 31 35 35 30 30 30 30 35 35 34 34 533 533 39 39 534 534 535 535 39 39 38 38 39 39 43 43 38 38 38 38 43 43 42 42 43 43 47 47 42 42 42 42 47 47 46 46 47 47 45 45 46 46 46 46 45 45 44 44 45 45 41 41 44 44 44 44 41 41 40 40 41 41 37 37 40 40 40 40 37 37 36 36 37 37 536 536 36 36 36 36 537 537 538 538 33 33 29 29 32 32 32 32 29 29 28 28 29 29 25 25 28 28 28 28 25 25 24 24 25 25 21 21 24 24 24 24 21 21 20 20 21 21 17 17 20 20 20 20 17 17 16 16 17 17 13 13 16 16 16 16 13 13 12 12 539 539 9 9 540 540 541 541 9 9 8 8 9 9 5 5 8 8 8 8 5 5 4 4 5 5 1 1 4 4 81 81 90 90 84 84 90 90 92 92 84 84 84 84 92 92 87 87 92 92 94 94 87 87 87 87 94 94 88 88 94 94 95 95 88 88 88 88 95 95 85 85 95 95 93 93 85 85 85 85 93 93 83 83 93 93 91 91 83 83 83 83 91 91 80 80 91 91 89 89 80 80 80 80 89 89 77 77 89 89 82 82 77 77 77 77 82 82 74 74 82 82 76 76 74 74 74 74 76 76 71 71 76 76 70 70 71 71 71 71 70 70 68 68 70 70 64 64 68 68 68 68 64 64 65 65 64 64 57 57 65 65 65 65 57 57 62 62 57 57 53 53 62 62 62 62 53 53 59 59 53 53 51 51 59 59 59 59 51 51 56 56 51 51 49 49 56 56 56 56 49 49 55 55 49 49 48 48 55 55 55 55 48 48 58 58 48 48 50 50 58 58 58 58 50 50 60 60 50 50 52 52 60 60 60 60 52 52 63 63 52 52 54 54 63 63 63 63 54 54 66 66 54 54 61 61 66 66 66 66 61 61 69 69 61 61 67 67 69 69 69 69 67 67 72 72 67 67 73 73 72 72 72 72 73 73 75 75 73 73 79 79 75 75 75 75 79 79 78 78 79 79 86 86 78 78 78 78 86 86 81 81 86 86 90 90 81 81 114 114 116 116 108 108 116 116 118 118 108 108 108 108 118 118 120 120 107 107 110 110 108 108 110 110 112 112 108 108 108 108 112 112 114 114 101 101 103 103 108 108 103 103 105 105 108 108 108 108 105 105 107 107 96 96 97 97 108 108 97 97 99 99 108 108 108 108 99 99 101 101 102 102 100 100 108 108 100 100 98 98 108 108 108 108 98 98 96 96 109 109 106 106 108 108 106 106 104 104 108 108 108 108 104 104 102 102 115 115 113 113 108 108 113 113 111 111 108 108 108 108 111 111 109 109 120 120 119 119 108 108 119 119 117 117 108 108 108 108 117 117 115 115 163 163 164 164 159 159 164 164 160 160 159 159 159 159 160 160 542 542 160 160 543 543 544 544 155 155 156 156 151 151 156 156 152 152 151 151 151 151 152 152 147 147 152 152 148 148 147 147 147 147 148 148 143 143 148 148 144 144 143 143 143 143 144 144 139 139 144 144 140 140 139 139 139 139 140 140 135 135 140 140 136 136 135 135 545 545 546 546 131 131 547 547 132 132 131 131 131 131 132 132 127 127 132 132 128 128 127 127 127 127 128 128 123 123 128 128 124 124 123 123 123 123 124 124 121 121 124 124 122 122 121 121 121 121 122 122 125 125 122 122 126 126 125 125 125 125 126 126 129 129 126 126 130 130 129 129 129 129 130 130 548 548 130 130 549 549 550 550 133 133 134 134 137 137 134 134 138 138 137 137 137 137 138 138 141 141 138 138 142 142 141 141 141 141 142 142 145 145 142 142 146 146 145 145 145 145 146 146 149 149 146 146 150 150 149 149 149 149 150 150 153 153 150 150 154 154 153 153 551 551 552 552 157 157 553 553 158 158 157 157 157 157 158 158 161 161 158 158 162 162 161 161 161 161 162 162 165 165 162 162 166 166 165 165 165 165 166 166 167 167 166 166 168 168 167 167 167 167 168 168 163 163 168 168 164 164 163 163 192 192 193 193 181 181 193 193 191 191 181 181 181 181 191 191 189 189 186 186 188 188 181 181 188 188 190 190 181 181 181 181 190 190 192 192 179 179 182 182 181 181 182 182 184 184 181 181 181 181 184 184 186 186 173 173 175 175 181 181 175 175 177 177 181 181 181 181 177 177 179 179 170 170 169 169 181 181 169 169 171 171 181 181 181 181 171 171 173 173 176 176 174 174 181 181 174 174 172 172 181 181 181 181 172 172 170 170 183 183 180 180 181 181 180 180 178 178 181 181 181 181 178 178 176 176 189 189 187 187 181 181 187 187 185 185 181 181 181 181 185 185 183 183 338 338 328 328 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diff --git a/niryo_robot_description/meshes/ned/stl/arm_link.stl b/niryo_robot_description/meshes/ned/stl/arm_link.stl new file mode 100644 index 000000000..90532593d Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/arm_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/base_link.stl b/niryo_robot_description/meshes/ned/stl/base_link.stl new file mode 100644 index 000000000..599915660 Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/base_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/elbow_link.stl b/niryo_robot_description/meshes/ned/stl/elbow_link.stl new file mode 100644 index 000000000..ef450245c Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/elbow_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/forearm_link.stl b/niryo_robot_description/meshes/ned/stl/forearm_link.stl new file mode 100644 index 000000000..13ae3e475 Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/forearm_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/hand_link.stl b/niryo_robot_description/meshes/ned/stl/hand_link.stl new file mode 100644 index 000000000..992393d5a Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/hand_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/shoulder_link.stl b/niryo_robot_description/meshes/ned/stl/shoulder_link.stl new file mode 100644 index 000000000..6b97aa003 Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/shoulder_link.stl differ diff --git a/niryo_robot_description/meshes/ned/stl/wrist_link.stl b/niryo_robot_description/meshes/ned/stl/wrist_link.stl new file mode 100644 index 000000000..13e754c1d Binary files /dev/null and b/niryo_robot_description/meshes/ned/stl/wrist_link.stl differ diff --git a/niryo_robot_description/package.xml b/niryo_robot_description/package.xml new file mode 100644 index 000000000..d5b786751 --- /dev/null +++ b/niryo_robot_description/package.xml @@ -0,0 +1,13 @@ + + niryo_robot_description + 3.0.0 + Provides URDF files + Rémi Lux + Rémi Lux + Valentin Pitre + + GPLv3 + + catkin + + diff --git a/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro b/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro new file mode 100644 index 000000000..85b3d9311 --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned.transmission.xacro @@ -0,0 +1,47 @@ + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + 1 + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro new file mode 100644 index 000000000..04b634ba6 --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned.urdf.xacro @@ -0,0 +1,255 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro new file mode 100644 index 000000000..8054a479a --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned_camera.urdf.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + 15.0 + + + 1.21 + + + 640 + 480 + R8G8B8 + + + 0.03 + 2 + + + -0.4146402 + 0.2407384 + -0.0 + -0.0 + -0.1040042 +
0.5 0.5
+
+
+ + true + 0.0 + gazebo_camera + image_raw + camera_info + camera_link + +
+
+ + +
diff --git a/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro new file mode 100644 index 000000000..21a158b91 --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned_gazebo.urdf.xacro @@ -0,0 +1,15 @@ + + + + + gazebo_ros_control/DefaultRobotHWSim + + + + + + + + + + diff --git a/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro new file mode 100644 index 000000000..ae95f608d --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro @@ -0,0 +1,170 @@ + + + + + + + + joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, + joint_base_to_mors_1, joint_base_to_mors_2 + + 50.0 + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + + + Gazebo/DarkGrey + + + + Gazebo/DarkGrey + + + diff --git a/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro b/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro new file mode 100644 index 000000000..c19354741 --- /dev/null +++ b/niryo_robot_description/urdf/ned/niryo_ned_param.urdf.xacro @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro b/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro new file mode 100644 index 000000000..6b1578370 --- /dev/null +++ b/niryo_robot_description/urdf/ned/without_mesh_niryo_ned.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_gazebo/CMakeLists.txt b/niryo_robot_gazebo/CMakeLists.txt new file mode 100644 index 000000000..6b66a9f6c --- /dev/null +++ b/niryo_robot_gazebo/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_gazebo) + +find_package(catkin COMPONENTS + gazebo_ros +) + +find_package(catkin REQUIRED) + +catkin_package() diff --git a/niryo_robot_gazebo/launch/niryo_gazebo_world.launch b/niryo_robot_gazebo/launch/niryo_gazebo_world.launch new file mode 100644 index 000000000..b35a0836f --- /dev/null +++ b/niryo_robot_gazebo/launch/niryo_gazebo_world.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml b/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml new file mode 100644 index 000000000..4cb9a30a9 --- /dev/null +++ b/niryo_robot_gazebo/launch/niryo_robot_gazebo_world.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_gazebo/media/materials/scripts/workspace.material b/niryo_robot_gazebo/media/materials/scripts/workspace.material new file mode 100644 index 000000000..d538791f2 --- /dev/null +++ b/niryo_robot_gazebo/media/materials/scripts/workspace.material @@ -0,0 +1,35 @@ +material Niryo/Workspace1 +{ + receive_shadows on + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + texture_unit + { + texture workspace_1.jpg + filtering anisotropic + max_anisotropy 16 + } + } + } +} + +material Niryo/WorkspaceGrille +{ + receive_shadows on + technique + { + pass + { + ambient 0.5 0.5 0.5 1.000000 + texture_unit + { + texture workspace_grille.jpg + filtering anisotropic + max_anisotropy 16 + } + } + } +} \ No newline at end of file diff --git a/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg b/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg new file mode 100644 index 000000000..9a62fabe6 Binary files /dev/null and b/niryo_robot_gazebo/media/materials/textures/workspace_1.jpg differ diff --git a/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg b/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg new file mode 100644 index 000000000..4aeb96a4c Binary files /dev/null and b/niryo_robot_gazebo/media/materials/textures/workspace_grille.jpg differ diff --git a/niryo_robot_gazebo/models/cube_blue/model.config b/niryo_robot_gazebo/models/cube_blue/model.config new file mode 100644 index 000000000..3cb93ad93 --- /dev/null +++ b/niryo_robot_gazebo/models/cube_blue/model.config @@ -0,0 +1,11 @@ + + + cube_blue + 1.0 + model.sdf + + + + + + diff --git a/niryo_robot_gazebo/models/cube_blue/model.sdf b/niryo_robot_gazebo/models/cube_blue/model.sdf new file mode 100644 index 000000000..ed8fbd0e0 --- /dev/null +++ b/niryo_robot_gazebo/models/cube_blue/model.sdf @@ -0,0 +1,105 @@ + + + + + + 1e-4 + + 1.0e-8 + 0 + 0 + 1.0e-8 + 0 + 1.0e-8 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + 1 + + + __default__ + + 0.204 0.396 0.643 1 + 0.204 0.396 0.643 1 + 0.333 0.341 0.325 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 50 + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + + + 1e6 + 1e4 + + + + + + 1 + 0 + 0 + 1 + + + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.0 + 0.002 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/niryo_robot_gazebo/models/cube_green/model.config b/niryo_robot_gazebo/models/cube_green/model.config new file mode 100644 index 000000000..0861c5ab1 --- /dev/null +++ b/niryo_robot_gazebo/models/cube_green/model.config @@ -0,0 +1,11 @@ + + + cube_green + 1.0 + model.sdf + + + + + + diff --git a/niryo_robot_gazebo/models/cube_green/model.sdf b/niryo_robot_gazebo/models/cube_green/model.sdf new file mode 100644 index 000000000..811389529 --- /dev/null +++ b/niryo_robot_gazebo/models/cube_green/model.sdf @@ -0,0 +1,105 @@ + + + + + + 1e-4 + + 1.0e-8 + 0 + 0 + 1.0e-8 + 0 + 1.0e-8 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + 1 + + + __default__ + + 0.208 0.706 0.298 1 + 0.451 0.824 0.082 1 + 0.18 0.204 0.212 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 50 + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + + + 1e+6 + 1e+6 + + + + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.0 + 0.002 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/niryo_robot_gazebo/models/cube_red/model.config b/niryo_robot_gazebo/models/cube_red/model.config new file mode 100644 index 000000000..ab585015a --- /dev/null +++ b/niryo_robot_gazebo/models/cube_red/model.config @@ -0,0 +1,11 @@ + + + cube_red + 1.0 + model.sdf + + + + + + diff --git a/niryo_robot_gazebo/models/cube_red/model.sdf b/niryo_robot_gazebo/models/cube_red/model.sdf new file mode 100644 index 000000000..77f8dd8d1 --- /dev/null +++ b/niryo_robot_gazebo/models/cube_red/model.sdf @@ -0,0 +1,105 @@ + + + + + + 1e-4 + + 1.0e-8 + 0 + 0 + 1.0e-8 + 0 + 1.0e-8 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + 1 + + + __default__ + + 0.643 0 0 1 + 0.835 0.114 0.114 1 + 0.333 0.341 0.325 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 50 + 0 0 0 0 -0 0 + + + 0.02 0.02 0.02 + + + + + + 1e+6 + 1e+6 + + + + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.0 + 0.002 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/niryo_robot_gazebo/models/workspace_1/model.config b/niryo_robot_gazebo/models/workspace_1/model.config new file mode 100644 index 000000000..e5b429a96 --- /dev/null +++ b/niryo_robot_gazebo/models/workspace_1/model.config @@ -0,0 +1,12 @@ + + + workspace_1 + 1.0 + model.sdf + + + + + + + diff --git a/niryo_robot_gazebo/models/workspace_1/model.sdf b/niryo_robot_gazebo/models/workspace_1/model.sdf new file mode 100644 index 000000000..3b3b0cbf3 --- /dev/null +++ b/niryo_robot_gazebo/models/workspace_1/model.sdf @@ -0,0 +1,100 @@ + + + + + + 1000.0 + + 4.508 + 0 + 0 + 8.184 + 0 + 11.026 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + + false + 0 0 0 0 0 0 + + + 0.21 0.297 0.001 + + + + + + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.21 0.297 0.001 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/niryo_robot_gazebo/models/workspace_grille/model.config b/niryo_robot_gazebo/models/workspace_grille/model.config new file mode 100644 index 000000000..791ac0cac --- /dev/null +++ b/niryo_robot_gazebo/models/workspace_grille/model.config @@ -0,0 +1,12 @@ + + + workspace_grille + 1.0 + model.sdf + + + + + + + diff --git a/niryo_robot_gazebo/models/workspace_grille/model.sdf b/niryo_robot_gazebo/models/workspace_grille/model.sdf new file mode 100644 index 000000000..93a43fc13 --- /dev/null +++ b/niryo_robot_gazebo/models/workspace_grille/model.sdf @@ -0,0 +1,100 @@ + + + + + + 1000.0 + + 4.508 + 0 + 0 + 8.184 + 0 + 11.026 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1 + 0 + 0 + 0 + + + false + 0 0 0 0 0 0 + + + 0.21 0.21 0.001 + + + + + + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.21 0.21 0.001 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 0 + 1 + + diff --git a/niryo_robot_gazebo/package.xml b/niryo_robot_gazebo/package.xml new file mode 100644 index 000000000..323fa2329 --- /dev/null +++ b/niryo_robot_gazebo/package.xml @@ -0,0 +1,26 @@ + + niryo_robot_gazebo + 3.0.0 + Gazebo simulation for Ned + Rémi Lux + Rémi Lux + GPLv3 + + catkin + gazebo_ros + + controller_manager + joint_state_controller + robot_state_publisher + effort_controllers + niryo_robot_description + niryo_robot_commander + niryo_robot_hardware_interface + gazebo_ros_control + gazebo_ros + + + + + + diff --git a/niryo_robot_gazebo/worlds/niryo_cube_world.world b/niryo_robot_gazebo/worlds/niryo_cube_world.world new file mode 100644 index 000000000..3aeab8097 --- /dev/null +++ b/niryo_robot_gazebo/worlds/niryo_cube_world.world @@ -0,0 +1,61 @@ + + + + + model://sun + + + + + model://ground_plane + + + + + + model://workspace_1 + + 0.25 0.0 0.0005 0.0 0.0 0.0 + + + + + + model://workspace_grille + + 0.0 0.25 0.0005 0.0 0.0 1.57 + + + + + + model://cube_blue + + 0.25 0.0357 0.011 0.0 0.0 0.5 + + + + + model://cube_red + + 0.267 -0.062 0.011 0.0 0.0 0.1 + + + + + model://cube_green + + 0.212 -0.0369 0.011 0 0 -0.3 + + + + + + 0.198 -0.823 0.916 0 0.763 1.592 + orbit + perspective + + + + + diff --git a/niryo_robot_gazebo/worlds/niryo_empty_world.world b/niryo_robot_gazebo/worlds/niryo_empty_world.world new file mode 100644 index 000000000..736a0764e --- /dev/null +++ b/niryo_robot_gazebo/worlds/niryo_empty_world.world @@ -0,0 +1,115 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 47 91000000 + 47 300541154 + 1585648802 670909787 + 47091 + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + 0.60 -0.90 0.70 0 0.42 2.1 + orbit + perspective + + + + diff --git a/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt b/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt new file mode 100644 index 000000000..d1063e1c2 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/CMakeLists.txt @@ -0,0 +1,86 @@ +cmake_minimum_required(VERSION 2.8.3) +project(conveyor_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + std_msgs + stepper_driver + message_generation +) + +find_package(Boost REQUIRED COMPONENTS system) + +add_message_files( + FILES + ConveyorFeedback.msg + ConveyorFeedbackArray.msg +) + +add_service_files( + DIRECTORY srv + FILES + ControlConveyor.srv + SetConveyor.srv +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp + std_msgs + stepper_driver + message_runtime +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/conveyor_interface_core.cpp +) + +add_executable(${PROJECT_NAME}_node + src/conveyor_interface_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} stepper_driver_generate_messages_cpp ) +add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp ) \ No newline at end of file diff --git a/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml b/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml new file mode 100644 index 000000000..d31623602 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/config/default.yaml @@ -0,0 +1,5 @@ +conveyor : + max_effort : 90 + id : 6 + id_list : [12,13] + publish_frequency : 2 diff --git a/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp new file mode 100644 index 000000000..4af5910e8 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_interface_core.hpp @@ -0,0 +1,70 @@ +/* + conveyor_interface_interface_core.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef CONVEYOR_INTERFACE_CORE_HPP +#define CONVEYOR_INTERFACE_CORE_HPP + +#include + +#include +#include + +#include "stepper_driver/stepper_driver_core.hpp" + +#include "stepper_driver/StepperCmd.h" +#include "conveyor_interface/SetConveyor.h" +#include "conveyor_interface/ControlConveyor.h" +#include "conveyor_interface/ConveyorFeedbackArray.h" +#include "niryo_robot_msgs/CommandStatus.h" + +class ConveyorInterfaceCore +{ + public: + + ConveyorInterfaceCore(boost::shared_ptr &stepper); + void initServices(); + void initParams(); + + private: + + ros::NodeHandle _nh; + boost::shared_ptr &_stepper; + + ros::ServiceServer _ping_and_set_stepper_server; + ros::ServiceServer _control_conveyor_server; + ros::Publisher _conveyors_feedback_publisher; + + ros::Publisher _conveyor_status_publisher; + boost::shared_ptr _publish_conveyor_status_thread; + + std::vector _list_conveyor_id; + std::vector _list_available_id; + std::vector _list_possible_conveyor_id; + int _conveyor_id; + int _conveyor_max_effort; + double _publish_feedback_frequency; + + boost::shared_ptr _publish_conveyors_feedback_thread; + + bool _callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res); + bool _callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res); + + void _publishConveyorsFeedback(); +}; +#endif diff --git a/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp new file mode 100644 index 000000000..fa85396ad --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/include/conveyor_interface/conveyor_state.hpp @@ -0,0 +1,58 @@ +/* + conveyor_state.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef CONVEYOR_STATE_HPP +#define CONVEYOR_STATE_HPP + +#include +#include + +#include "stepper_driver/stepper_enum.hpp" + +class ConveyorState +{ + public: + ConveyorState(uint8_t id); + + void setId(uint8_t id); + uint8_t getId(); + + void setConnectionState(bool state); + bool isConnected(); + + void setState(bool state); + bool isRunning(); + + int16_t getVelocity(); + void setVelocity(int16_t velocity); + + int8_t getDirection(); + void setDirection(int8_t direction); + + private: + + uint8_t _id; + + bool _connected; + bool _activated; + + int16_t _velocity; + int8_t _direction; +}; +#endif diff --git a/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg new file mode 100644 index 000000000..2c57addfd --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg @@ -0,0 +1,11 @@ + +#Conveyor id ( either 12 or 18) +uint8 conveyor_id +#Conveyor Connection state ( if it is enabled) +bool connection_state +# Conveyor Controls state : ON or OFF +bool running +# Conveyor Speed ( 1-> 100 %) +int16 speed +# Conveyor direction ( backward or forward) +int8 direction diff --git a/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg new file mode 100644 index 000000000..f6d7f0c41 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg @@ -0,0 +1 @@ +conveyor_interface/ConveyorFeedback[] conveyors \ No newline at end of file diff --git a/niryo_robot_hardware_stack/conveyor_interface/package.xml b/niryo_robot_hardware_stack/conveyor_interface/package.xml new file mode 100644 index 000000000..27367cfe5 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/package.xml @@ -0,0 +1,25 @@ + + + conveyor_interface + 0.0.0 + The conveyor_interface package + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + niryo_robot_msgs + std_msgs + stepper_driver + message_generation + + roscpp + niryo_robot_msgs + std_msgs + stepper_driver + message_runtime + diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp new file mode 100644 index 000000000..4ca5bd34d --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_core.cpp @@ -0,0 +1,188 @@ +#include "conveyor_interface/conveyor_interface_core.hpp" +#include "stepper_driver/conveyor_state.hpp" + +ConveyorInterfaceCore::ConveyorInterfaceCore(boost::shared_ptr &stepper): + _stepper(stepper) +{ + _list_conveyor_id.clear(); + initParams(); + initServices(); + + _conveyors_feedback_publisher = _nh.advertise("/niryo_robot/conveyor/feedback", 10); + _publish_conveyors_feedback_thread.reset(new std::thread(boost::bind(&ConveyorInterfaceCore::_publishConveyorsFeedback, this))); +} + +void ConveyorInterfaceCore::initParams() +{ + _nh.getParam("/niryo_robot_hardware_interface/conveyor/max_effort", _conveyor_max_effort); + _nh.getParam("/niryo_robot_hardware_interface/conveyor/id", _conveyor_id); + _nh.getParam("/niryo_robot_hardware_interface/conveyor/id_list", _list_possible_conveyor_id); + _nh.getParam("/niryo_robot_hardware_interface/conveyor/publish_frequency", _publish_feedback_frequency); + + ROS_DEBUG("Conveyor interface - conveyor max effort : %d", _conveyor_max_effort); + ROS_DEBUG("Conveyor interface - Publish_hw_status_frequency : %f", _publish_feedback_frequency); + _list_available_id.push_back((uint8_t)_list_possible_conveyor_id.at(1)); + _list_available_id.push_back((uint8_t)_list_possible_conveyor_id.at(0)); +} + +void ConveyorInterfaceCore::initServices() +{ + _ping_and_set_stepper_server = _nh.advertiseService("/niryo_robot/conveyor/ping_and_set_conveyor", &ConveyorInterfaceCore::_callbackPingAndSetConveyor, this); + _control_conveyor_server = _nh.advertiseService("/niryo_robot/conveyor/control_conveyor", &ConveyorInterfaceCore::_callbackControlConveyor, this); +} + +bool ConveyorInterfaceCore::_callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res) +{ + std::string message = ""; + int result; + if (_stepper->getCalibrationState() == true) + { + res.status = niryo_robot_msgs::CommandStatus::CALIBRATION_IN_PROGRESS; + res.message = "Calibration in progress"; + return true; + } + + uint8_t conveyor_id; + if(req.cmd == conveyor_interface::SetConveyor::Request::ADD) + { + if(_list_available_id.size() == 0) + { + res.message = "no conveyor available"; + res.id = 0; + res.status = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_LEFT; + return true; + } + else + { + conveyor_id = _list_available_id.back(); + } + result = _stepper->setConveyor(conveyor_id); + if(result != niryo_robot_msgs::CommandStatus::SUCCESS) + { + res.status = result; + res.id = 0; + ROS_INFO("Conveyor interface - No new conveyor found"); + message = "No new conveyor found"; + } + else + { + _list_conveyor_id.push_back(conveyor_id); + _list_available_id.pop_back(); + ros::Duration(0.05).sleep(); + + StepperDriver::StepperMotorCmd cmd; + std::vector stepper_id{conveyor_id}; + std::vector stepper_params{8}; + cmd.setParams(stepper_params); + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MICRO_STEPS); + cmd.setMotorsId(stepper_id); + _stepper->setStepperCommands(cmd); + ros::Duration(0.05).sleep(); + + stepper_params.clear(); + stepper_params = {_conveyor_max_effort}; + cmd.setParams(stepper_params); + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MAX_EFFORT); + cmd.setMotorsId(stepper_id); + _stepper->setStepperCommands(cmd); + ros::Duration(0.1).sleep(); + + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CONVEYOR); + cmd.setParams(std::vector{false, 0, -1}); + cmd.setMotorsId(stepper_id); + _stepper->setConveyorCommands(cmd); + ros::Duration(0.1).sleep(); + _stepper->setConveyorCommands(cmd); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + message = "Set new conveyor on id "; + message += std::to_string(conveyor_id); + message += " OK"; + res.id = conveyor_id; + } + + } + else if (req.cmd == conveyor_interface::SetConveyor::Request::REMOVE) + { + bool conveyor_found = false; + for(int i = 0; i < _list_conveyor_id.size(); i++) + { + if(req.id == _list_conveyor_id.at(i)) + { + conveyor_found = true; + _list_conveyor_id.erase( _list_conveyor_id.begin() + i); + _list_available_id.push_back(req.id); + _stepper->unsetConveyor(req.id); + std::sort(_list_available_id.begin(), _list_available_id.end(), std::greater()); + message = "Remove conveyor id "; + message += std::to_string(req.id); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + break; + } + } + if(!conveyor_found) + { + ROS_INFO("Conveyor interface - Conveyor id %d not found", req.id); + message = "Conveyor id "; + message += std::to_string(req.id); + message += " not found"; + res.status = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_FOUND; + } + } + res.message = message; + return true; + +} + +bool ConveyorInterfaceCore::_callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res) +{ + std::string message = ""; + auto conveyor_id = std::find(_list_conveyor_id.begin(), _list_conveyor_id.end() , req.id); + StepperDriver::StepperMotorCmd cmd; + if(conveyor_id != _list_conveyor_id.end()) + { + cmd.setMotorsId(std::vector {req.id}); + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CONVEYOR); + cmd.setParams(std::vector{req.control_on, req.speed, req.direction}); + message = "Set command on conveyor id "; + message += std::to_string(req.id); + message += " is OK"; + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + _stepper->setConveyorCommands(cmd); + } + else + { + ROS_INFO("Conveyor interface - Conveyor id %d isn't set", req.id); + message = "Conveyor id "; + message += std::to_string(req.id); + message += " is not set"; + res.status = niryo_robot_msgs::CommandStatus::CONVEYOR_ID_INVALID; + } + + res.message = message; + return true; +} + +void ConveyorInterfaceCore::_publishConveyorsFeedback() +{ + ros::Rate publish_conveyor_feedback_rate = ros::Rate(_publish_feedback_frequency); + + while (ros::ok()) { + + conveyor_interface::ConveyorFeedbackArray msg; + conveyor_interface::ConveyorFeedback data; + + std::vector conveyor_list; + conveyor_list = _stepper->getConveyorStates(); + for(int i = 0; i < conveyor_list.size(); i++) + { + data.conveyor_id = conveyor_list.at(i).getId(); + data.running = conveyor_list.at(i).getState(); + data.direction = conveyor_list.at(i).getDirection(); + data.speed = conveyor_list.at(i).getSpeed(); + msg.conveyors.push_back(data); + } + _conveyors_feedback_publisher.publish(msg); + publish_conveyor_feedback_rate.sleep(); + + } +} diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp new file mode 100644 index 000000000..57a240780 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_interface_node.cpp @@ -0,0 +1,22 @@ +#include +#include "conveyor_interface/conveyor_interface_core.hpp" +#include "stepper_driver/stepper_driver_core.hpp" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "conveyor_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + boost::shared_ptr stepper(new StepperDriver::StepperDriverCore()); + ros::Duration(1).sleep(); + boost::shared_ptr conveyor_interface(new ConveyorInterfaceCore(stepper)); + ros::Duration(1).sleep(); + + ros::spin(); + + return 0; +} diff --git a/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp new file mode 100644 index 000000000..d34f2ec66 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/src/conveyor_state.cpp @@ -0,0 +1,80 @@ +/* + conveyor_state.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "conveyor_interface/conveyor_state.hpp" + + +ConveyorState::ConveyorState(uint8_t id) : + _id(id) +{ + _connected = true; + _activated = true; + _velocity = 0; + _direction = 0; +} + +void ConveyorState::setId(uint8_t id) +{ + _id = id; +} + +uint8_t ConveyorState::getId() +{ + return _id; +} + +void ConveyorState::setConnectionState(bool state) +{ + _connected = state; +} + +bool ConveyorState::isConnected() +{ + return _connected; +} + +void ConveyorState::setState(bool state) +{ + _activated = state; +} + +bool ConveyorState::isRunning() +{ + return _activated; +} + +int16_t ConveyorState::getVelocity() +{ + return _velocity; +} + +void ConveyorState::setVelocity(int16_t velocity) +{ + _velocity = velocity; +} + +int8_t ConveyorState::getDirection() +{ + return _direction; +} + +void ConveyorState::setDirection(int8_t direction) +{ + _direction = direction; +} diff --git a/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv b/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv new file mode 100644 index 000000000..c4df917a0 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv @@ -0,0 +1,8 @@ +uint8 id + +bool control_on +int16 speed +int8 direction +--- +int16 status +string message diff --git a/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv b/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv new file mode 100644 index 000000000..0a128a6fb --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv @@ -0,0 +1,10 @@ +uint8 cmd +uint8 id + +uint8 ADD = 1 +uint8 REMOVE = 2 + +--- +int16 id +int16 status +string message diff --git a/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp b/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp new file mode 100644 index 000000000..02b264d13 --- /dev/null +++ b/niryo_robot_hardware_stack/conveyor_interface/test/conveyor_test.cpp @@ -0,0 +1,128 @@ +/* + conveyor_test.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include +#include "conveyor_interface/conveyor_interface_core.hpp" + +#include "stepper_driver/stepper_driver_core.hpp" + +boost::shared_ptr conveyor_interface_bite; + +void TestConveyor(ros::NodeHandle nh) +{ + ros::ServiceClient set_conveyor_client = nh.serviceClient("niryo_robot/tools/ping_and_set_conveyor"); + ros::ServiceClient control_conveyor_client = nh.serviceClient("niryo_robot/tools/control_conveyor"); + ros::ServiceClient change_conveyor_client = nh.serviceClient("niryo_robot/tools/update_conveyor_id"); + + conveyor_interface::SetConveyor set_conveyor_srv; + conveyor_interface::ControlConveyor control_conveyor_srv; + conveyor_interface::UpdateConveyorId update_conveyor_srv; + + ROS_INFO("Conveyor Test - Set Conveyor"); + set_conveyor_srv.request.id = 6; + set_conveyor_srv.request.activate = true; + if(set_conveyor_client.call(set_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Conveyor Test - Control Conveyor step 1"); + control_conveyor_srv.request.id = 6; + control_conveyor_srv.request.control_on = true; + control_conveyor_srv.request.speed = 75; + control_conveyor_srv.request.direction = 1; + if(control_conveyor_client.call(control_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Conveyor Test - Control Conveyor step 2"); + control_conveyor_srv.request.id = 6; + control_conveyor_srv.request.control_on = true; + control_conveyor_srv.request.speed = 75; + control_conveyor_srv.request.direction = -1; + if(control_conveyor_client.call(control_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Control Conveyor step 3"); + control_conveyor_srv.request.id = 6; + control_conveyor_srv.request.control_on = false; + control_conveyor_srv.request.speed = 75; + control_conveyor_srv.request.direction = -1; + if(control_conveyor_client.call(control_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Conveyor Test - Change Conveyor ID"); + update_conveyor_srv.request.old_id = 6; + update_conveyor_srv.request.new_id = 7; + if(change_conveyor_client.call(update_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Conveyor Test - Control Conveyor step 2"); + control_conveyor_srv.request.id = 7; + control_conveyor_srv.request.control_on = true; + control_conveyor_srv.request.speed = 75; + control_conveyor_srv.request.direction = -1; + if(control_conveyor_client.call(control_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); + + ROS_INFO("Conveyor Test - Control Conveyor step 3"); + control_conveyor_srv.request.id = 7; + control_conveyor_srv.request.control_on = false; + control_conveyor_srv.request.speed = 75; + control_conveyor_srv.request.direction = -1; + if(control_conveyor_client.call(control_conveyor_srv)) + { + ROS_INFO("Conveyor Test - Server return"); + } + ros::Duration(5).sleep(); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "conveyor_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + boost::shared_ptr stepper(new StepperDriver::StepperDriverCore()); + ros::Duration(1).sleep(); + conveyor_interface_bite.reset(new ConveyorInterfaceCore(stepper)); + ros::Duration(1).sleep(); + TestConveyor(nh); + ros::waitForShutdown(); + + ROS_INFO("Conveyor Test - Shutdown node"); +} diff --git a/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt b/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt new file mode 100644 index 000000000..5a0811f85 --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/CMakeLists.txt @@ -0,0 +1,59 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cpu_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp +) + +find_package(Boost REQUIRED COMPONENTS system) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/cpu_interface_core.cpp +) + +add_executable(${PROJECT_NAME}_node + src/cpu_interface_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) \ No newline at end of file diff --git a/niryo_robot_hardware_stack/cpu_interface/config/default.yaml b/niryo_robot_hardware_stack/cpu_interface/config/default.yaml new file mode 100644 index 000000000..8dfe3cdaf --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/config/default.yaml @@ -0,0 +1,3 @@ +read_rpi_diagnostics_frequency : 0.25 +temperature_warn_threshold: 75 +temperature_shutdown_threshold: 85 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp b/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp new file mode 100644 index 000000000..ed8be2ed1 --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/include/cpu_interface/cpu_interface_core.hpp @@ -0,0 +1,56 @@ +/* + cpu_interface_interface_core.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef CPU_INTERFACE_CORE_HPP +#define CPU_INTERFACE_CORE_HPP + +#include +#include +#include +#include +#include +#include + +class CpuInterfaceCore +{ + public: + + CpuInterfaceCore(); + + void initParams(); + + void startReadingData(); + int getCpuTemperature(); + + private: + ros::NodeHandle _nh; + + int _cpu_temperature; + + double _read_cpu_frequency; + int _temperature_warn_threshold; + int _temperature_shutdown_threshold; + + void _readCpuTemperature(); + void _readHardwareDataLoop(); + + boost::shared_ptr _read_hardware_data_thread; + +}; +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch b/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch new file mode 100644 index 000000000..48ff2e88a --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/launch/cpu_interface.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/niryo_robot_hardware_stack/cpu_interface/package.xml b/niryo_robot_hardware_stack/cpu_interface/package.xml new file mode 100644 index 000000000..1abf57182 --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/package.xml @@ -0,0 +1,18 @@ + + + cpu_interface + 0.0.0 + The cpu_interface package + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + + roscpp + + diff --git a/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp new file mode 100644 index 000000000..d3bafea47 --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_core.cpp @@ -0,0 +1,69 @@ +#include "cpu_interface/cpu_interface_core.hpp" + +CpuInterfaceCore::CpuInterfaceCore() +{ + _cpu_temperature = 0; + initParams(); + startReadingData(); + ROS_INFO("CPU Interface - Started"); +} + +void CpuInterfaceCore::initParams() +{ + if (ros::param::has("read_rpi_diagnostics_frequency/read_rpi_diagnostics_frequency")) + { + ros::param::get("read_rpi_diagnostics_frequency/read_rpi_diagnostics_frequency", _read_cpu_frequency); + } + else + { + ROS_INFO("CPU Interface - No params found. Init with default value"); + _nh.getParam("/niryo_robot_hardware_interface/read_rpi_diagnostics_frequency", _read_cpu_frequency); + _nh.getParam("/niryo_robot_hardware_interface/temperature_warn_threshold", _temperature_warn_threshold); + _nh.getParam("/niryo_robot_hardware_interface/temperature_shutdown_threshold", _temperature_shutdown_threshold); + } + ROS_DEBUG("CPU Interface - Read temperature frequency %f", _read_cpu_frequency); +} + + +int CpuInterfaceCore::getCpuTemperature() +{ + return _cpu_temperature; +} + +void CpuInterfaceCore::_readCpuTemperature() +{ +#if defined __arm__ || defined __aarch64__ + std::fstream cpu_temp_file("/sys/class/thermal/thermal_zone0/temp", std::ios_base::in); + + int read_temp; + cpu_temp_file >> read_temp; + if (read_temp > 0) { + _cpu_temperature = read_temp / 1000; + } +#endif +} + +void CpuInterfaceCore::startReadingData() +{ + _read_hardware_data_thread.reset(new std::thread(boost::bind(&CpuInterfaceCore::_readHardwareDataLoop, this))); +} + +void CpuInterfaceCore::_readHardwareDataLoop() +{ + ros::Rate read_rpi_diagnostics_rate = ros::Rate(_read_cpu_frequency); + + while (ros::ok()) { + _readCpuTemperature(); + + // check if Rpi is too hot + if (_cpu_temperature > _temperature_warn_threshold) { + ROS_WARN("CPU Interface - Rpi temperature is really high !"); + } + if (_cpu_temperature > _temperature_shutdown_threshold) { + ROS_ERROR("CPU Interface - Rpi is too hot, shutdown to avoid any damage"); + std::system("sudo shutdown now"); + } + + read_rpi_diagnostics_rate.sleep(); + } +} diff --git a/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp new file mode 100644 index 000000000..20002b85c --- /dev/null +++ b/niryo_robot_hardware_stack/cpu_interface/src/cpu_interface_node.cpp @@ -0,0 +1,35 @@ +#include +#include +#include "cpu_interface/cpu_interface_core.hpp" + +boost::shared_ptr cpu; + +void readTemperature() +{ + ros::Rate read_rpi_diagnostics_rate = ros::Rate(1); + int temperature = 0; + while (ros::ok()) + { + temperature = cpu->getCpuTemperature(); + ROS_INFO("cpu temperature = %d", temperature); + read_rpi_diagnostics_rate.sleep(); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "cpu_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + cpu.reset(new CpuInterfaceCore()); + + std::thread readTempThread(readTemperature); + readTempThread.join(); + ros::waitForShutdown(); + + ROS_INFO("shutdown node"); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt b/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt new file mode 100644 index 000000000..f923391d9 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/CMakeLists.txt @@ -0,0 +1,111 @@ +cmake_minimum_required(VERSION 2.8.3) +project(dynamixel_driver) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + dynamixel_sdk + niryo_robot_msgs + message_generation +) + +find_package(Boost REQUIRED COMPONENTS system) + +add_message_files( + FILES + DxlArrayMotorHardwareStatus.msg + DxlMotorCommand.msg + DxlMotorHardwareStatus.msg +) + +add_service_files( + DIRECTORY + srv + FILES + SendCustomDxlValue.srv +) + +generate_messages( + DEPENDENCIES + std_msgs + niryo_robot_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + ${PROJECT_NAME}_core + CATKIN_DEPENDS + roscpp + dynamixel_sdk + niryo_robot_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/xl320_driver.cpp + src/xl430_driver.cpp + src/dxl_motor_state.cpp + src/single_motor_cmd.cpp + src/synchronize_motor_cmd.cpp +) + +add_library(${PROJECT_NAME}_core + src/dxl_driver_core.cpp + src/dxl_driver.cpp +) + +add_executable(${PROJECT_NAME}_node + src/dxl_driver_node.cpp +) + +add_executable(${PROJECT_NAME}_test + test/test_dynamixel_driver_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_core + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME}_core + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_test + ${PROJECT_NAME}_core + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME}_core + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} dynamixel_driver_generate_messages_cpp) diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml new file mode 100644 index 000000000..6f4ec7523 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/config/default.yaml @@ -0,0 +1,6 @@ +dxl_hardware_control_loop_frequency: 100.0 +dxl_hardware_write_frequency: 50.0 +dxl_hardware_read_data_frequency: 15.0 +dxl_hardware_read_status_frequency: 0.5 +dxl_hardware_check_connection_frequency: 2.0 +dxl_end_effector_frequency: 2.0 diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml new file mode 100644 index 000000000..46b2fd2e0 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/config/motors_config.yaml @@ -0,0 +1,3 @@ +motors_params: + dxl_motor_id_list: [2,3,6] + dxl_motor_type_list: ["xl430","xl430","xl320"] \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml new file mode 100644 index 000000000..44450316d --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/config/ned/dxl_bus_config.yaml @@ -0,0 +1,3 @@ +dxl_bus: + dxl_baudrate: 1000000 + dxl_uart_device_name: "/dev/ttyAMA0" diff --git a/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml b/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml new file mode 100644 index 000000000..34a46deed --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/config/one/dxl_bus_config.yaml @@ -0,0 +1,3 @@ +dxl_bus: + dxl_baudrate: 1000000 + dxl_uart_device_name: "/dev/serial0" diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp new file mode 100644 index 000000000..87e4d2138 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver.hpp @@ -0,0 +1,189 @@ +/* + dxl_driver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DXL_DRIVER_HPP +#define DXL_DRIVER_HPP + +#include +#include +#include +#include +#include +#include +#include + +#include "dynamixel_sdk/dynamixel_sdk.h" + +#include "dynamixel_driver/DxlMotorCommand.h" +#include "niryo_robot_msgs/MotorHeader.h" +#include "niryo_robot_msgs/SetInt.h" +#include "niryo_robot_msgs/CommandStatus.h" +#include "dynamixel_driver/xl320_driver.hpp" +#include "dynamixel_driver/xl430_driver.hpp" +#include "dynamixel_driver/dxl_motor_state.hpp" +#include "dynamixel_driver/synchronize_motor_cmd.hpp" +#include "dynamixel_driver/single_motor_cmd.hpp" + +#define DXL_BUS_PROTOCOL_VERSION 2.0 + +#define DXL_FAIL_OPEN_PORT -4500 +#define DXL_FAIL_PORT_SET_BAUDRATE -4501 +#define DXL_FAIL_SETUP_GPIO -4502 + +#define RADIAN_TO_DEGREE 57.295779513082320876798154814105 + +#define TIME_TO_WAIT_IF_BUSY 0.0005 + +#define DXL_SCAN_OK 0 +#define DXL_SCAN_MISSING_MOTOR -50 +#define DXL_SCAN_UNALLOWED_MOTOR -51 +#define DXL_WRONG_TYPE -52 + +namespace DynamixelDriver +{ + struct DxlCustomCommand { + + DxlCustomCommand(DxlMotorType m, uint8_t i, uint32_t v, uint32_t r, uint32_t b) + : motor_type(m), id(i), value(v), reg_address(r), byte_number(b) {} + + DxlMotorType motor_type; + uint8_t id; + uint32_t value; + uint32_t reg_address; + uint32_t byte_number; + + }; + + class DxlDriver + { + public: + + DxlDriver(); + + int init(); + void initParameters(); + + int setupCommunication(); + bool isConnectionOk(); + + std::vector& getMotorsState(); + void getBusState(bool& connection_state, std::vector& motor_id, std::string& debug_msg); + + void executeJointTrajectoryCmd(std::vector &cmd); + + void addDynamixel(uint8_t id, DxlMotorType type); + void removeDynamixel(uint8_t id, DxlMotorType type); + + uint32_t getPosition(DxlMotorState& motor_state); + void readPositionState(); + void readHwStatus(); + void readSynchronizeCommand(SynchronizeMotorCmd cmd); + void readSingleCommand(SingleMotorCmd cmd); + + void fillPositionState(void); + void fillVoltageStatus(void); + void fillTemperatureStatus(void); + void fillErrorStatus(void); + void interpreteErrorState(void); + + void readAndFillStateXL320( + int (XL320Driver::*readFunction)(std::vector &, std::vector &), + void (DxlMotorState::*setFunction)(uint32_t)); + + void readAndFillStateXL430( + int (XL430Driver::*readFunction)(std::vector &, std::vector &), + void (DxlMotorState::*setFunction)(uint32_t)); + + void FillMotorsState(void (DxlMotorState::*setFunction)(uint32_t), uint32_t (DxlMotorState::*getFunction)()); + + int setTorqueEnable(DxlMotorState& targeted_dxl, uint32_t torque_enable); + int setGoalPosition(DxlMotorState& targeted_dxl, uint32_t position); + int setGoalTorque(DxlMotorState& targeted_dxl, uint32_t torque); + + int setGoalVelocity(DxlMotorState& targeted_dxl, uint32_t velocity); + void syncWriteTorqueEnable(std::vector& motor_list, std::vector& torque_enable); + void syncWriteEffortCommand(std::vector& motor_list, std::vector& param_list); + void syncWriteVelocityCommand(std::vector& motor_list, std::vector& param_list); + void syncWritePositionCommand(std::vector& motor_list, std::vector& param_list); + + int scanAndCheck(); + int checkCommPortAvailable(); + int getAllIdsOnDxlBus(std::vector &id_list); + void checkRemovedMotors(); + std::vector& getRemovedMotorList(); + + int ping(DxlMotorState& targeted_dxl); + int ping_id(int dxl_id); + int type_ping_id(uint8_t id, DxlMotorType type); + + int rebootMotors(); + void updateMotorTypeList(void); + void addCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value, + uint32_t reg_address, uint32_t byte_number); + std::string getErrorMessage(); + + int sendCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value, uint32_t reg_address, uint32_t byte_number); + + int getledstate(void); + int setLeds(int led); + + private: + ros::NodeHandle _nh; + + std::vector _xl430_arm_id_list; + uint8_t _xl320_arm_id; + std::vector _motor_id_list; + std::vector _motor_type_list; + std::vector _removed_motor_id_list; + + std::vector _motor_list; + std::vector _xl430_motor_list; + std::vector _xl320_motor_list; + + std::string _device_name; + int _uart_baudrate; + + boost::shared_ptr _dxlPortHandler; + boost::shared_ptr _dxlPacketHandler; + + std::vector _all_motor_connected; + + std::vector _xl320_id_list; + std::vector _xl430_id_list; + + boost::shared_ptr _xl320; + boost::shared_ptr _xl430; + + // for hardware control + + bool _is_dxl_connection_ok; + std::string _debug_error_message; + + int _xl320_hw_fail_counter_read; + int _xl430_hw_fail_counter_read; + + int _led_state; + + int _hw_fail_counter_read; + + std::queue _custom_command_queue; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp new file mode 100644 index 000000000..37022ee44 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_driver_core.hpp @@ -0,0 +1,121 @@ +/* + dxl_driver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DXL_DRIVER_CORE_HPP +#define DXL_DRIVER_CORE_HPP + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "dynamixel_driver/dxl_driver.hpp" +#include "dynamixel_driver/DxlArrayMotorHardwareStatus.h" +#include "dynamixel_driver/SendCustomDxlValue.h" + +#include "niryo_robot_msgs/BusState.h" +#include "niryo_robot_msgs/SetInt.h" +#include "niryo_robot_msgs/CommandStatus.h" + +#include + +#define DXL_VOLTAGE_DIVISOR 10.0 + +namespace DynamixelDriver +{ + class DynamixelDriverCore + { + public: + + DynamixelDriverCore(); + + void init(); + + void initParameters(); + + void startControlLoop(); + void resetHardwareControlLoopRates(); + void controlLoop(); + + dynamixel_driver::DxlArrayMotorHardwareStatus getHwStatus(); + niryo_robot_msgs::BusState getDxlBusState(); + + void setTrajectoryControllerCommands(std::vector& cmd); + + std::vector& getDxlStates(); + + void setDxlCommands(SynchronizeMotorCmd &cmd); + + int ping_id(uint8_t id, DxlMotorType type); + std::vector scanTools(); + int setEndEffector(uint8_t id, DxlMotorType type); + void unsetEndEffector(uint8_t id, DxlMotorType type); + void setEndEffectorCommands(std::vector &cmd); + uint32_t getEndEffectorState(uint8_t id, DxlMotorType type); + std::vector& getRemovedMotorList(); + + int update_leds(void); + + void activeDebugMode(bool mode); + int launchMotorsReport(); + int motorScanReport(uint8_t motor_id, DxlMotorType motor_type); + int motorCmdReport(uint8_t motor_id, DxlMotorType motor_type); + int rebootMotors(); + + private: + ros::NodeHandle _nh; + bool _control_loop_flag; + bool _debug_flag; + + std::mutex _control_loop_mutex; + + boost::shared_ptr _control_loop_thread; + + double _control_loop_frequency; + double _write_frequency; + double _read_data_frequency; + double _read_status_frequency; + double _check_connection_frequency; + double _check_end_effector_frequency; + + double _time_hw_data_last_write; + double _time_hw_data_last_read; + double _time_hw_status_last_read; + double _time_check_connection_last_read; + double _time_check_end_effector_last_read; + + boost::shared_ptr _dynamixel; + + void _executeCommand(); + + std::vector _joint_trajectory_controller_cmd; + boost::shared_ptr _dxl_cmd; + std::vector _end_effector_cmd; + + ros::ServiceServer _activate_leds_server; + ros::ServiceServer _custom_cmd_server; + bool callbackActivateLeds(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res); + bool callbackSendCustomDxlValue(dynamixel_driver::SendCustomDxlValue::Request &req, dynamixel_driver::SendCustomDxlValue::Response &res); + }; +} +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp new file mode 100644 index 000000000..213b084ca --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_enum.hpp @@ -0,0 +1,23 @@ +#ifndef DXL_ENUM_HPP +#define DXL_ENUM_HPP + +namespace DynamixelDriver +{ + enum class DxlCommandType + { + CMD_TYPE_POSITION=1, + CMD_TYPE_VELOCITY=2, + CMD_TYPE_EFFORT=3, + CMD_TYPE_TORQUE=4, + CMD_TYPE_PING=5, + CMD_TYPE_LEARNING_MODE=6, + }; + + enum class DxlMotorType + { + MOTOR_TYPE_XL430=2, + MOTOR_TYPE_XL320=3 + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp new file mode 100644 index 000000000..524012c57 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/dxl_motor_state.hpp @@ -0,0 +1,78 @@ +/* + dxl_motor_state.h + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DXL_MOTOR_STATE_H +#define DXL_MOTOR_STATE_H + +#include +#include "dynamixel_driver/dxl_enum.hpp" + +#define TOOL_STATE_PING_OK 0x01 +#define TOOL_STATE_PING_ERROR 0x02 +#define TOOL_STATE_WRONG_ID 0x03 +#define TOOL_STATE_TIMEOUT 0x04 + +#define GRIPPER_STATE_OPEN 0x10 +#define GRIPPER_STATE_CLOSE 0x11 + +#define VACUUM_PUMP_STATE_PULLED 0x20 +#define VACUUM_PUMP_STATE_PUSHED 0x21 + +namespace DynamixelDriver +{ + class DxlMotorState + { + public: + DxlMotorState(uint8_t id, DxlMotorType type); + uint8_t getId(); + void setId(uint8_t motor_id); + DxlMotorType getType(); + void setType(DxlMotorType type); + + // getters - state + uint32_t getPositionState(); + void setPositionState(uint32_t pos); + + uint32_t getTemperatureState(); + void setTemperatureState(uint32_t temp); + uint32_t getVoltageState(); + void setVoltageState(uint32_t volt); + uint32_t getHardwareErrorState(); + void setHardwareError(uint32_t hw_error); + std::string getHardwareErrorMessageState(); + void setHardwareError(std::string hw_error_msg); + + bool operator==(const DxlMotorState& other); + + + private: + uint8_t _id; + DxlMotorType _type; + + // read variables + + uint32_t _state_pos=0; + uint32_t _state_temperature=0; + uint32_t _state_voltage=0; + uint32_t _state_hw_error=0; + std::string _state_hw_error_msg=""; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp new file mode 100644 index 000000000..230fe720c --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/single_motor_cmd.hpp @@ -0,0 +1,55 @@ +/* + single_motor_cmd.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DXL_SINGLE_MOTOR_CMD_H +#define DXL_SINGLE_MOTOR_CMD_H + +#include +#include + +#include "dynamixel_driver/dxl_enum.hpp" + +namespace DynamixelDriver +{ + class SingleMotorCmd { + + public: + + SingleMotorCmd( ); + SingleMotorCmd(DxlCommandType type, uint8_t motor_id, uint32_t param); + + DxlCommandType getType(); + void setType(DxlCommandType type); + + void setId(uint8_t id); + uint8_t getId(); + + uint32_t getParam(); + void setParam(uint32_t param); + + private: + + uint8_t _id; + DxlCommandType _type; + uint32_t _param; + + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp new file mode 100644 index 000000000..ceed9fb8b --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/synchronize_motor_cmd.hpp @@ -0,0 +1,53 @@ +/* + synchronize_motor_cmd.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DXL_SYNCHRONIZE_MOTOR_CMD_H +#define DXL_SYNCHRONIZE_MOTOR_CMD_H + +#include +#include + +#include "dynamixel_driver/dxl_enum.hpp" +namespace DynamixelDriver +{ + class SynchronizeMotorCmd { + + public: + + SynchronizeMotorCmd( ); + SynchronizeMotorCmd(DxlCommandType type, std::vector motor_id, std::vector params); + + DxlCommandType getType(); + void setType(DxlCommandType type); + + std::vector& getMotorsId(); + void setMotorsId(std::vector motor_id); + + std::vector& getParams(); + void setParams(std::vector params); + + private: + + DxlCommandType _type; + std::vector _motor_id_list; + std::vector _param_list; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp new file mode 100644 index 000000000..270f307b7 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl320_driver.hpp @@ -0,0 +1,159 @@ +/* + xl320_driver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef XL320_DRIVER_HPP +#define XL320_DRIVER_HPP + +#include +#include + +#include "dynamixel_sdk/dynamixel_sdk.h" + +#define DXL_LEN_ONE_BYTE 1 +#define DXL_LEN_TWO_BYTES 2 +#define DXL_LEN_FOUR_BYTES 4 + +#define GROUP_SYNC_REDONDANT_ID 10 +#define GROUP_SYNC_READ_RX_FAIL 11 +#define LEN_ID_DATA_NOT_SAME 20 + +#define PING_WRONG_MODEL_NUMBER 30 + +#define XL320_PROTOCOL_VERSION 2.0 +#define XL320_MODEL_NUMBER 350 + +// Table here : http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl-320.htm +#define XL320_ADDR_MODEL_NUMBER 0 +#define XL320_ADDR_FIRMWARE_VERSION 2 +#define XL320_ADDR_ID 3 +#define XL320_ADDR_BAUDRATE 4 +#define XL320_ADDR_RETURN_DELAY_TIME 5 +#define XL320_ADDR_CW_ANGLE_LIMIT 6 +#define XL320_ADDR_CCW_ANGLE_LIMIT 8 // EEPROM +#define XL320_ADDR_CONTROL_MODE 11 +#define XL320_ADDR_LIMIT_TEMPERATURE 12 +#define XL320_ADDR_LOWER_LIMIT_VOLTAGE 13 +#define XL320_ADDR_UPPER_LIMIT_VOLTAGE 14 +#define XL320_ADDR_MAX_TORQUE 15 +#define XL320_ADDR_RETURN_LEVEL 17 +#define XL320_ADDR_ALARM_SHUTDOWN 18 + +#define XL320_ADDR_TORQUE_ENABLE 24 +#define XL320_ADDR_LED 25 +#define XL320_ADDR_D_GAIN 27 +#define XL320_ADDR_I_GAIN 28 +#define XL320_ADDR_P_GAIN 29 +#define XL320_ADDR_GOAL_POSITION 30 +#define XL320_ADDR_GOAL_SPEED 32 +#define XL320_ADDR_GOAL_TORQUE 35 +#define XL320_ADDR_PRESENT_POSITION 37 // RAM +#define XL320_ADDR_PRESENT_SPEED 39 +#define XL320_ADDR_PRESENT_LOAD 41 +#define XL320_ADDR_PRESENT_VOLTAGE 45 +#define XL320_ADDR_PRESENT_TEMPERATURE 46 +#define XL320_ADDR_REGISTERED 47 +#define XL320_ADDR_MOVING 49 +#define XL320_ADDR_HW_ERROR_STATUS 50 +#define XL320_ADDR_PUNCH 51 + +// we stop at 1022 instead of 1023, to get an odd number of positions (1023) +// --> so we can get a middle point (511) +#define XL320_TOTAL_ANGLE 296.67 +#define XL320_MAX_POSITION 1022 +#define XL320_MIN_POSITION 0 +#define XL320_MIDDLE_POSITION 511 +#define XL320_TOTAL_RANGE_POSITION 1023 + +// according to xl-320 datasheet : 1 speed ~ 0.111 rpm ~ 1.8944 dxl position per second +#define XL320_STEPS_FOR_1_SPEED 1.8944 // 0.111 * 1024 / 60 + +class XL320Driver +{ +private: + boost::shared_ptr& _dxlPortHandler; + boost::shared_ptr& _dxlPacketHandler; + + int syncWrite1Byte(uint8_t address, std::vector &id_list, std::vector &data_list); + int syncWrite2Bytes(uint8_t address, std::vector &id_list, std::vector &data_list); + int syncWrite4Bytes(uint8_t address, std::vector &id_list, std::vector &data_list); + + int read1Byte(uint8_t address, uint8_t id, uint32_t *data); + int read2Bytes(uint8_t address, uint8_t id, uint32_t *data); + int read4Bytes(uint8_t address, uint8_t id, uint32_t *data); + int syncRead(uint8_t address, uint8_t data_len, std::vector &id_list, std::vector &data_list); + +public: + XL320Driver(boost::shared_ptr& portHandler, boost::shared_ptr& packetHandler); + + int checkModelNumber(uint8_t id); + + uint32_t rad_pos_to_xl320_pos(double position_rad); + double xl320_pos_to_rad_pos(int32_t position_dxl); + + int scan(std::vector &id_list); + int ping(uint8_t id); + int getModelNumber(uint8_t id, uint16_t *dxl_model_number); + int reboot(uint8_t id); + + // eeprom write + int changeId(uint8_t id, uint8_t new_id); + int changeBaudRate(uint8_t id, uint32_t new_baudrate); + int setReturnDelayTime(uint8_t id, uint32_t return_delay_time); + int setLimitTemperature(uint8_t id, uint32_t temperature); + int setMaxTorque(uint8_t id, uint32_t torque); + int setReturnLevel(uint8_t id, uint32_t return_level); + int setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown); + + // eeprom read + int readReturnDelayTime(uint8_t id, uint32_t *return_delay_time); + int readLimitTemperature(uint8_t id, uint32_t *limit_temperature); + int readMaxTorque(uint8_t id, uint32_t *max_torque); + int readReturnLevel(uint8_t id, uint32_t *return_level); + int readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown); + + // ram write + int setTorqueEnable(uint8_t id, uint32_t torque_enable); + int setLed(uint8_t id, uint32_t led_value); + int setGoalPosition(uint8_t id, uint32_t position); + int setGoalVelocity(uint8_t id, uint32_t velocity); + int setGoalTorque(uint8_t id, uint32_t torque); + + int syncWriteLed(std::vector &id_list, std::vector &led_list); + int syncWriteTorqueEnable(std::vector &id_list, std::vector &torque_enable_list); + int syncWritePositionGoal(std::vector &id_list, std::vector &position_list); + int syncWriteVelocityGoal(std::vector &id_list, std::vector &velocity_list); + int syncWriteTorqueGoal(std::vector &id_list, std::vector &torque_list); + + // ram read + int readPosition(uint8_t id, uint32_t *present_position); + int readVelocity(uint8_t id, uint32_t *present_velocity); + int readLoad(uint8_t id, uint32_t *present_load); + int readTemperature(uint8_t id, uint32_t *temperature); + int readVoltage(uint8_t id, uint32_t *voltage); + int readHardwareStatus(uint8_t id, uint32_t *hardware_status); + + int syncReadPosition(std::vector &id_list, std::vector &position_list); + int syncReadVelocity(std::vector &id_list, std::vector &velocity_list); + int syncReadLoad(std::vector &id_list, std::vector &load_list); + int syncReadTemperature(std::vector &id_list, std::vector &temperature_list); + int syncReadVoltage(std::vector &id_list, std::vector &voltage_list); + int syncReadHwErrorStatus(std::vector &id_list, std::vector &hw_error_list); + + // custom write + int customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number); +}; + +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp new file mode 100644 index 000000000..7257bf56c --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/include/dynamixel_driver/xl430_driver.hpp @@ -0,0 +1,152 @@ +/* + xl430_driver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef XL430_DRIVER_HPP +#define XL430_DRIVER_HPP + +#include +#include +#include +#include "dynamixel_sdk/dynamixel_sdk.h" +#include +#define DXL_LEN_ONE_BYTE 1 +#define DXL_LEN_TWO_BYTES 2 +#define DXL_LEN_FOUR_BYTES 4 + +#define GROUP_SYNC_REDONDANT_ID 10 +#define GROUP_SYNC_READ_RX_FAIL 11 +#define LEN_ID_DATA_NOT_SAME 20 + +#define PING_WRONG_MODEL_NUMBER 30 +#define XL430_PROTOCOL_VERSION 2.0 +#define XL430_MODEL_NUMBER 1060 + +// Table here : http://support.robotis.com/en/product/actuator/dynamixel_x/xl_series/xl430-w250.htm +#define XL430_ADDR_MODEL_NUMBER 0 +#define XL430_ADDR_FIRMWARE_VERSION 6 +#define XL430_ADDR_ID 7 +#define XL430_ADDR_BAUDRATE 8 +#define XL430_ADDR_RETURN_DELAY_TIME 9 +#define XL430_ADDR_DRIVE_MODE 10 +#define XL430_ADDR_OPERATING_MODE 11 +#define XL430_ADDR_HOMING_OFFSET 20 // EEPROM (not all addresses) +#define XL430_ADDR_TEMPERATURE_LIMIT 31 +#define XL430_ADDR_MAX_VOLTAGE_LIMIT 32 +#define XL430_ADDR_MIN_VOLTAGE_LIMIT 34 +#define XL430_ADDR_MAX_POSITION_LIMIT 48 +#define XL430_ADDR_MIN_POSITION_LIMIT 52 +#define XL430_ADDR_ALARM_SHUTDOWN 63 + +#define XL430_ADDR_TORQUE_ENABLE 64 +#define XL430_ADDR_LED 65 +#define XL430_ADDR_STATUS_RETURN_LEVEL 68 +#define XL430_ADDR_HW_ERROR_STATUS 70 +#define XL430_ADDR_GOAL_PWM 100 +#define XL430_ADDR_GOAL_VELOCITY 104 +#define XL430_ADDR_GOAL_POSITION 116 // RAM (not all addresses) +#define XL430_ADDR_MOVING 122 +#define XL430_ADDR_PRESENT_PWM 124 +#define XL430_ADDR_PRESENT_LOAD 126 +#define XL430_ADDR_PRESENT_VELOCITY 128 +#define XL430_ADDR_PRESENT_POSITION 132 +#define XL430_ADDR_PRESENT_VOLTAGE 144 +#define XL430_ADDR_PRESENT_TEMPERATURE 146 + +// we stop at 4094 instead of 4095, to get an odd number of positions (4095) +// --> so we can get a middle point (2047) +#define XL430_TOTAL_ANGLE 360.36 +#define XL430_MAX_POSITION 4094 +#define XL430_MIN_POSITION 0 +#define XL430_MIDDLE_POSITION 2047 +#define XL430_TOTAL_RANGE_POSITION 4095 + +class XL430Driver +{ +private: + boost::shared_ptr& _dxlPortHandler; + boost::shared_ptr& _dxlPacketHandler; + + int syncWrite1Byte(uint8_t address, std::vector &id_list, std::vector &data_list); + int syncWrite2Bytes(uint8_t address, std::vector &id_list, std::vector &data_list); + int syncWrite4Bytes(uint8_t address, std::vector &id_list, std::vector &data_list); + + int read1Byte(uint8_t address, uint8_t id, uint32_t *data); + int read2Bytes(uint8_t address, uint8_t id, uint32_t *data); + int read4Bytes(uint8_t address, uint8_t id, uint32_t *data); + int syncRead(uint8_t address, uint8_t data_len, std::vector &id_list, std::vector &data_list); + +public: + XL430Driver(boost::shared_ptr& portHandler, boost::shared_ptr& packetHandler); + + int checkModelNumber(uint8_t id); + + uint32_t rad_pos_to_xl430_pos(double position_rad); + double xl430_pos_to_rad_pos(int32_t position_dxl); + + int scan(std::vector &id_list); + int ping(uint8_t id); + int getModelNumber(uint8_t id, uint16_t *dxl_model_number); + int reboot(uint8_t id); + + // eeprom write + int changeId(uint8_t id, uint8_t new_id); + int changeBaudRate(uint8_t id, uint32_t new_baudrate); + int setReturnDelayTime(uint8_t id, uint32_t return_delay_time); + int setLimitTemperature(uint8_t id, uint32_t temperature); + int setMaxTorque(uint8_t id, uint32_t torque); + int setReturnLevel(uint8_t id, uint32_t return_level); + int setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown); + + // eeprom read + int readReturnDelayTime(uint8_t id, uint32_t *return_delay_time); + int readLimitTemperature(uint8_t id, uint32_t *limit_temperature); + int readMaxTorque(uint8_t id, uint32_t *max_torque); + int readReturnLevel(uint8_t id, uint32_t *return_level); + int readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown); + + // ram write + int setTorqueEnable(uint8_t id, uint32_t torque_enable); + int setLed(uint8_t id, uint32_t led_value); + int setGoalPosition(uint8_t id, uint32_t position); + int setGoalVelocity(uint8_t id, uint32_t velocity); + int setGoalTorque(uint8_t id, uint32_t torque); + + int syncWriteLed(std::vector &id_list, std::vector &led_list); + int syncWriteTorqueEnable(std::vector &id_list, std::vector &torque_enable_list); + int syncWritePositionGoal(std::vector &id_list, std::vector &position_list); + int syncWriteVelocityGoal(std::vector &id_list, std::vector &velocity_list); + int syncWriteTorqueGoal(std::vector &id_list, std::vector &torque_list); + + // ram read + int readPosition(uint8_t id, uint32_t *present_position); + int readVelocity(uint8_t id, uint32_t *present_velocity); + int readLoad(uint8_t id, uint32_t *present_load); + int readTemperature(uint8_t id, uint32_t *temperature); + int readVoltage(uint8_t id, uint32_t *voltage); + int readHardwareStatus(uint8_t id, uint32_t *hardware_status); + + int syncReadPosition(std::vector &id_list, std::vector &position_list); + int syncReadVelocity(std::vector &id_list, std::vector &velocity_list); + int syncReadLoad(std::vector &id_list, std::vector &load_list); + int syncReadTemperature(std::vector &id_list, std::vector &temperature_list); + int syncReadVoltage(std::vector &id_list, std::vector &voltage_list); + int syncReadHwErrorStatus(std::vector &id_list, std::vector &hw_error_list); + + // custom write + int customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number); +}; + +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch b/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch new file mode 100644 index 000000000..41f2ea6db --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/launch/dynamixel_driver.launch @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch b/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch new file mode 100644 index 000000000..a49903d71 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/launch/test.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg new file mode 100644 index 000000000..a7d1a58ac --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +dynamixel_driver/DxlMotorHardwareStatus[] motors_hw_status \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg new file mode 100644 index 000000000..2b7ce7b54 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg @@ -0,0 +1,8 @@ +uint8 cmd_type +uint8 CMD_TYPE_POSITION=1 +uint8 CMD_TYPE_VELOCITY=2 +uint8 CMD_TYPE_EFFORT=3 +uint8 CMD_TYPE_TORQUE=4 + +uint8[] motors_id +uint32[] params \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg new file mode 100644 index 000000000..ac6ae0084 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg @@ -0,0 +1,6 @@ +niryo_robot_msgs/MotorHeader motor_identity + +uint32 temperature +float64 voltage +uint32 error +string error_msg diff --git a/niryo_robot_hardware_stack/dynamixel_driver/package.xml b/niryo_robot_hardware_stack/dynamixel_driver/package.xml new file mode 100644 index 000000000..f5a4e6eac --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/package.xml @@ -0,0 +1,22 @@ + + + dynamixel_driver + 0.0.0 + The dynamixel_driver package provides an interface bewteen high level ROS packages and dynamixels motors + Etienne Rey-Coquais + Edouard Renard + Valentin Pitre + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + dynamixel_sdk + niryo_robot_msgs + + roscpp + dynamixel_sdk + niryo_robot_msgs + diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp new file mode 100644 index 000000000..b334e18f5 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver.cpp @@ -0,0 +1,1134 @@ +/* + dxl_driver.cpp + Copyright (C) 2020 Niryo + All rights reserved. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "dynamixel_driver/dxl_driver.hpp" +namespace DynamixelDriver +{ + DxlDriver::DxlDriver() + { + bool debug_mode = false; + _nh.getParam("/niryo_robot_hardware_interface/debug", debug_mode); + if (debug_mode) + { + if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug)) + { + ros::console::notifyLoggerLevelsChanged(); + } + } + + if (init() != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Dynamixel Communication Failed"); + } + } + + int DxlDriver::init() + { + initParameters(); + + _dxlPortHandler.reset(dynamixel::PortHandler::getPortHandler(_device_name.c_str())); + _dxlPacketHandler.reset(dynamixel::PacketHandler::getPacketHandler(DXL_BUS_PROTOCOL_VERSION)); + + ROS_DEBUG("Dxl Driver - Dxl : set port name (%s), baudrate(%d)", _device_name.c_str(), _uart_baudrate); + + _xl320.reset(new XL320Driver(_dxlPortHandler, _dxlPacketHandler)); + _xl430.reset(new XL430Driver(_dxlPortHandler, _dxlPacketHandler)); + + _is_dxl_connection_ok = false; + _debug_error_message = "Dxl Driver - No connection with Dynamixel motors has been made yet"; + + updateMotorTypeList(); + + return setupCommunication(); + } + + void DxlDriver::initParameters() + { + // get params from rosparams + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_bus/dxl_uart_device_name", _device_name); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_bus/dxl_baudrate", _uart_baudrate); + + if (_nh.hasParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_id_list")) + { + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_id_list", _motor_id_list); + } + else + { + _nh.getParam("/niryo_robot_hardware_interface/motors_params/dxl_motor_id_list", _motor_id_list); + } + + if (_nh.hasParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_type_list")) + { + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/motors_params/dxl_motor_type_list", _motor_id_list); + } + else + { + _nh.getParam("/niryo_robot_hardware_interface/motors_params/dxl_motor_type_list", _motor_type_list); + } + + _xl430_arm_id_list.clear(); + _xl430_arm_id_list.push_back(2); + _xl430_arm_id_list.push_back(3); + _xl320_arm_id = 6; + _removed_motor_id_list.clear(); + + std::string motor_string_list = "["; + for (int i = 0; i < _motor_id_list.size(); i++) + { + if (i != 0) + motor_string_list += ", "; + motor_string_list += "id " + std::to_string(_motor_id_list.at(i)) + ": " + _motor_type_list.at(i).c_str(); + } + motor_string_list += "]"; + ROS_INFO("Dxl Driver - Dxl motor list: %s ", motor_string_list.c_str()); + } + + int DxlDriver::setupCommunication() + { + + // setup half-duplex direction GPIO + // see schema http://support.robotis.com/en/product/actuator/dynamixel_x/xl-series_main.htm + if (!_dxlPortHandler->setupGpio()) + { + ROS_ERROR("Dxl Driver - Failed to setup direction GPIO pin for Dynamixel half-duplex serial"); + _debug_error_message = "Dxl Driver - Failed to setup direction GPIO pin for Dynamixel half-duplex serial"; + return DXL_FAIL_SETUP_GPIO; + } + + // Open port + if (!_dxlPortHandler->openPort()) + { + ROS_ERROR("Dxl Driver - Failed to open Uart port for Dynamixel bus"); + _debug_error_message = "Dxl Driver - Failed to open Uart port for Dynamixel bus"; + return DXL_FAIL_OPEN_PORT; + } + + // Set baudrate + if (!_dxlPortHandler->setBaudRate(_uart_baudrate)) + { + ROS_ERROR("Dxl Driver - Failed to set baudrate for Dynamixel bus"); + _debug_error_message = "Dxl Driver - Failed to set baudrate for Dynamixel bus"; + return DXL_FAIL_PORT_SET_BAUDRATE; + } + + ros::Duration(0.1).sleep(); + return COMM_SUCCESS; + } + + std::vector &DxlDriver::getMotorsState() + { + return _motor_list; + } + + void DxlDriver::getBusState(bool &connection_state, std::vector &motor_id, std::string &debug_msg) + { + debug_msg = _debug_error_message; + motor_id = _all_motor_connected; + connection_state = isConnectionOk(); + } + + void DxlDriver::addDynamixel(uint8_t id, DxlMotorType type) + { + _motor_id_list.push_back(id); + if (type == DxlMotorType::MOTOR_TYPE_XL320) + { + _motor_type_list.push_back("xl320"); + } + else if (type == DxlMotorType::MOTOR_TYPE_XL430) + { + _motor_type_list.push_back("xl430"); + } + updateMotorTypeList(); + } + + void DxlDriver::removeDynamixel(uint8_t id, DxlMotorType type) + { + for (int i = 0; i < _motor_id_list.size(); i++) + { + if (_motor_id_list.at(i) == id) + { + _motor_id_list.erase(_motor_id_list.begin() + i); + _motor_type_list.erase(_motor_type_list.begin() + i); + } + } + for (int i = 0; i < _removed_motor_id_list.size(); i++) + { + if (_removed_motor_id_list.at(i) == id) + { + _removed_motor_id_list.erase(_removed_motor_id_list.begin() + i); + } + } + updateMotorTypeList(); + } + + void DxlDriver::updateMotorTypeList(void) + { + std::vector new_xl430_id_list; + std::vector new_xl320_id_list; + + std::vector new_motor_list; + std::vector new_xl320_motor_list; + std::vector new_xl430_motor_list; + + for (int i = 0; i < _motor_id_list.size(); i++) + { + if (_motor_type_list.at(i) == "xl430") + { + std::vector::iterator it = std::find_if(_motor_list.begin(), _motor_list.end(), [&](DxlMotorState &dxl_state) { return dxl_state.getId() == _motor_id_list.at(i); }); + if (it != _motor_list.end()) + { + it->setType(DxlMotorType::MOTOR_TYPE_XL430); + new_xl430_motor_list.push_back(*it); + new_motor_list.push_back(*it); + } + else + { + DxlMotorState motor(_motor_id_list.at(i), DxlMotorType::MOTOR_TYPE_XL430); + new_xl430_motor_list.push_back(motor); + new_motor_list.push_back(motor); + } + new_xl430_id_list.push_back(_motor_id_list.at(i)); + } + else if (_motor_type_list.at(i) == "xl320") + { + std::vector::iterator it = std::find_if(_motor_list.begin(), _motor_list.end(), [&](DxlMotorState &dxl_state) { return dxl_state.getId() == _motor_id_list.at(i); }); + if (it != _motor_list.end()) + { + it->setType(DxlMotorType::MOTOR_TYPE_XL320); + new_xl320_motor_list.push_back(*it); + new_motor_list.push_back(*it); + } + else + { + DxlMotorState motor(_motor_id_list.at(i), DxlMotorType::MOTOR_TYPE_XL320); + new_xl320_motor_list.push_back(motor); + new_motor_list.push_back(motor); + } + new_xl320_id_list.push_back(_motor_id_list.at(i)); + } + } + + _xl430_id_list = new_xl430_id_list; + _xl320_id_list = new_xl320_id_list; + _xl320_motor_list = new_xl320_motor_list; + _xl430_motor_list = new_xl430_motor_list; + _motor_list = new_motor_list; + } + + void DxlDriver::fillPositionState() + { + readAndFillStateXL320(&XL320Driver::syncReadPosition, &DxlMotorState::setPositionState); + readAndFillStateXL430(&XL430Driver::syncReadPosition, &DxlMotorState::setPositionState); + FillMotorsState(&DxlMotorState::setPositionState, &DxlMotorState::getPositionState); + } + + void DxlDriver::fillTemperatureStatus() + { + readAndFillStateXL320(&XL320Driver::syncReadTemperature, &DxlMotorState::setTemperatureState); + readAndFillStateXL430(&XL430Driver::syncReadTemperature, &DxlMotorState::setTemperatureState); + FillMotorsState(&DxlMotorState::setTemperatureState, &DxlMotorState::getTemperatureState); + } + + void DxlDriver::fillVoltageStatus() + { + readAndFillStateXL320(&XL320Driver::syncReadVoltage, &DxlMotorState::setVoltageState); + readAndFillStateXL430(&XL430Driver::syncReadVoltage, &DxlMotorState::setVoltageState); + FillMotorsState(&DxlMotorState::setVoltageState, &DxlMotorState::getVoltageState); + } + + void DxlDriver::fillErrorStatus() + { + readAndFillStateXL320(&XL320Driver::syncReadHwErrorStatus, &DxlMotorState::setHardwareError); + readAndFillStateXL430(&XL430Driver::syncReadHwErrorStatus, &DxlMotorState::setHardwareError); + FillMotorsState(&DxlMotorState::setHardwareError, &DxlMotorState::getHardwareErrorState); + } + + void DxlDriver::FillMotorsState(void (DxlMotorState::*setFunction)(uint32_t), uint32_t (DxlMotorState::*getFunction)()) + { + for (auto motor = _motor_list.begin(); motor != _motor_list.end(); ++motor) + { + for (auto xl430 = _xl430_motor_list.begin(); xl430 != _xl430_motor_list.end(); ++xl430) + { + if (motor->getId() == xl430->getId()) + { + ((*motor).*setFunction)(((*xl430).*getFunction)()); + } + } + for (auto xl320 = _xl320_motor_list.begin(); xl320 != _xl320_motor_list.end(); ++xl320) + { + if (motor->getId() == xl320->getId()) + { + ((*motor).*setFunction)(((*xl320).*getFunction)()); + } + } + } + } + + void DxlDriver::readAndFillStateXL320( + int (XL320Driver::*readFunction)(std::vector &, std::vector &), + void (DxlMotorState::*setFunction)(uint32_t)) + { + std::vector read_elements_list; + int read_result = (_xl320.get()->*readFunction)(_xl320_id_list, read_elements_list); + if (read_result == COMM_SUCCESS) + { + _xl320_hw_fail_counter_read = 0; + for (int i = 0; i < _xl320_motor_list.size(); i++) + { + (_xl320_motor_list.at(i).*setFunction)(read_elements_list.at(i)); + } + } + else + { + _xl320_hw_fail_counter_read++; + } + } + + void DxlDriver::readAndFillStateXL430( + int (XL430Driver::*readFunction)(std::vector &, std::vector &), + void (DxlMotorState::*setFunction)(uint32_t)) + { + std::vector read_elements_list; + int read_result = (_xl430.get()->*readFunction)(_xl430_id_list, read_elements_list); + if (read_result == COMM_SUCCESS) + { + _xl430_hw_fail_counter_read = 0; + for (int i = 0; i < _xl430_motor_list.size(); i++) + { + (_xl430_motor_list.at(i).*setFunction)(read_elements_list.at(i)); + } + } + else + { + _xl430_hw_fail_counter_read++; + } + } + + void DxlDriver::readPositionState() + { + bool can_read_dxl = (_motor_list.size() > 0); + if (!can_read_dxl) + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - No motor"); + _debug_error_message = "Dxl Driver - No motor"; + return; + } + fillPositionState(); + if (_xl320_hw_fail_counter_read > 25 || _xl430_hw_fail_counter_read > 25) + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus"); + _xl320_hw_fail_counter_read = 0; + _xl430_hw_fail_counter_read = 0; + _is_dxl_connection_ok = false; + _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus."; + } + } + + void DxlDriver::readHwStatus() + { + bool can_read_dxl = (_motor_list.size() > 0); + if (!can_read_dxl) + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - No motor"); + _debug_error_message = "Dxl Driver - No motor"; + return; + } + fillTemperatureStatus(); + fillVoltageStatus(); + fillErrorStatus(); + interpreteErrorState(); + + if (_xl320_hw_fail_counter_read > 25 || _xl430_hw_fail_counter_read > 25) + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus"); + _xl320_hw_fail_counter_read = 0; + _xl430_hw_fail_counter_read = 0; + _is_dxl_connection_ok = false; + _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus."; + } + } + + void DxlDriver::interpreteErrorState() + { + + for (auto motor = _motor_list.begin(); motor != _motor_list.end(); ++motor) + { + uint32_t hw_state = motor->getHardwareErrorState(); + std::string hardware_message = ""; + DxlMotorType motor_type = motor->getType(); + if(motor_type == DxlMotorType::MOTOR_TYPE_XL430) + { + if (hw_state & 0b00000001) + { + hardware_message += "Input Voltage"; + } + if (hw_state & 0b00000100) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "OverHeating"; + } + if (hw_state & 0b00001000) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "Motor Encoder"; + } + if (hw_state & 0b00010000) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "Electrical Shock"; + } + if (hw_state & 0b00100000) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "Overload"; + } + if (hardware_message != "") + hardware_message += " Error"; + } + else if (motor_type == DxlMotorType::MOTOR_TYPE_XL320) + { + if (hw_state & 0b00000001) + { + hardware_message += "Overload"; + } + if (hw_state & 0b00000010) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "OverHeating"; + } + if (hw_state & 0b00000100) + { + if (hardware_message != "") + hardware_message += ", "; + hardware_message += "Input voltage out of range"; + } + } + + motor->setHardwareError(hardware_message); + } + } + + void DxlDriver::executeJointTrajectoryCmd(std::vector &cmd) + { + std::string cmd_string; + std::for_each(std::begin(cmd), std::end(cmd), + [&cmd_string](const uint32_t &x) { + cmd_string += std::to_string(x) + " "; + }); + // ROS_DEBUG_THROTTLE(0.5, "Dxl Driver - execute JointTrajectoryCmd called with %s", cmd_string.c_str()); + int counter = 0; + std::vector xl430_cmd; + uint32_t xl320_cmd; + xl430_cmd.push_back(cmd.at(0)); + xl430_cmd.push_back(cmd.at(1)); + xl320_cmd = cmd.at(2); + int result_xl430 = _xl430->syncWritePositionGoal(_xl430_arm_id_list, xl430_cmd); + int result_xl320 = _xl320->setGoalPosition(_xl320_arm_id, xl320_cmd); + if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write position"); + _debug_error_message = "Dxl Driver - Failed to write position"; + } + } + + void DxlDriver::readSynchronizeCommand(SynchronizeMotorCmd cmd) + { + ROS_DEBUG("Dxl Driver - Received dxl syncronized cmd with type %d", int(cmd.getType())); + + std::string ids_string = ""; + for (int i = 0; i < cmd.getMotorsId().size(); i++) + ids_string += std::to_string(cmd.getMotorsId().at(i)) + " "; + ROS_DEBUG("Dxl Driver - Received syncronized dxl cmd with ids %s", ids_string.c_str()); + + std::string params_string = ""; + for (int i = 0; i < cmd.getParams().size(); i++) + params_string += std::to_string(cmd.getParams().at(i)) + " "; + ROS_DEBUG("Dxl Driver - Received syncronized dxl cmd with params %s", params_string.c_str()); + + if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION) + { + syncWritePositionCommand(cmd.getMotorsId(), cmd.getParams()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY) + { + syncWriteVelocityCommand(cmd.getMotorsId(), cmd.getParams()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT) + { + syncWriteEffortCommand(cmd.getMotorsId(), cmd.getParams()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE) + { + syncWriteTorqueEnable(cmd.getMotorsId(), cmd.getParams()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_LEARNING_MODE) + { + std::vector cmd_param(_motor_id_list.size(), cmd.getParams()[0]); + std::vector id_list(_motor_id_list.begin(), _motor_id_list.end()); + syncWriteTorqueEnable(id_list, cmd_param); + } + } + + void DxlDriver::readSingleCommand(SingleMotorCmd cmd) + { + int result = -1; + int counter = 0; + + ROS_DEBUG("Dxl Driver - Received dxl cmd with type %d", int(cmd.getType())); + + ROS_DEBUG("Dxl Driver - Received dxl cmd with ids %s", std::to_string(cmd.getId()).c_str()); + + ROS_DEBUG("Dxl Driver - Received dxl cmd with params %s", std::to_string(cmd.getParam()).c_str()); + + while ((result != COMM_SUCCESS) && (counter < 50)) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), cmd.getId()); + if (xl320 != _xl320_id_list.end()) + { + if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY) + { + result = _xl320->setGoalVelocity(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION) + { + result = _xl320->setGoalPosition(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT) + { + result = _xl320->setGoalTorque(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE) + { + result = _xl320->setTorqueEnable(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_PING) + { + result = _xl320->ping(cmd.getId()); + } + counter += 1; + } + + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), cmd.getId()); + if (xl430 != _xl430_id_list.end()) + { + if (cmd.getType() == DxlCommandType::CMD_TYPE_VELOCITY) + { + result = _xl430->setGoalVelocity(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_POSITION) + { + result = _xl430->setGoalPosition(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_EFFORT) + { + result = _xl430->setGoalTorque(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_TORQUE) + { + result = _xl430->setTorqueEnable(cmd.getId(), cmd.getParam()); + } + else if (cmd.getType() == DxlCommandType::CMD_TYPE_PING) + { + result = _xl430->ping(cmd.getId()); + } + counter += 1; + } + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write a single command on dxl motor id : %d", cmd.getId()); + _debug_error_message = "Dxl Driver - Failed to write a single command"; + } + } + + void DxlDriver::syncWritePositionCommand(std::vector &motor_list, std::vector ¶m_list) + { + std::vector xl320_motor; + std::vector xl320_cmd; + std::vector xl430_motor; + std::vector xl430_cmd; + for (int i = 0; i < motor_list.size(); i++) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i)); + if (xl320 != _xl320_id_list.end()) + { + xl320_motor.push_back(*xl320); + xl320_cmd.push_back(param_list.at(i)); + } + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i)); + if (xl430 != _xl430_id_list.end()) + { + xl430_motor.push_back(*xl430); + xl430_cmd.push_back(param_list.at(i)); + } + } + + int counter = 0; + int result_xl320 = _xl320->syncWritePositionGoal(xl320_motor, xl320_cmd); + int result_xl430 = _xl430->syncWritePositionGoal(xl430_motor, xl430_cmd); + + while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50)) + { + if (result_xl320 != COMM_SUCCESS) + { + result_xl320 = _xl320->syncWritePositionGoal(xl320_motor, xl320_cmd); + counter += 1; + } + if (result_xl430 != COMM_SUCCESS) + { + result_xl430 = _xl430->syncWritePositionGoal(xl430_motor, xl430_cmd); + counter += 1; + } + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write synchronize position"); + _debug_error_message = "Dxl Driver - Failed to write synchronize position"; + } + } + + void DxlDriver::syncWriteEffortCommand(std::vector &motor_list, std::vector ¶m_list) + { + std::vector xl320_motor; + std::vector xl320_cmd; + std::vector xl430_motor; + std::vector xl430_cmd; + for (int i = 0; i < motor_list.size(); i++) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i)); + if (xl320 != _xl320_id_list.end()) + { + xl320_motor.push_back(*xl320); + xl320_cmd.push_back(param_list.at(i)); + } + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i)); + if (xl430 != _xl430_id_list.end()) + { + xl430_motor.push_back(*xl430); + xl430_cmd.push_back(param_list.at(i)); + } + } + + int counter = 0; + int result_xl320 = _xl320->syncWriteTorqueGoal(xl320_motor, xl320_cmd); + int result_xl430 = _xl430->syncWriteTorqueGoal(xl430_motor, xl430_cmd); + + while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50)) + { + if (result_xl320 != COMM_SUCCESS) + { + result_xl320 = _xl320->syncWriteTorqueGoal(xl320_motor, xl320_cmd); + counter += 1; + } + if (result_xl430 != COMM_SUCCESS) + { + result_xl430 = _xl430->syncWriteTorqueGoal(xl430_motor, xl430_cmd); + counter += 1; + } + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write synchronize effort"); + _debug_error_message = "Dxl Driver - Failed to write synchronize effort"; + } + } + + void DxlDriver::syncWriteVelocityCommand(std::vector &motor_list, std::vector ¶m_list) + { + std::vector xl320_motor; + std::vector xl320_cmd; + std::vector xl430_motor; + std::vector xl430_cmd; + for (int i = 0; i < motor_list.size(); i++) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i)); + if (xl320 != _xl320_id_list.end()) + { + xl320_motor.push_back(*xl320); + xl320_cmd.push_back(param_list.at(i)); + } + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i)); + if (xl430 != _xl430_id_list.end()) + { + xl430_motor.push_back(*xl430); + xl430_cmd.push_back(param_list.at(i)); + } + } + + int counter = 0; + int result_xl320 = _xl320->syncWriteVelocityGoal(xl320_motor, xl320_cmd); + int result_xl430 = _xl430->syncWriteVelocityGoal(xl430_motor, xl430_cmd); + + while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50)) + { + if (result_xl320 != COMM_SUCCESS) + { + result_xl320 = _xl320->syncWriteVelocityGoal(xl320_motor, xl320_cmd); + counter += 1; + } + if (result_xl430 != COMM_SUCCESS) + { + result_xl430 = _xl430->syncWriteVelocityGoal(xl430_motor, xl430_cmd); + counter += 1; + } + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write synchronize velocity"); + _debug_error_message = "Dxl Driver - Failed to write synchronize velocity"; + } + } + + void DxlDriver::syncWriteTorqueEnable(std::vector &motor_list, std::vector &torque_enable) + { + std::vector xl320_motor; + std::vector xl320_cmd; + std::vector xl430_motor; + std::vector xl430_cmd; + for (int i = 0; i < motor_list.size(); i++) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), motor_list.at(i)); + if (xl320 != _xl320_id_list.end()) + { + xl320_motor.push_back(*xl320); + xl320_cmd.push_back(torque_enable.at(i)); + } + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), motor_list.at(i)); + if (xl430 != _xl430_id_list.end()) + { + xl430_motor.push_back(*xl430); + xl430_cmd.push_back(torque_enable.at(i)); + } + } + + int counter = 0; + int result_xl320 = _xl320->syncWriteTorqueEnable(xl320_motor, xl320_cmd); + ros::Duration(0.05).sleep(); + int result_xl430 = _xl430->syncWriteTorqueEnable(xl430_motor, xl430_cmd); + + while ((result_xl320 != COMM_SUCCESS && result_xl430 != COMM_SUCCESS) && (counter < 50)) + { + if (result_xl320 != COMM_SUCCESS) + { + result_xl320 = _xl320->syncWriteTorqueEnable(xl320_motor, xl320_cmd); + counter += 1; + } + if (result_xl430 != COMM_SUCCESS) + { + result_xl430 = _xl430->syncWriteTorqueEnable(xl430_motor, xl430_cmd); + counter += 1; + } + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result_xl320 != COMM_SUCCESS || result_xl430 != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write synchronize torque enable"); + _debug_error_message = "Dxl Driver - Failed to write synchronize torque"; + } + } + + int DxlDriver::setGoalPosition(DxlMotorState &targeted_dxl, uint32_t position) + { + DxlMotorType dxl_type = targeted_dxl.getType(); + int result; + + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->setGoalPosition(targeted_dxl.getId(), position); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->setGoalPosition(targeted_dxl.getId(), position); + } + else + { + result = -1; + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type); + _debug_error_message = "Dxl Driver - Wrong dxl type detected"; + } + return result; + } + + uint32_t DxlDriver::getPosition(DxlMotorState &targeted_dxl) + { + uint32_t result; + int read_result; + DxlMotorType dxl_type = targeted_dxl.getType(); + while (_hw_fail_counter_read < 25) + { + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + read_result = _xl320->readPosition(targeted_dxl.getId(), &result); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + read_result = _xl430->readPosition(targeted_dxl.getId(), &result); + } + if (read_result == COMM_SUCCESS) + { + _hw_fail_counter_read = 0; + break; + } + else + { + _hw_fail_counter_read++; + } + } + if (_hw_fail_counter_read != 0) + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - Dxl connection problem - Failed to read from Dxl bus"); + _debug_error_message = "Dxl Driver - Connection problem with Dynamixel Bus."; + _hw_fail_counter_read = 0; + _is_dxl_connection_ok = false; + result = COMM_RX_FAIL; + } + + return result; + } + + int DxlDriver::setTorqueEnable(DxlMotorState &targeted_dxl, uint32_t torque_enable) + { + DxlMotorType dxl_type = targeted_dxl.getType(); + int result; + + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->setTorqueEnable(targeted_dxl.getId(), torque_enable); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->setTorqueEnable(targeted_dxl.getId(), torque_enable); + } + else + { + result = -1; + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type); + _debug_error_message = "Dxl Driver - Wrong dxl type detected"; + } + return result; + } + + int DxlDriver::setGoalVelocity(DxlMotorState &targeted_dxl, uint32_t velocity) + { + DxlMotorType dxl_type = targeted_dxl.getType(); + int result; + + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->setGoalVelocity(targeted_dxl.getId(), velocity); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->setGoalVelocity(targeted_dxl.getId(), velocity); + } + else + { + result = -1; + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type); + _debug_error_message = "Dxl Driver - Wrong dxl type detected"; + } + return result; + } + + int DxlDriver::setGoalTorque(DxlMotorState &targeted_dxl, uint32_t torque) + { + DxlMotorType dxl_type = targeted_dxl.getType(); + int result; + + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->setGoalTorque(targeted_dxl.getId(), torque); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->setGoalTorque(targeted_dxl.getId(), torque); + } + else + { + result = -1; + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type); + _debug_error_message = "Dxl Driver - Wrong dxl type detected"; + } + return result; + } + + bool DxlDriver::isConnectionOk() + { + return _is_dxl_connection_ok; + } + + int DxlDriver::scanAndCheck() + { + int counter = 0; + _all_motor_connected.clear(); + int result = getAllIdsOnDxlBus(_all_motor_connected); + while (result != COMM_SUCCESS && counter < 50) + { + result = getAllIdsOnDxlBus(_all_motor_connected); + counter += 1; + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + } + + if (result != COMM_SUCCESS) + { + _debug_error_message = "Dxl Driver - Failed to scan motors, Dynamixel bus is too busy. Will retry..."; + ROS_WARN("Dxl Driver - Failed to scan motors, dxl bus is too busy (counter max : %d)", counter); + return result; + } + + checkRemovedMotors(); + if (_removed_motor_id_list.begin() == _removed_motor_id_list.end()) + { + _is_dxl_connection_ok = true; + _debug_error_message = ""; + return DXL_SCAN_OK; + } + _is_dxl_connection_ok = false; + + _debug_error_message = "Dynamixel(s):"; + for (std::vector::iterator it = _removed_motor_id_list.begin(); it != _removed_motor_id_list.end(); ++it) + { + _debug_error_message += " "; + _debug_error_message += std::to_string(*it); + } + _debug_error_message += " do not seem to be connected"; + + return DXL_SCAN_MISSING_MOTOR; + } + + void DxlDriver::checkRemovedMotors() + { + std::vector motor_list; + for (int i = 0; i < _motor_id_list.size(); i++) + { + auto it = std::find(_all_motor_connected.begin(), _all_motor_connected.end(), _motor_id_list.at(i)); + if (it == _all_motor_connected.end()) + { + motor_list.push_back(_motor_id_list.at(i)); + } + } + _removed_motor_id_list = motor_list; + } + + std::vector &DxlDriver::getRemovedMotorList() + { + return _removed_motor_id_list; + } + + int DxlDriver::checkCommPortAvailable() + { + int counter = 0; + + while (counter < 100) + { + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + counter++; + } + + if (counter == 100) + { + _debug_error_message = "Dxl Driver - Failed to scan motors, Dynamixel bus is too busy. Will retry..."; + ROS_WARN("Dxl Driver - Failed to scan motors, dxl bus is too busy (counter max : %d)", counter); + return COMM_PORT_BUSY; + } + return 0; + } + + int DxlDriver::getAllIdsOnDxlBus(std::vector &id_list) + { + + // 1. Get all ids from dxl bus + int result = _xl320->scan(id_list); + + if (result != COMM_SUCCESS) + { + if (result == COMM_RX_TIMEOUT) + { // -3001 + _debug_error_message = "Dxl Driver - No Dynamixel motor found. Make sure that motors are correctly connected and powered on."; + } + else + { // -3002 or other + _debug_error_message = "Dxl Driver - Failed to scan Dynamixel bus."; + } + ROS_WARN("Dxl Driver - Broadcast ping failed , result : %d (-3001: timeout, -3002: corrupted packet)", result); + return result; + } + return result; + } + + int DxlDriver::ping(DxlMotorState &targeted_dxl) + { + DxlMotorType dxl_type = targeted_dxl.getType(); + int result = 0; + + if (dxl_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->ping(targeted_dxl.getId()); + } + else if (dxl_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->ping(targeted_dxl.getId()); + } + else + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type detected: %d", (int)dxl_type); + } + return result; + } + + int DxlDriver::ping_id(int dxl_id) + { + auto xl320 = std::find(_xl320_id_list.begin(), _xl320_id_list.end(), dxl_id); + if (xl320 != _xl320_id_list.end()) + { + return _xl320->ping(dxl_id); + } + + auto xl430 = std::find(_xl430_id_list.begin(), _xl430_id_list.end(), dxl_id); + if (xl430 != _xl430_id_list.end()) + { + return _xl430->ping(dxl_id); + } + + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type "); + return TOOL_STATE_PING_ERROR; + } + + int DxlDriver::type_ping_id(uint8_t id, DxlMotorType type) + { + if (type == DxlMotorType::MOTOR_TYPE_XL320) + return _xl320->ping(id); + else if (type == DxlMotorType::MOTOR_TYPE_XL430) + return _xl430->ping(id); + + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong dxl type "); + return TOOL_STATE_PING_ERROR; + } + + int DxlDriver::rebootMotors() + { + int result; + int return_value = COMM_SUCCESS; + for (int i = 0; i < _xl430_motor_list.size(); i++) + { + ROS_DEBUG("Dxl Driver - Reboot Dxl motor with ID: %d", (int)_xl430_motor_list.at(i).getId()); + result = _xl430->reboot(_xl430_motor_list.at(i).getId()); + // if (result != COMM_SUCCESS) + // { + // ROS_WARN("Dxl Driver - Failed to reboot motor: %d", result); + // return_value = result; + // } + ROS_INFO("Dxl Driver - Reboot motor: %d", _motor_list.at(i).getId()); + } + for (int i = 0; i < _xl320_motor_list.size(); i++) + { + ROS_DEBUG("Dxl Driver - Reboot Dxl motor with ID: %d", (int)_xl320_motor_list.at(i).getId()); + result = _xl320->reboot(_xl320_motor_list.at(i).getId()); + // if (result != COMM_SUCCESS) + // { + // ROS_WARN("Dxl Driver - Failed to reboot motor: %d", result); + // return_value = result; + // } + ROS_INFO("Dxl Driver - Reboot motor: %d", _xl320_motor_list.at(i).getId()); + } + return return_value; + } + + int DxlDriver::sendCustomDxlCommand(DxlMotorType motor_type, uint8_t id, uint32_t value, uint32_t reg_address, uint32_t byte_number) + { + DxlCustomCommand cmd = DxlCustomCommand(motor_type, id, value, reg_address, byte_number); + int result; + ROS_DEBUG("Dxl Driver - Sending custom command to Dynamixel:\n" + "Motor type: %d, ID: %d, Value: %d, Address: %d, Size: %d", + (int)cmd.motor_type, (int)cmd.id, (int)cmd.value, + (int)cmd.reg_address, (int)cmd.byte_number); + + if (cmd.motor_type == DxlMotorType::MOTOR_TYPE_XL320) + { + result = _xl320->customWrite(cmd.id, cmd.value, cmd.reg_address, cmd.byte_number); + if (result != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write custom command: %d", result); + result = niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR; + } + } + else if (cmd.motor_type == DxlMotorType::MOTOR_TYPE_XL430) + { + result = _xl430->customWrite(cmd.id, cmd.value, cmd.reg_address, cmd.byte_number); + if (result != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write custom command: %d", result); + result = niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR; + } + } + else + { + ROS_ERROR_THROTTLE(1, "Dxl Driver - Wrong motor type, should be 1 (XL-320) or 2 (XL-430)."); + result = niryo_robot_msgs::CommandStatus::WRONG_MOTOR_TYPE; + } + ros::Duration(0.005).sleep(); + return result; + } + + std::string DxlDriver::getErrorMessage() + { + return _debug_error_message; + } + + int DxlDriver::getledstate(void) + { + return _led_state; + } + + int DxlDriver::setLeds(int led) + { + _led_state = led; + std::vector command_led_id(_xl320_id_list.size(), (uint32_t)led); + if (led >= 0 && led <= 7) + { + int error_counter = 0; + int result = _xl320->syncWriteLed(_xl320_id_list, command_led_id); + while (result != COMM_SUCCESS && error_counter < 5) + { + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + result = _xl320->syncWriteLed(_xl320_id_list, command_led_id); + error_counter++; + } + + if (result != COMM_SUCCESS) + { + ROS_WARN("Dxl Driver - Failed to write LED"); + return niryo_robot_msgs::CommandStatus::DXL_WRITE_ERROR; + } + } + return niryo_robot_msgs::CommandStatus::SUCCESS; + } + +} // namespace DynamixelDriver diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp new file mode 100644 index 000000000..4b711c4cc --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_core.cpp @@ -0,0 +1,499 @@ +#include "dynamixel_driver/dxl_driver_core.hpp" +#include +#include +#include + +namespace DynamixelDriver +{ + DynamixelDriverCore::DynamixelDriverCore() + { + // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) { + // ros::console::notifyLoggerLevelsChanged(); + // } + init(); + } + + void DynamixelDriverCore::init() + { + _control_loop_flag = false; + _debug_flag = false; + _joint_trajectory_controller_cmd.clear(); + _dxl_cmd.reset(new SynchronizeMotorCmd()); + _end_effector_cmd.clear(); + initParameters(); + _dynamixel.reset(new DxlDriver()); + _dynamixel->scanAndCheck(); + startControlLoop(); + + _activate_leds_server = _nh.advertiseService("niryo_robot/dynamixel_driver/set_dxl_leds", &DynamixelDriverCore::callbackActivateLeds, this); + _custom_cmd_server = _nh.advertiseService("niryo_robot/dynamixel_driver/send_custom_dxl_value", &DynamixelDriverCore::callbackSendCustomDxlValue, this); + } + + void DynamixelDriverCore::initParameters() + { + + + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_control_loop_frequency", _control_loop_frequency); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_write_frequency", _write_frequency); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_read_data_frequency", _read_data_frequency); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_read_status_frequency", _read_status_frequency); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_hardware_check_connection_frequency", _check_connection_frequency); + _nh.getParam("/niryo_robot_hardware_interface/dynamixel_driver/dxl_end_effector_frequency", _check_end_effector_frequency); + + ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_control_loop_frequency : %f", _control_loop_frequency); + ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_write_frequency : %f", _write_frequency); + ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_read_data_frequency : %f", _read_data_frequency); + ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_read_status_frequency : %f", _read_status_frequency); + ROS_DEBUG("Dynamixel Driver Core - dxl_hardware_check_connection_frequency : %f", _check_connection_frequency); + ROS_DEBUG("Dynamixel Driver Core - dxl_end_effector_frequency : %f", _check_end_effector_frequency); + } + + void DynamixelDriverCore::startControlLoop() + { + resetHardwareControlLoopRates(); + if (!_control_loop_thread) + { + ROS_INFO("Dynamixel Driver Core - Start control loop"); + _control_loop_flag = true; + _control_loop_thread.reset(new std::thread(boost::bind(&DynamixelDriverCore::controlLoop, this))); + } + } + + void DynamixelDriverCore::resetHardwareControlLoopRates() + { + ROS_DEBUG("Dynamixel Driver Core - Reset control loop rates"); + double now = ros::Time::now().toSec(); + _time_hw_data_last_write = now; + _time_hw_data_last_read = now; + _time_hw_status_last_read = now; + _time_check_connection_last_read = now; + _time_check_end_effector_last_read = now; + } + + void DynamixelDriverCore::activeDebugMode(bool mode) + { + ROS_INFO("Dynamixel Driver Core - Activate debug mode for dynamixel driver core: %d", mode); + _debug_flag = mode; + _control_loop_flag = !mode; + + if (mode) + { + _control_loop_mutex.lock(); + } + else + { + _control_loop_mutex.unlock(); + } + } + + int DynamixelDriverCore::rebootMotors() + { + ROS_INFO("Dynamixel Driver Core - Reboot motors"); + std::lock_guard lck(_control_loop_mutex); + int result = _dynamixel->rebootMotors(); + ros::Duration(1.5).sleep(); + return result; + } + + int DynamixelDriverCore::motorScanReport(uint8_t motor_id, DxlMotorType motor_type) + { + if (_debug_flag) + { + int result; + + ros::Duration(1.0).sleep(); + result = _dynamixel->type_ping_id(motor_id, motor_type); + if (result == COMM_SUCCESS) + { + ROS_INFO("Dynamixel Driver Core - Debug - Dynamixel Motor %d found", motor_id); + } + else + { + ROS_ERROR("Dynamixel Driver Core - Debug - Dynamixel Motor %d not found", motor_id); + ROS_ERROR("Dynamixel Driver Core - Debug - code error : %d ", result); + return niryo_robot_msgs::CommandStatus::FAILURE; + } + return niryo_robot_msgs::CommandStatus::SUCCESS; + } + ROS_ERROR("Dynamixel Driver Core - Debug mode not enabled"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + + int DynamixelDriverCore::motorCmdReport(uint8_t motor_id, DxlMotorType motor_type) + { + if (_debug_flag) + { + + int result; + uint32_t old_position; + uint32_t new_position; + DxlMotorState dynamixel_motor = DxlMotorState(motor_id, motor_type); + + ros::Duration(0.5).sleep(); + ROS_INFO("Dynamixel Driver Core - Debug - Send torque on command on dxl %d", int(motor_id)); + _dynamixel->setTorqueEnable(dynamixel_motor, 1); + ros::Duration(0.5).sleep(); + + + old_position = _dynamixel->getPosition(dynamixel_motor); + ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(old_position)); + ros::Duration(0.5).sleep(); + ROS_INFO("Dynamixel Driver Core - Debug - Send dxl %d pose: %d ", int(motor_id), int(old_position + 200)); + result = _dynamixel->setGoalPosition(dynamixel_motor, old_position + 200); + ros::Duration(2).sleep(); + new_position = _dynamixel->getPosition(dynamixel_motor); + ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(new_position)); + int rest = new_position - old_position; + + ROS_INFO("Dynamixel Driver Core - Debug - Send dxl %d pose: %d ", int(motor_id), int(old_position)); + result = _dynamixel->setGoalPosition(dynamixel_motor, old_position); + ros::Duration(2).sleep(); + uint32_t new_position2 = _dynamixel->getPosition(dynamixel_motor); + ROS_INFO("Dynamixel Driver Core - Debug - get dxl %d pose: %d ", int(motor_id), int(new_position2)); + int rest2 = new_position2 - new_position; + + _dynamixel->setTorqueEnable(dynamixel_motor, 0); + + if (std::abs(rest) < 50 or std::abs(rest2) < 50) + { + ROS_WARN("Dynamixel Driver Core - Debug - Dynamixel Motor %d problem: %d", motor_id, result); + return niryo_robot_msgs::CommandStatus::FAILURE; + } + else + { + ROS_INFO("Dynamixel Driver Core - Debug - Dynamixel Motor %d OK", motor_id); + } + return niryo_robot_msgs::CommandStatus::SUCCESS; + } + ROS_ERROR("Dynamixel Driver Core - Debug - Debug mode not enabled"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + + int DynamixelDriverCore::launchMotorsReport() + { + if (_debug_flag) + { + int motor_found; + int response = niryo_robot_msgs::CommandStatus::SUCCESS; + + ROS_INFO("Dynamixel Driver Core - Debug - Start Dynamixel Motor Report"); + ros::Duration(1.0).sleep(); + ROS_INFO("Dynamixel Driver Core - Debug - Motor 4 report start :"); + if (motorScanReport(2, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + if (!_debug_flag) + return niryo_robot_msgs::CommandStatus::ABORTED; + if (motorCmdReport(2, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + if (!_debug_flag) + return niryo_robot_msgs::CommandStatus::ABORTED; + ROS_INFO("Dynamixel Driver Core - Debug - Motor 5 report start :"); + if (motorScanReport(3, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + if (!_debug_flag) + return niryo_robot_msgs::CommandStatus::ABORTED; + if (motorCmdReport(3, DxlMotorType::MOTOR_TYPE_XL430) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + if (!_debug_flag) + return niryo_robot_msgs::CommandStatus::ABORTED; + ROS_INFO("Dynamixel Driver Core - Debug - Motor 6 report start :"); + if (motorScanReport(6, DxlMotorType::MOTOR_TYPE_XL320) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + if (!_debug_flag) + return niryo_robot_msgs::CommandStatus::ABORTED; + if (motorCmdReport(6, DxlMotorType::MOTOR_TYPE_XL320) != niryo_robot_msgs::CommandStatus::SUCCESS) + response = niryo_robot_msgs::CommandStatus::FAILURE; + + ros::Duration(1.0).sleep(); + ROS_INFO("Dynamixel Driver Core - Debug - Check for unflash dynamixel motors"); + motor_found = _dynamixel->type_ping_id(1, DxlMotorType::MOTOR_TYPE_XL430); + if (motor_found == COMM_SUCCESS) + { + ROS_ERROR("Dynamixel Driver Core - Debug - Find a dynamixel motor unflash"); + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + motor_found = _dynamixel->type_ping_id(1, DxlMotorType::MOTOR_TYPE_XL320); + if (motor_found == COMM_SUCCESS) + { + ROS_ERROR("Dynamixel Driver Core - Debug - Find a dynamixel motor unflash"); + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + return response; + } + ROS_ERROR("Dynamixel Driver Core - Debug - Debug mode not enabled"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + + void DynamixelDriverCore::setDxlCommands(SynchronizeMotorCmd &cmd) + { + _dxl_cmd.reset(new SynchronizeMotorCmd(cmd)); + } + + void DynamixelDriverCore::setTrajectoryControllerCommands(std::vector &cmd) + { + _joint_trajectory_controller_cmd = cmd; + } + + std::vector DynamixelDriverCore::scanTools() + { + std::vector motor_list; + std::lock_guard lck(_control_loop_mutex); + ROS_INFO("Dynamixel Driver Core - Scan tools..."); + int result = _dynamixel->getAllIdsOnDxlBus(motor_list); + ROS_DEBUG("Dynamixel Driver Core - Result getAllIdsOnDxlBus: %d", result); + std::string motor_id_list_string; + std::for_each(std::begin(motor_list), std::end(motor_list), + [&motor_id_list_string](int x) { + motor_id_list_string += std::to_string(x) + " "; + }); + ROS_DEBUG("Dynamixel Driver Core - All id on dxl bus: [%s]", motor_id_list_string.c_str()); + return motor_list; + } + + int DynamixelDriverCore::setEndEffector(uint8_t id, DxlMotorType type) + { + int result = this->ping_id(id, type); + + if (result != COMM_SUCCESS) + { + ROS_WARN("Dynamixel Driver Core - End effector dxl error: %d with motor id %d", result, id); + result = niryo_robot_msgs::CommandStatus::DXL_READ_ERROR; + } + else + { + _dynamixel->addDynamixel(id, type); + result = niryo_robot_msgs::CommandStatus::SUCCESS; + } + return result; + } + + int DynamixelDriverCore::ping_id(uint8_t id, DxlMotorType type) + { + std::lock_guard lck(_control_loop_mutex); + int result = _dynamixel->type_ping_id(id, type); + ROS_DEBUG("Dynamixel Driver Core - Ping_id result: %d", result); + return result; + } + + void DynamixelDriverCore::unsetEndEffector(uint8_t id, DxlMotorType type) + { + ROS_DEBUG("Dynamixel Driver Core - UnsetEndEffector: id %d with type %d", id, static_cast(type)); + std::lock_guard lck(_control_loop_mutex); + _dynamixel->removeDynamixel(id, type); + } + + void DynamixelDriverCore::setEndEffectorCommands(std::vector &cmd) + { + _end_effector_cmd = cmd; + } + + uint32_t DynamixelDriverCore::getEndEffectorState(uint8_t id, DxlMotorType type) + { + DxlMotorState motor(id, type); + uint32_t result = 0; + std::vector list_motor_states = _dynamixel->getMotorsState(); + auto it = std::find_if(list_motor_states.begin(), list_motor_states.end(), [&](DxlMotorState &dms) { + return dms.getId() == motor.getId(); + }); + if (it != list_motor_states.end()) + { + result = it->getPositionState(); + } + return result; + } + + std::vector &DynamixelDriverCore::getDxlStates() + { + return _dynamixel->getMotorsState(); + } + + std::vector &DynamixelDriverCore::getRemovedMotorList() + { + return _dynamixel->getRemovedMotorList(); + } + + dynamixel_driver::DxlArrayMotorHardwareStatus DynamixelDriverCore::getHwStatus() + { + dynamixel_driver::DxlMotorHardwareStatus data; + dynamixel_driver::DxlArrayMotorHardwareStatus hw_state; + std::vector motor_states = _dynamixel->getMotorsState(); + + for (int i = 0; i < motor_states.size(); i++) + { + data.motor_identity.motor_id = motor_states.at(i).getId(); + data.motor_identity.motor_type = (uint8_t)motor_states.at(i).getType(); + data.temperature = motor_states.at(i).getTemperatureState(); + data.voltage = double(motor_states.at(i).getVoltageState()) / DXL_VOLTAGE_DIVISOR; + data.error = motor_states.at(i).getHardwareErrorState(); + data.error_msg = motor_states.at(i).getHardwareErrorMessageState(); + hw_state.motors_hw_status.push_back(data); + } + return hw_state; + } + + niryo_robot_msgs::BusState DynamixelDriverCore::getDxlBusState() + { + niryo_robot_msgs::BusState dxl_bus_state; + std::string error; + bool connection; + std::vector motor_id; + _dynamixel->getBusState(connection, motor_id, error); + dxl_bus_state.connection_status = connection; + dxl_bus_state.motor_id_connected = motor_id; + dxl_bus_state.error = error; + return dxl_bus_state; + } + + void DynamixelDriverCore::_executeCommand() + { + bool need_sleep = false; + if (_joint_trajectory_controller_cmd.size() != 0) + { + _dynamixel->executeJointTrajectoryCmd(_joint_trajectory_controller_cmd); + _joint_trajectory_controller_cmd.clear(); + need_sleep = true; + } + if (_dxl_cmd.get() != nullptr) + { + if (need_sleep) + ros::Duration(0.01).sleep(); + _dynamixel->readSynchronizeCommand(*_dxl_cmd.get()); + _dxl_cmd.reset(); + need_sleep = true; + } + if (_end_effector_cmd.size() != 0) + { + if (need_sleep) + ros::Duration(0.01).sleep(); + _dynamixel->readSingleCommand(_end_effector_cmd.at(0)); + _end_effector_cmd.erase (_end_effector_cmd.begin()); + } + } + + void DynamixelDriverCore::controlLoop() + { + ros::Rate control_loop_rate = ros::Rate(_control_loop_frequency); + resetHardwareControlLoopRates(); + while (ros::ok()) + { + if (!_debug_flag) + { + if (!_dynamixel->isConnectionOk()) + { + ROS_WARN("Dynamixel Driver Core - Dynamixel connection error"); + ros::Duration(0.1).sleep(); + + std::vector missing_ids; + ROS_DEBUG("Dynamixel Driver Core - Scan to find Dxl motors"); + + int bus_state; + { + std::lock_guard lck(_control_loop_mutex); + bus_state = _dynamixel->scanAndCheck(); + } + while (bus_state != DXL_SCAN_OK) + { // wait for connection to be up + missing_ids = getRemovedMotorList(); + for(std::vector::iterator it = missing_ids.begin(); it != missing_ids.end(); ++it) { + ROS_WARN_THROTTLE(2, "Dynamixel Driver Core - Dynamixel %d do not seem to be connected", *it); + } + ros::Duration(0.25).sleep(); + { + std::lock_guard lck(_control_loop_mutex); + bus_state = _dynamixel->scanAndCheck(); + } + } + ROS_INFO("Dynamixel Driver Core - Dxl Bus ok"); + } + if (_control_loop_flag) + { + { + std::lock_guard lck(_control_loop_mutex); + if (ros::Time::now().toSec() - _time_hw_data_last_read > 1.0 / _read_data_frequency) + { + _time_hw_data_last_read += 1.0 / _read_data_frequency; + _dynamixel->readPositionState(); + } + if (ros::Time::now().toSec() - _time_hw_status_last_read > 1.0 / _read_status_frequency) + { + _time_hw_status_last_read += 1.0 / _read_status_frequency; + _dynamixel->readHwStatus(); + } + if (ros::Time::now().toSec() - _time_hw_data_last_write > 1.0 / _write_frequency) + { + _time_hw_data_last_write += 1.0 / _write_frequency; + _executeCommand(); + } + } + control_loop_rate.sleep(); + } + else + { + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + resetHardwareControlLoopRates(); + } + } + else + { + ros::Duration(0.5).sleep(); + } + } + } + + bool DynamixelDriverCore::callbackSendCustomDxlValue(dynamixel_driver::SendCustomDxlValue::Request &req, + dynamixel_driver::SendCustomDxlValue::Response &res) + { + int result; + DxlMotorType motor_type; + if (req.motor_type == (uint8_t)DxlMotorType::MOTOR_TYPE_XL430) + { + motor_type = DxlMotorType::MOTOR_TYPE_XL430; + } + else if (req.motor_type == (uint8_t)DxlMotorType::MOTOR_TYPE_XL320) + { + motor_type = DxlMotorType::MOTOR_TYPE_XL320; + } + else + { + res.status = niryo_robot_msgs::CommandStatus::WRONG_MOTOR_TYPE; + res.message = "Dynamixel Driver Core - Invalid motor type: should be 1 (XL-320) or 2 (XL-430)"; + return true; + } + + std::lock_guard lck(_control_loop_mutex); + result = _dynamixel->sendCustomDxlCommand(motor_type, req.id, req.value, req.reg_address, req.byte_number); + + if (result != COMM_SUCCESS) + { + res.message = "Dynamixel Driver Core - Send custom command failed"; + } + else + { + res.message = "Dynamixel Driver Core - Send custom command done"; + result = niryo_robot_msgs::CommandStatus::SUCCESS; + } + res.status = result; + return true; + } + + bool DynamixelDriverCore::callbackActivateLeds(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res) + { + int led = req.value; + std::string message = ""; + + std::lock_guard lck(_control_loop_mutex); + int result = _dynamixel->setLeds(led); + + res.status = result; + res.message = message; + return true; + } + + int DynamixelDriverCore::update_leds(void) + { + std::lock_guard lck(_control_loop_mutex); + int result = _dynamixel->setLeds(_dynamixel->getledstate()); + return result; + } +} // namespace DynamixelDriver +// namespace DynamixelDriver diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp new file mode 100644 index 000000000..f765fc757 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_driver_node.cpp @@ -0,0 +1,13 @@ +#include +#include "dynamixel_driver/dxl_driver_core.hpp" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "dynamixel_driver_node"); + ros::NodeHandle nodeHandle("~"); + + DynamixelDriver::DynamixelDriverCore dxl_node(); + + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp new file mode 100644 index 000000000..c60ef3dc6 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/dxl_motor_state.cpp @@ -0,0 +1,106 @@ +/* + dxl_motor_state.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "dynamixel_driver/dxl_motor_state.hpp" + +namespace DynamixelDriver +{ + bool DxlMotorState::operator==(const DxlMotorState &m) + { + return ((this->_type == m._type) && (this->_id == m._id)); + } + + DxlMotorState::DxlMotorState(uint8_t id, DxlMotorType type) + : _id(id), _type(type) + { + } + + uint8_t DxlMotorState::getId() + { + return _id; + } + + void DxlMotorState::setId(uint8_t motor_id) + { + _id = motor_id; + } + + DxlMotorType DxlMotorState::getType() + { + return _type; + } + + void DxlMotorState::setType(DxlMotorType type) + { + _type = type; + } + + + // DxlMotorState::getters - state + uint32_t DxlMotorState::getPositionState() + { + return _state_pos; + } + + void DxlMotorState::setPositionState(uint32_t pos) + { + _state_pos = pos; + } + + uint32_t DxlMotorState::getTemperatureState() + { + return _state_temperature; + } + + void DxlMotorState::setTemperatureState(uint32_t temp) + { + _state_temperature = temp; + } + + uint32_t DxlMotorState::getVoltageState() + { + return _state_voltage; + } + + void DxlMotorState::setVoltageState(uint32_t volt) + { + _state_voltage = volt; + } + + uint32_t DxlMotorState::getHardwareErrorState() + { + return _state_hw_error; + } + + void DxlMotorState::setHardwareError(uint32_t hw_error) + { + _state_hw_error = hw_error; + } + + std::string DxlMotorState::getHardwareErrorMessageState() + { + return _state_hw_error_msg; + } + + void DxlMotorState::setHardwareError(std::string hw_error_msg) + { + _state_hw_error_msg = hw_error_msg; + } + +} // namespace DynamixelDriver \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp new file mode 100644 index 000000000..d4e8dbd6c --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/single_motor_cmd.cpp @@ -0,0 +1,46 @@ +#include "dynamixel_driver/single_motor_cmd.hpp" + +namespace DynamixelDriver +{ + SingleMotorCmd::SingleMotorCmd() + { + } + + SingleMotorCmd::SingleMotorCmd(DxlCommandType type, uint8_t motor_id, uint32_t param) + { + _type = type; + _id = motor_id; + _param = param; + } + + DxlCommandType SingleMotorCmd::getType() + { + return _type; + } + + void SingleMotorCmd::setType(DxlCommandType type) + { + _type = type; + } + + void SingleMotorCmd::setId(uint8_t id) + { + _id = id; + } + + uint8_t SingleMotorCmd::getId() + { + return _id; + } + + void SingleMotorCmd::setParam(uint32_t param) + { + _param = param; + } + + uint32_t SingleMotorCmd::getParam() + { + return _param; + } + +} // namespace DynamixelDriver diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp new file mode 100644 index 000000000..4d8c386e1 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/synchronize_motor_cmd.cpp @@ -0,0 +1,62 @@ +/* + synchronize_motor_cmd.cpp + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "dynamixel_driver/synchronize_motor_cmd.hpp" + +namespace DynamixelDriver +{ + SynchronizeMotorCmd::SynchronizeMotorCmd() + { + } + + SynchronizeMotorCmd::SynchronizeMotorCmd(DxlCommandType type, std::vector motor_id, std::vector params) + : _type(type), _motor_id_list(motor_id), _param_list(params) + { + } + + DxlCommandType SynchronizeMotorCmd::getType() + { + return _type; + } + + void SynchronizeMotorCmd::setType(DxlCommandType type) + { + _type = type; + } + + std::vector &SynchronizeMotorCmd::getMotorsId() + { + return _motor_id_list; + } + void SynchronizeMotorCmd::setMotorsId(std::vector motor_id) + { + _motor_id_list = motor_id; + } + + std::vector &SynchronizeMotorCmd::getParams() + { + return _param_list; + } + + void SynchronizeMotorCmd::setParams(std::vector params) + { + _param_list = params; + } + +} // namespace DynamixelDriver diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp new file mode 100644 index 000000000..2c8f3c89a --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/xl320_driver.cpp @@ -0,0 +1,502 @@ +/* + xl320_driver.cpp + Copyright (C) 2018 Niryo + All rights reserved. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "dynamixel_driver/xl320_driver.hpp" + +XL320Driver::XL320Driver(boost::shared_ptr &portHandler, boost::shared_ptr &packetHandler) + : _dxlPortHandler(portHandler), _dxlPacketHandler(packetHandler) +{ +} + +int XL320Driver::checkModelNumber(uint8_t id) +{ + uint16_t model_number; + int ping_result = getModelNumber(id, &model_number); + + if (ping_result == COMM_SUCCESS) + { + if (model_number && model_number != XL320_MODEL_NUMBER) + { + return PING_WRONG_MODEL_NUMBER; + } + } + + return ping_result; +} + +int XL320Driver::ping(uint8_t id) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +int XL320Driver::getModelNumber(uint8_t id, uint16_t *dxl_model_number) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, dxl_model_number, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +int XL320Driver::scan(std::vector &id_list) +{ + return _dxlPacketHandler->broadcastPing(_dxlPortHandler.get(), id_list); +} + +int XL320Driver::reboot(uint8_t id) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->reboot(_dxlPortHandler.get(), id, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +/* + * ----------------- SYNC WRITE -------------------- + */ + +int XL320Driver::syncWrite1Byte(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_ONE_BYTE); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[1] = {(uint8_t)(*it_data)}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +int XL320Driver::syncWrite2Bytes(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_TWO_BYTES); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[2] = {DXL_LOBYTE((uint16_t)(*it_data)), DXL_HIBYTE((uint16_t)(*it_data))}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +int XL320Driver::syncWrite4Bytes(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_FOUR_BYTES); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[4] = {DXL_LOBYTE(DXL_LOWORD(*it_data)), DXL_HIBYTE(DXL_LOWORD(*it_data)), + DXL_LOBYTE(DXL_HIWORD(*it_data)), DXL_HIBYTE(DXL_HIWORD(*it_data))}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +/* + * ----------------- READ -------------------- + */ + +int XL320Driver::read1Byte(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint8_t read_data; + dxl_comm_result = _dxlPacketHandler->read1ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +int XL320Driver::read2Bytes(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint16_t read_data; + dxl_comm_result = _dxlPacketHandler->read2ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +int XL320Driver::read4Bytes(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint32_t read_data; + dxl_comm_result = _dxlPacketHandler->read4ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +/* + * ----------------- SYNC READ -------------------- + */ + +int XL320Driver::syncRead(uint8_t address, uint8_t data_len, std::vector &id_list, std::vector &data_list) +{ + data_list.clear(); + + dynamixel::GroupSyncRead groupSyncRead(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, data_len); + bool dxl_getdata_result = false; + int dxl_comm_result = COMM_TX_FAIL; + + std::vector::iterator it_id; + + for (it_id = id_list.begin(); it_id < id_list.end(); it_id++) + { + if (!groupSyncRead.addParam(*it_id)) + { + groupSyncRead.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + dxl_comm_result = groupSyncRead.txRxPacket(); + + if (dxl_comm_result != COMM_SUCCESS) + { + groupSyncRead.clearParam(); + return dxl_comm_result; + } + + for (it_id = id_list.begin(); it_id < id_list.end(); it_id++) + { + dxl_getdata_result = groupSyncRead.isAvailable(*it_id, address, data_len); + if (!dxl_getdata_result) + { + groupSyncRead.clearParam(); + return GROUP_SYNC_READ_RX_FAIL; + } + if (data_len == DXL_LEN_ONE_BYTE) + { + data_list.push_back((uint8_t)groupSyncRead.getData(*it_id, address, data_len)); + } + else if (data_len == DXL_LEN_TWO_BYTES) + { + data_list.push_back((uint16_t)groupSyncRead.getData(*it_id, address, data_len)); + } + else if (data_len == DXL_LEN_FOUR_BYTES) + { + data_list.push_back((uint32_t)groupSyncRead.getData(*it_id, address, data_len)); + } + } + + groupSyncRead.clearParam(); + return dxl_comm_result; +} + +/* + * ----------------- WRITE -------------------- + */ + +int XL320Driver::changeId(uint8_t id, uint8_t new_id) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_ID, new_id); +} + +int XL320Driver::changeBaudRate(uint8_t id, uint32_t new_baudrate) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_BAUDRATE, (uint8_t)new_baudrate); +} + +int XL320Driver::setLed(uint8_t id, uint32_t led_value) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_LED, (uint8_t)led_value); +} + +int XL320Driver::setTorqueEnable(uint8_t id, uint32_t torque_enable) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_TORQUE_ENABLE, (uint8_t)torque_enable); +} + +int XL320Driver::setGoalPosition(uint8_t id, uint32_t position) +{ + return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_POSITION, (uint16_t)position); +} + +int XL320Driver::setGoalVelocity(uint8_t id, uint32_t velocity) +{ + return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_SPEED, (uint16_t)velocity); +} + +int XL320Driver::setGoalTorque(uint8_t id, uint32_t torque) +{ + return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_GOAL_TORQUE, (uint16_t)torque); +} + +int XL320Driver::setReturnDelayTime(uint8_t id, uint32_t return_delay_time) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_RETURN_DELAY_TIME, (uint8_t)return_delay_time); +} + +int XL320Driver::setLimitTemperature(uint8_t id, uint32_t temperature) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_LIMIT_TEMPERATURE, (uint8_t)temperature); +} + +int XL320Driver::setMaxTorque(uint8_t id, uint32_t torque) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_MAX_TORQUE, (uint8_t)torque); +} + +int XL320Driver::setReturnLevel(uint8_t id, uint32_t return_level) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_RETURN_LEVEL, (uint8_t)return_level); +} + +int XL320Driver::setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL320_ADDR_ALARM_SHUTDOWN, (uint8_t)alarm_shutdown); +} + +int XL320Driver::customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number) +{ + if (byte_number == 1) + { + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint8_t)value); + } + else if (byte_number == 2) + { + return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint16_t)value); + } + else + { + return -1; + } +} + +/* + * ----------------- SYNC WRITE -------------------- + */ + +int XL320Driver::syncWritePositionGoal(std::vector &id_list, std::vector &position_list) +{ + return syncWrite2Bytes(XL320_ADDR_GOAL_POSITION, id_list, position_list); +} +int XL320Driver::syncWriteVelocityGoal(std::vector &id_list, std::vector &velocity_list) +{ + return syncWrite2Bytes(XL320_ADDR_GOAL_SPEED, id_list, velocity_list); +} +int XL320Driver::syncWriteTorqueGoal(std::vector &id_list, std::vector &torque_list) +{ + return syncWrite2Bytes(XL320_ADDR_GOAL_TORQUE, id_list, torque_list); +} + +int XL320Driver::syncWriteTorqueEnable(std::vector &id_list, std::vector &torque_enable_list) +{ + return syncWrite1Byte(XL320_ADDR_TORQUE_ENABLE, id_list, torque_enable_list); +} + +int XL320Driver::syncWriteLed(std::vector &id_list, std::vector &led_list) +{ + return syncWrite1Byte(XL320_ADDR_LED, id_list, led_list); +} + +/* + * ----------------- READ -------------------- + */ + +int XL320Driver::readPosition(uint8_t id, uint32_t *present_position) +{ + return read2Bytes(XL320_ADDR_PRESENT_POSITION, id, present_position); +} + +int XL320Driver::readVelocity(uint8_t id, uint32_t *present_velocity) +{ + return read2Bytes(XL320_ADDR_PRESENT_SPEED, id, present_velocity); +} + +int XL320Driver::readLoad(uint8_t id, uint32_t *present_load) +{ + return read2Bytes(XL320_ADDR_PRESENT_LOAD, id, present_load); +} + +int XL320Driver::readTemperature(uint8_t id, uint32_t *temperature) +{ + return read1Byte(XL320_ADDR_PRESENT_TEMPERATURE, id, temperature); +} + +int XL320Driver::readVoltage(uint8_t id, uint32_t *voltage) +{ + return read1Byte(XL320_ADDR_PRESENT_VOLTAGE, id, voltage); +} + +int XL320Driver::readHardwareStatus(uint8_t id, uint32_t *hardware_status) +{ + return read1Byte(XL320_ADDR_HW_ERROR_STATUS, id, hardware_status); +} +int XL320Driver::readReturnDelayTime(uint8_t id, uint32_t *return_delay_time) +{ + return read1Byte(XL320_ADDR_RETURN_DELAY_TIME, id, return_delay_time); +} + +int XL320Driver::readLimitTemperature(uint8_t id, uint32_t *limit_temperature) +{ + return read1Byte(XL320_ADDR_LIMIT_TEMPERATURE, id, limit_temperature); +} + +int XL320Driver::readMaxTorque(uint8_t id, uint32_t *max_torque) +{ + return read2Bytes(XL320_ADDR_MAX_TORQUE, id, max_torque); +} + +int XL320Driver::readReturnLevel(uint8_t id, uint32_t *return_level) +{ + return read1Byte(XL320_ADDR_RETURN_LEVEL, id, return_level); +} + +int XL320Driver::readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown) +{ + return read1Byte(XL320_ADDR_ALARM_SHUTDOWN, id, alarm_shutdown); +} + +/* + * ----------------- SYNC READ -------------------- + */ + +int XL320Driver::syncReadPosition(std::vector &id_list, std::vector &position_list) +{ + return syncRead(XL320_ADDR_PRESENT_POSITION, DXL_LEN_TWO_BYTES, id_list, position_list); +} + +int XL320Driver::syncReadVelocity(std::vector &id_list, std::vector &velocity_list) +{ + return syncRead(XL320_ADDR_PRESENT_SPEED, DXL_LEN_TWO_BYTES, id_list, velocity_list); +} +int XL320Driver::syncReadLoad(std::vector &id_list, std::vector &load_list) +{ + return syncRead(XL320_ADDR_PRESENT_LOAD, DXL_LEN_TWO_BYTES, id_list, load_list); +} + +int XL320Driver::syncReadTemperature(std::vector &id_list, std::vector &temperature_list) +{ + return syncRead(XL320_ADDR_PRESENT_TEMPERATURE, DXL_LEN_ONE_BYTE, id_list, temperature_list); +} + +int XL320Driver::syncReadVoltage(std::vector &id_list, std::vector &voltage_list) +{ + return syncRead(XL320_ADDR_PRESENT_VOLTAGE, DXL_LEN_ONE_BYTE, id_list, voltage_list); +} + +int XL320Driver::syncReadHwErrorStatus(std::vector &id_list, std::vector &hw_error_list) +{ + return syncRead(XL320_ADDR_HW_ERROR_STATUS, DXL_LEN_ONE_BYTE, id_list, hw_error_list); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp b/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp new file mode 100644 index 000000000..1932d3480 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/src/xl430_driver.cpp @@ -0,0 +1,509 @@ +/* + xl430_driver.cpp + Copyright (C) 2018 Niryo + All rights reserved. + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "dynamixel_driver/xl430_driver.hpp" + +XL430Driver::XL430Driver(boost::shared_ptr &portHandler, boost::shared_ptr &packetHandler) + : _dxlPortHandler(portHandler), _dxlPacketHandler(packetHandler) +{ +} + +int XL430Driver::checkModelNumber(uint8_t id) +{ + uint16_t model_number; + int ping_result = getModelNumber(id, &model_number); + + if (ping_result == COMM_SUCCESS) + { + if (model_number && model_number != XL430_MODEL_NUMBER) + { + return PING_WRONG_MODEL_NUMBER; + } + } + + return ping_result; +} + +int XL430Driver::ping(uint8_t id) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +int XL430Driver::getModelNumber(uint8_t id, uint16_t *dxl_model_number) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->ping(_dxlPortHandler.get(), id, dxl_model_number, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +int XL430Driver::scan(std::vector &id_list) +{ + return _dxlPacketHandler->broadcastPing(_dxlPortHandler.get(), id_list); +} + +int XL430Driver::reboot(uint8_t id) +{ + uint8_t dxl_error = 0; + + int result = _dxlPacketHandler->reboot(_dxlPortHandler.get(), id, &dxl_error); + + if (dxl_error != 0) + { + return dxl_error; + } + + return result; +} + +/* + * ----------------- SYNC WRITE -------------------- + */ + +int XL430Driver::syncWrite1Byte(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_ONE_BYTE); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[1] = {(uint8_t)(*it_data)}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +int XL430Driver::syncWrite2Bytes(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_TWO_BYTES); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[2] = {DXL_LOBYTE((uint16_t)(*it_data)), DXL_HIBYTE((uint16_t)(*it_data))}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +int XL430Driver::syncWrite4Bytes(uint8_t address, std::vector &id_list, std::vector &data_list) +{ + dynamixel::GroupSyncWrite groupSyncWrite(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, DXL_LEN_FOUR_BYTES); + + if (id_list.size() != data_list.size()) + { + return LEN_ID_DATA_NOT_SAME; + } + + if (id_list.size() == 0) + { + return COMM_SUCCESS; + } + + std::vector::iterator it_id; + std::vector::iterator it_data; + + for (it_id = id_list.begin(), it_data = data_list.begin(); + it_id < id_list.end() && it_data < data_list.end(); + it_id++, it_data++) + { + uint8_t params[4] = {DXL_LOBYTE(DXL_LOWORD(*it_data)), DXL_HIBYTE(DXL_LOWORD(*it_data)), + DXL_LOBYTE(DXL_HIWORD(*it_data)), DXL_HIBYTE(DXL_HIWORD(*it_data))}; + if (!groupSyncWrite.addParam(*it_id, params)) + { + groupSyncWrite.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + int dxl_comm_result = groupSyncWrite.txPacket(); + groupSyncWrite.clearParam(); + return dxl_comm_result; +} + +/* + * ----------------- READ -------------------- + */ + +int XL430Driver::read1Byte(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint8_t read_data; + dxl_comm_result = _dxlPacketHandler->read1ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +int XL430Driver::read2Bytes(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint16_t read_data; + dxl_comm_result = _dxlPacketHandler->read2ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +int XL430Driver::read4Bytes(uint8_t address, uint8_t id, uint32_t *data) +{ + uint8_t dxl_error = 0; + int dxl_comm_result = COMM_TX_FAIL; + + uint32_t read_data; + dxl_comm_result = _dxlPacketHandler->read4ByteTxRx(_dxlPortHandler.get(), id, address, &read_data, &dxl_error); + (*data) = read_data; + + if (dxl_error != 0) + { + return dxl_error; + } + + return dxl_comm_result; +} + +/* + * ----------------- SYNC READ -------------------- + */ + +int XL430Driver::syncRead(uint8_t address, uint8_t data_len, std::vector &id_list, std::vector &data_list) +{ + data_list.clear(); + + dynamixel::GroupSyncRead groupSyncRead(_dxlPortHandler.get(), _dxlPacketHandler.get(), address, data_len); + bool dxl_getdata_result = false; + int dxl_comm_result = COMM_TX_FAIL; + + std::vector::iterator it_id; + + for (it_id = id_list.begin(); it_id < id_list.end(); it_id++) + { + if (!groupSyncRead.addParam(*it_id)) + { + groupSyncRead.clearParam(); + return GROUP_SYNC_REDONDANT_ID; + } + } + + dxl_comm_result = groupSyncRead.txRxPacket(); + + if (dxl_comm_result != COMM_SUCCESS) + { + groupSyncRead.clearParam(); + return dxl_comm_result; + } + + for (it_id = id_list.begin(); it_id < id_list.end(); it_id++) + { + dxl_getdata_result = groupSyncRead.isAvailable(*it_id, address, data_len); + if (!dxl_getdata_result) + { + groupSyncRead.clearParam(); + return GROUP_SYNC_READ_RX_FAIL; + } + if (data_len == DXL_LEN_ONE_BYTE) + { + data_list.push_back((uint8_t)groupSyncRead.getData(*it_id, address, data_len)); + } + else if (data_len == DXL_LEN_TWO_BYTES) + { + data_list.push_back((uint16_t)groupSyncRead.getData(*it_id, address, data_len)); + } + else if (data_len == DXL_LEN_FOUR_BYTES) + { + data_list.push_back((uint32_t)groupSyncRead.getData(*it_id, address, data_len)); + } + } + + groupSyncRead.clearParam(); + return dxl_comm_result; +} +/* + * ----------------- WRITE -------------------- + */ + +int XL430Driver::changeId(uint8_t id, uint8_t new_id) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_ID, new_id); +} + +int XL430Driver::changeBaudRate(uint8_t id, uint32_t new_baudrate) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_BAUDRATE, (uint8_t)new_baudrate); +} + +int XL430Driver::setLed(uint8_t id, uint32_t led_value) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_LED, (uint8_t)led_value); +} + +int XL430Driver::setTorqueEnable(uint8_t id, uint32_t torque_enable) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_TORQUE_ENABLE, (uint8_t)torque_enable); +} + +int XL430Driver::setGoalPosition(uint8_t id, uint32_t position) +{ + return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_GOAL_POSITION, position); +} + +int XL430Driver::setGoalVelocity(uint8_t id, uint32_t velocity) +{ + return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_GOAL_VELOCITY, velocity); +} + +int XL430Driver::setGoalTorque(uint8_t id, uint32_t torque) +{ + // No goal torque for this motor ? + return COMM_TX_ERROR; +} + +int XL430Driver::setReturnDelayTime(uint8_t id, uint32_t return_delay_time) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_RETURN_DELAY_TIME, (uint8_t)return_delay_time); +} + +int XL430Driver::setLimitTemperature(uint8_t id, uint32_t temperature) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_TEMPERATURE_LIMIT, (uint8_t)temperature); +} + +int XL430Driver::setMaxTorque(uint8_t id, uint32_t torque) +{ + // No max torque setting for this motor ? + return COMM_TX_ERROR; +} + +int XL430Driver::setReturnLevel(uint8_t id, uint32_t return_level) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_STATUS_RETURN_LEVEL, (uint8_t)return_level); +} + +int XL430Driver::setAlarmShutdown(uint8_t id, uint32_t alarm_shutdown) +{ + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, XL430_ADDR_ALARM_SHUTDOWN, (uint8_t)alarm_shutdown); +} + +int XL430Driver::customWrite(uint8_t id, uint32_t value, uint8_t reg_address, uint8_t byte_number) +{ + if (byte_number == 1) + { + return _dxlPacketHandler->write1ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint8_t)value); + } + else if (byte_number == 2) + { + return _dxlPacketHandler->write2ByteTxOnly(_dxlPortHandler.get(), id, reg_address, (uint16_t)value); + } + else if (byte_number == 4) + { + return _dxlPacketHandler->write4ByteTxOnly(_dxlPortHandler.get(), id, reg_address, value); + } + else + { + return -1; + } +} + +/* + * ----------------- SYNC WRITE -------------------- + */ + +int XL430Driver::syncWritePositionGoal(std::vector &id_list, std::vector &position_list) +{ + return syncWrite4Bytes(XL430_ADDR_GOAL_POSITION, id_list, position_list); +} +int XL430Driver::syncWriteVelocityGoal(std::vector &id_list, std::vector &velocity_list) +{ + return syncWrite4Bytes(XL430_ADDR_GOAL_VELOCITY, id_list, velocity_list); +} +int XL430Driver::syncWriteTorqueGoal(std::vector &id_list, std::vector &torque_list) +{ + // No goal torque for this motor ? + return COMM_TX_ERROR; +} + +int XL430Driver::syncWriteTorqueEnable(std::vector &id_list, std::vector &torque_enable_list) +{ + return syncWrite1Byte(XL430_ADDR_TORQUE_ENABLE, id_list, torque_enable_list); +} + +int XL430Driver::syncWriteLed(std::vector &id_list, std::vector &led_list) +{ + return syncWrite1Byte(XL430_ADDR_LED, id_list, led_list); +} + +/* + * ----------------- READ -------------------- + */ + +int XL430Driver::readPosition(uint8_t id, uint32_t *present_position) +{ + return read4Bytes(XL430_ADDR_PRESENT_POSITION, id, present_position); +} + +int XL430Driver::readVelocity(uint8_t id, uint32_t *present_velocity) +{ + return read4Bytes(XL430_ADDR_PRESENT_VELOCITY, id, present_velocity); +} + +int XL430Driver::readLoad(uint8_t id, uint32_t *present_load) +{ + return read2Bytes(XL430_ADDR_PRESENT_LOAD, id, present_load); +} + +int XL430Driver::readTemperature(uint8_t id, uint32_t *temperature) +{ + return read1Byte(XL430_ADDR_PRESENT_TEMPERATURE, id, temperature); +} + +int XL430Driver::readVoltage(uint8_t id, uint32_t *voltage) +{ + return read2Bytes(XL430_ADDR_PRESENT_VOLTAGE, id, voltage); +} + +int XL430Driver::readHardwareStatus(uint8_t id, uint32_t *hardware_status) +{ + return read1Byte(XL430_ADDR_HW_ERROR_STATUS, id, hardware_status); +} +int XL430Driver::readReturnDelayTime(uint8_t id, uint32_t *return_delay_time) +{ + return read1Byte(XL430_ADDR_RETURN_DELAY_TIME, id, return_delay_time); +} + +int XL430Driver::readLimitTemperature(uint8_t id, uint32_t *limit_temperature) +{ + return read1Byte(XL430_ADDR_TEMPERATURE_LIMIT, id, limit_temperature); +} + +int XL430Driver::readMaxTorque(uint8_t id, uint32_t *max_torque) +{ + // No max torque setting for this motor ? + return COMM_TX_ERROR; +} + +int XL430Driver::readReturnLevel(uint8_t id, uint32_t *return_level) +{ + return read1Byte(XL430_ADDR_STATUS_RETURN_LEVEL, id, return_level); +} + +int XL430Driver::readAlarmShutdown(uint8_t id, uint32_t *alarm_shutdown) +{ + return read1Byte(XL430_ADDR_ALARM_SHUTDOWN, id, alarm_shutdown); +} + +/* + * ----------------- SYNC READ -------------------- + */ + +int XL430Driver::syncReadPosition(std::vector &id_list, std::vector &position_list) +{ + return syncRead(XL430_ADDR_PRESENT_POSITION, DXL_LEN_FOUR_BYTES, id_list, position_list); +} + +int XL430Driver::syncReadVelocity(std::vector &id_list, std::vector &velocity_list) +{ + return syncRead(XL430_ADDR_PRESENT_VELOCITY, DXL_LEN_FOUR_BYTES, id_list, velocity_list); +} +int XL430Driver::syncReadLoad(std::vector &id_list, std::vector &load_list) +{ + return syncRead(XL430_ADDR_PRESENT_LOAD, DXL_LEN_TWO_BYTES, id_list, load_list); +} + +int XL430Driver::syncReadTemperature(std::vector &id_list, std::vector &temperature_list) +{ + return syncRead(XL430_ADDR_PRESENT_TEMPERATURE, DXL_LEN_ONE_BYTE, id_list, temperature_list); +} + +int XL430Driver::syncReadVoltage(std::vector &id_list, std::vector &voltage_list) +{ + return syncRead(XL430_ADDR_PRESENT_VOLTAGE, DXL_LEN_TWO_BYTES, id_list, voltage_list); +} + +int XL430Driver::syncReadHwErrorStatus(std::vector &id_list, std::vector &hw_error_list) +{ + return syncRead(XL430_ADDR_HW_ERROR_STATUS, DXL_LEN_ONE_BYTE, id_list, hw_error_list); +} diff --git a/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv b/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv new file mode 100644 index 000000000..69ae80a0f --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv @@ -0,0 +1,11 @@ +# Check XL-320 and XL-430 reference doc for +# the complete register table + +int8 motor_type # 3 (XL-320) or 2 (XL-430) +uint8 id +int32 value +int32 reg_address +int32 byte_number +--- +int32 status +string message diff --git a/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp b/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp new file mode 100644 index 000000000..43545fa06 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_driver/test/test_dynamixel_driver_node.cpp @@ -0,0 +1,119 @@ +#include +#include +#include +#include +#include +#include +#include + +#include + +class DxlDriverTest { + + private: + ros::NodeHandle nh; + + boost::shared_ptr _dynamixel; + + std::vector dxl_home_pose{2000, 2047 , 511}; + std::vector dxl_pose_1{2047, 2047 , 511}; + std::vector dxl_pose_2{2047, 2047 , 511}; + + std::vector id{2,3,6}; + + public: + DxlDriverTest() + { + ros::NodeHandle nodeHandle("~"); + + _dynamixel.reset(new DynamixelDriver::DynamixelDriverCore()); + + TestServiceActiveTorque(); + TestPublishPoseCmd(); + + TestReceiveState(); + + } + + void TestServiceActiveTorque() + { + ROS_INFO("active all arm motors"); + DynamixelDriver::SynchronizeMotorCmd cmd; + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE); + cmd.setMotorsId(id); + cmd.setParams(std::vector {true, true, true}); + _dynamixel->setDxlCommands(cmd); + ros::Duration(1).sleep(); + cmd.setParams(std::vector {false, false, false}); + _dynamixel->setDxlCommands(cmd); + ros::Duration(1).sleep(); + + } + + void TestPublishPoseCmd() + { + ROS_INFO("move all arm motors"); + DynamixelDriver::SynchronizeMotorCmd cmd; + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE); + cmd.setMotorsId(id); + cmd.setParams(std::vector {true, true, true}); + ROS_INFO("Sending command 1"); + _dynamixel->setDxlCommands(cmd); + ros::Duration(3).sleep(); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION); + cmd.setParams(dxl_home_pose); + ROS_INFO("Sending command 2"); + _dynamixel->setDxlCommands(cmd); + ros::Duration(3).sleep(); + + cmd.setParams(dxl_pose_1); + ROS_INFO("Sending command 3"); + _dynamixel->setDxlCommands(cmd); + ros::Duration(3).sleep(); + + cmd.setParams(dxl_pose_2); + ROS_INFO("Sending command 4"); + _dynamixel->setDxlCommands(cmd); + ros::Duration(3).sleep(); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE); + cmd.setParams(std::vector {false, false, false}); + ROS_INFO("Sending command 5"); + _dynamixel->setDxlCommands(cmd); + } + + void TestReceiveState() + { + ros::Duration r(0.1); + std::vector motor_state; + for(int i = 0 ; i < 100 ; i++) + { + motor_state = _dynamixel->getDxlStates(); + for(int j = 0 ; j < motor_state.size() ; j++) + { + std::cout << " " << motor_state.at(j).getId() << " " << motor_state.at(j).getPositionState() << std::endl; + } + std::cout << " " << std::endl; + r.sleep(); + } + } + +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "dynamixel_driver_test"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + DxlDriverTest test; + + ros::waitForShutdown(); + + ROS_INFO("shutdown node"); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst b/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst new file mode 100644 index 000000000..dd5a6e20f --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/CHANGELOG.rst @@ -0,0 +1,89 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dynamixel_sdk +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +3.4.7 (2017-07-18) +----------- +* hotfix - Bug in Dynamixel group control is solved temporarily +* Contributors: Leon, Zerom + +3.4.6 (2017-07-07) +----------- +* hotfix - now DynamixelSDK for protocol1.0 supports read/write 4Byte (for XM series) +* Contributors: Leon + +3.4.5 (2017-05-23) +----------- +* added option to check if the id of rxpacket is the same as the id of txpacket. +* Contributors: Leon, Zerom + +3.4.4 (2017-04-26) +----------- +* hotfix - return delay time is changed from 4 into 8 due to the Ubuntu update 16.04.2 +* Contributors: Leon + +3.4.3 (2017-02-17) +----------- +* DynamixelSDK C++ ver. and ROS ver. in Windows platform now can use the port number of over then 10 #45 +* Contributors: Leon + +3.4.2 (2017-02-16) +----------- +* fprintf output in GrouBulkRead of C++ removed +* MATLAB library compiler error solving +* Makefile for build example sources in SBC added +* build files of windows c and c++ SDK rebuilt by using renewed SDK libraries +* example source of dxl_monitor - c and cpp ver modified #50 +* Solved issue : #31, #34, #36, #50 +* Contributors: Leon + +3.4.1 (2016-08-22) +----------- +* added ROS package folder for ROS users +* modified original header files for ROS package +* Contributors: Leon + +3.4.0 (2016-08-12) +----------- +* first public release for Kinetic +* added package information for wrapping version for ROS +* added ROS catkin package files. +* linux build file for SBC +* License marks for example codes +* Resource Files comments Korean -> English +* Update Makefile +* Update Makefile +* comments modified & aligned +* Release folders in c++ example removed & dxl_monitor.cpp Capital function name modified as ROS c++ code style & included file paths of packet/port handler in dynamixel_sdk.h removed and added parent header file +* Update dxl_monitor.cpp +* file opened +* folder name modification error solved +* License specified +* Code Style modified into ROS C++ coding style + Function & File Names changed into underscored +* Group Bulk/Sync class ClearParam() function changed. +* dll file name changed +* dll file name changed +* Comment modified +* [Protocol1PacketHandler] + RxPacket packet length re-calculate bug fixed. +* [Protocol2PacketHandler] + RxPacket packet length re-calculate bug fixed. +* Makefile updated + Source reorganization +* Windows version updated + Makefile modified + Source reorganization +* GroupBulkRead : GetData function bug fixed. +* [GroupBulkRead / GroupSyncRead] + added IsAvailable() function + modified GetData() function +* GetData() function changed. +* reducing the count of calling MakeParam function +* added rxpacket error check +* ReadTxRx function modified. (to use TxRxPacket function) +* DXL Monitor program arguments added. +* if the last bulk_read / sync_read result is failure -> GetData return false +* communication result & rx packet error print function modified. +* first release +* Contributors: Leon, Zerom, Pyo diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt b/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt new file mode 100644 index 000000000..c5b2c6d7d --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/CMakeLists.txt @@ -0,0 +1,84 @@ +################################################################################ +# CMake +################################################################################ +cmake_minimum_required(VERSION 2.8.3) +project(dynamixel_sdk) + +################################################################################ +# Packages +################################################################################ +find_package(catkin REQUIRED COMPONENTS + roscpp +) + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ + +################################################################################ +# Declare ROS dynamic reconfigure parameters +################################################################################ + +################################################################################ +# Catkin specific configuration +################################################################################ +catkin_package( + INCLUDE_DIRS include + LIBRARIES dynamixel_sdk +) + +################################################################################ +# Build +################################################################################ +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(dynamixel_sdk + src/packet_handler.cpp + src/protocol1_packet_handler.cpp + src/protocol2_packet_handler.cpp + src/group_sync_read.cpp + src/group_sync_write.cpp + src/group_bulk_read.cpp + src/group_bulk_write.cpp + src/port_handler.cpp + src/port_handler_linux.cpp +) +add_dependencies(dynamixel_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +#target_link_libraries(dynamixel_sdk +# ${catkin_LIBRARIES} +# -lwiringPi +#) + +EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE ) + +if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$") + message(STATUS "wiringPi library is required - arm processor") + target_link_libraries(dynamixel_sdk + ${catkin_LIBRARIES} + -lwiringPi -lrt + ) +else() + message(STATUS "wiringPi library not required") + target_link_libraries(dynamixel_sdk + ${catkin_LIBRARIES} + ) +endif() +################################################################################ +# Install +################################################################################ +install(TARGETS dynamixel_sdk + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +################################################################################ +# Test +################################################################################ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/README.md b/niryo_robot_hardware_stack/dynamixel_sdk/README.md new file mode 100644 index 000000000..e072efc0f --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/README.md @@ -0,0 +1,5 @@ +# Dynamixel SDK + +This package has been forked from the official [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) package. + +It has been adapted to work on Ned custom Raspberry Pi 4B shield, using the [wiringPi](http://wiringpi.com/) library. diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h new file mode 100644 index 000000000..0450b3d80 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/dynamixel_sdk.h @@ -0,0 +1,53 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ + + +#include "dynamixel_sdk/group_bulk_read.h" +#include "dynamixel_sdk/group_bulk_write.h" +#include "dynamixel_sdk/group_sync_read.h" +#include "dynamixel_sdk/group_sync_write.h" +#include "dynamixel_sdk/protocol1_packet_handler.h" +#include "dynamixel_sdk/protocol2_packet_handler.h" + +#ifdef __linux__ + #include "dynamixel_sdk/port_handler_linux.h" +#endif + +#if defined(_WIN32) || defined(_WIN64) + #include "dynamixel_sdk/port_handler_windows.h" +#endif + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_DYNAMIXELSDK_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h new file mode 100644 index 000000000..43eb501fd --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_read.h @@ -0,0 +1,85 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ + + +#include +#include +#include "dynamixel_sdk/port_handler.h" +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC GroupBulkRead +{ + private: + PortHandler *port_; + PacketHandler *ph_; + + std::vector id_list_; + std::map address_list_; // + std::map length_list_; // + std::map data_list_; // + + bool last_result_; + bool is_param_changed_; + + uint8_t *param_; + + void makeParam(); + + public: + GroupBulkRead(PortHandler *port, PacketHandler *ph); + ~GroupBulkRead() { clearParam(); } + + PortHandler *getPortHandler() { return port_; } + PacketHandler *getPacketHandler() { return ph_; } + + bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length); + void removeParam (uint8_t id); + void clearParam (); + + int txPacket(); + int rxPacket(); + int txRxPacket(); + + bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length); + uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKREAD_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h new file mode 100644 index 000000000..992db9c5a --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_bulk_write.h @@ -0,0 +1,81 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ + + +#include +#include +#include "dynamixel_sdk/port_handler.h" +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC GroupBulkWrite +{ + private: + PortHandler *port_; + PacketHandler *ph_; + + std::vector id_list_; + std::map address_list_; // + std::map length_list_; // + std::map data_list_; // + + bool is_param_changed_; + + uint8_t *param_; + uint16_t param_length_; + + void makeParam(); + + public: + GroupBulkWrite(PortHandler *port, PacketHandler *ph); + ~GroupBulkWrite() { clearParam(); } + + PortHandler *getPortHandler() { return port_; } + PacketHandler *getPacketHandler() { return ph_; } + + bool addParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data); + void removeParam (uint8_t id); + bool changeParam (uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data); + void clearParam (); + + int txPacket(); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPBULKWRITE_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h new file mode 100644 index 000000000..9539d66b9 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_read.h @@ -0,0 +1,85 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ + + +#include +#include +#include "dynamixel_sdk/port_handler.h" +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC GroupSyncRead +{ + private: + PortHandler *port_; + PacketHandler *ph_; + + std::vector id_list_; + std::map data_list_; // + + bool last_result_; + bool is_param_changed_; + + uint8_t *param_; + uint16_t start_address_; + uint16_t data_length_; + + void makeParam(); + + public: + GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length); + ~GroupSyncRead() { clearParam(); } + + PortHandler *getPortHandler() { return port_; } + PacketHandler *getPacketHandler() { return ph_; } + + bool addParam (uint8_t id); + void removeParam (uint8_t id); + void clearParam (); + + int txPacket(); + int rxPacket(); + int txRxPacket(); + + bool isAvailable (uint8_t id, uint16_t address, uint16_t data_length); + uint32_t getData (uint8_t id, uint16_t address, uint16_t data_length); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCREAD_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h new file mode 100644 index 000000000..54c78ed0b --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/group_sync_write.h @@ -0,0 +1,80 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ + + +#include +#include +#include "dynamixel_sdk/port_handler.h" +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC GroupSyncWrite +{ + private: + PortHandler *port_; + PacketHandler *ph_; + + std::vector id_list_; + std::map data_list_; // + + bool is_param_changed_; + + uint8_t *param_; + uint16_t start_address_; + uint16_t data_length_; + + void makeParam(); + + public: + GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length); + ~GroupSyncWrite() { clearParam(); } + + PortHandler *getPortHandler() { return port_; } + PacketHandler *getPacketHandler() { return ph_; } + + bool addParam (uint8_t id, uint8_t *data); + void removeParam (uint8_t id); + bool changeParam (uint8_t id, uint8_t *data); + void clearParam (); + + int txPacket(); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_GROUPSYNCWRITE_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h new file mode 100644 index 000000000..a3de440fa --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/packet_handler.h @@ -0,0 +1,158 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ + + +#include +#include +#include "dynamixel_sdk/port_handler.h" + +#define BROADCAST_ID 0xFE // 254 +#define MAX_ID 0xFC // 252 + +/* Macro for Control Table Value */ +#define DXL_MAKEWORD(a, b) ((unsigned short)(((unsigned char)(((unsigned long)(a)) & 0xff)) | ((unsigned short)((unsigned char)(((unsigned long)(b)) & 0xff))) << 8)) +#define DXL_MAKEDWORD(a, b) ((unsigned int)(((unsigned short)(((unsigned long)(a)) & 0xffff)) | ((unsigned int)((unsigned short)(((unsigned long)(b)) & 0xffff))) << 16)) +#define DXL_LOWORD(l) ((unsigned short)(((unsigned long)(l)) & 0xffff)) +#define DXL_HIWORD(l) ((unsigned short)((((unsigned long)(l)) >> 16) & 0xffff)) +#define DXL_LOBYTE(w) ((unsigned char)(((unsigned long)(w)) & 0xff)) +#define DXL_HIBYTE(w) ((unsigned char)((((unsigned long)(w)) >> 8) & 0xff)) + +/* Instruction for DXL Protocol */ +#define INST_PING 1 +#define INST_READ 2 +#define INST_WRITE 3 +#define INST_REG_WRITE 4 +#define INST_ACTION 5 +#define INST_FACTORY_RESET 6 +#define INST_SYNC_WRITE 131 // 0x83 +#define INST_BULK_READ 146 // 0x92 +// --- Only for 2.0 --- // +#define INST_REBOOT 8 +#define INST_STATUS 85 // 0x55 +#define INST_SYNC_READ 130 // 0x82 +#define INST_BULK_WRITE 147 // 0x93 + +// Communication Result +#define COMM_SUCCESS 0 // tx or rx packet communication success +#define COMM_PORT_BUSY -1000 // Port is busy (in use) +#define COMM_TX_FAIL -1001 // Failed transmit instruction packet +#define COMM_RX_FAIL -1002 // Failed get status packet +#define COMM_TX_ERROR -2000 // Incorrect instruction packet +#define COMM_RX_WAITING -3000 // Now recieving status packet +#define COMM_RX_TIMEOUT -3001 // There is no status packet +#define COMM_RX_CORRUPT -3002 // Incorrect status packet +#define COMM_NOT_AVAILABLE -9000 // + +namespace dynamixel +{ + +class WINDECLSPEC PacketHandler +{ + protected: + PacketHandler() { } + + public: + static PacketHandler *getPacketHandler(float protocol_version = 2.0); + + virtual ~PacketHandler() { } + + virtual float getProtocolVersion() = 0; + + virtual void printTxRxResult(int result) = 0; + virtual void printRxPacketError(uint8_t error) = 0; + + virtual int txPacket (PortHandler *port, uint8_t *txpacket) = 0; + virtual int rxPacket (PortHandler *port, uint8_t *rxpacket) = 0; + virtual int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0) = 0; + + virtual int ping (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0; + virtual int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0) = 0; + + // broadcastPing + virtual int broadcastPing (PortHandler *port, std::vector &id_list) = 0; + + virtual int action (PortHandler *port, uint8_t id) = 0; + virtual int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0) = 0; + virtual int factoryReset (PortHandler *port, uint8_t id, uint8_t option = 0, uint8_t *error = 0) = 0; + + + virtual int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length) = 0; + virtual int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; + virtual int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; + + virtual int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; + virtual int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0) = 0; + virtual int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0) = 0; + + virtual int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; + virtual int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0) = 0; + virtual int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0) = 0; + + virtual int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address) = 0; + virtual int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0) = 0; + virtual int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0) = 0; + + virtual int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0; + virtual int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; + + virtual int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) = 0; + virtual int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0) = 0; + + virtual int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) = 0; + virtual int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0) = 0; + + virtual int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) = 0; + virtual int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0) = 0; + + virtual int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) = 0; + virtual int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0) = 0; + + virtual int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0; + // SyncReadRx -> GroupSyncRead class + // SyncReadTxRx -> GroupSyncRead class + + virtual int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) = 0; + + virtual int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length) = 0; + // BulkReadRx -> GroupBulkRead class + // BulkReadTxRx -> GroupBulkRead class + + virtual int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length) = 0; +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PACKETHANDLER_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h new file mode 100644 index 000000000..9055a2e1f --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler.h @@ -0,0 +1,89 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ + +#ifdef __linux__ +#define WINDECLSPEC +#elif defined(_WIN32) || defined(_WIN64) +#ifdef WINDLLEXPORT +#define WINDECLSPEC __declspec(dllexport) +#else +#define WINDECLSPEC __declspec(dllimport) +#endif +#endif + +#include + +namespace dynamixel +{ + +class WINDECLSPEC PortHandler +{ + public: + static const int DEFAULT_BAUDRATE_ = 1000000; + + static PortHandler *getPortHandler(const char *port_name); + + bool is_using_; + + virtual ~PortHandler() { } + + virtual bool setupGpio() = 0; + virtual void gpioHigh() = 0; + virtual void gpioLow() = 0; + + virtual bool openPort() = 0; + virtual void closePort() = 0; + virtual void clearPort() = 0; + + virtual void setPortName(const char* port_name) = 0; + virtual char *getPortName() = 0; + + virtual bool setBaudRate(const int baudrate) = 0; + virtual int getBaudRate() = 0; + + virtual int getBytesAvailable() = 0; + + virtual int readPort(uint8_t *packet, int length) = 0; + virtual int writePort(uint8_t *packet, int length) = 0; + + virtual void setPacketTimeout(uint16_t packet_length) = 0; + virtual void setPacketTimeout(double msec) = 0; + virtual bool isPacketTimeout() = 0; +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h new file mode 100644 index 000000000..bd1bc8f65 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_linux.h @@ -0,0 +1,100 @@ +/* + * port_handler.h + * Copyright (c) 2017, Niryo + * All rights reserved. + * + * This library is an adaptation of dynamixel_sdk library for Raspberry Pi 4b with wiringPi + * See license below + */ + +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ + + +#include "dynamixel_sdk/port_handler.h" + +namespace dynamixel +{ + +class PortHandlerLinux : public PortHandler +{ + private: + int socket_fd_; + int baudrate_; + char port_name_[30]; + + double packet_start_time_; + double packet_timeout_; + double tx_time_per_byte; + + bool setupPort(const int cflag_baud); + bool setCustomBaudrate(int speed); + int getCFlagBaud(const int baudrate); + + double getCurrentTime(); + double getTimeSinceStart(); + + public: + PortHandlerLinux(const char *port_name); + virtual ~PortHandlerLinux() { closePort(); } + + bool setupGpio(); + void gpioHigh(); + void gpioLow(); + + bool openPort(); + void closePort(); + void clearPort(); + + void setPortName(const char *port_name); + char *getPortName(); + + bool setBaudRate(const int baudrate); + int getBaudRate(); + + int getBytesAvailable(); + + int readPort(uint8_t *packet, int length); + int writePort(uint8_t *packet, int length); + + void setPacketTimeout(uint16_t packet_length); + void setPacketTimeout(double msec); + bool isPacketTimeout(); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h new file mode 100644 index 000000000..a3812dde3 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h @@ -0,0 +1,91 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_ + +#include + +#include "dynamixel_sdk/port_handler.h" + +namespace dynamixel +{ +class WINDECLSPEC PortHandlerWindows : public PortHandler +{ + private: + HANDLE serial_handle_; + LARGE_INTEGER freq_, counter_; + + int baudrate_; + char port_name_[30]; + + double packet_start_time_; + double packet_timeout_; + double tx_time_per_byte_; + + bool setupPort(const int baudrate); + + double getCurrentTime(); + double getTimeSinceStart(); + + public: + PortHandlerWindows(const char *port_name); + virtual ~PortHandlerWindows() { closePort(); } + + bool setupGpio(); + void gpioHigh(); + void gpioLow(); + + bool openPort(); + void closePort(); + void clearPort(); + + void setPortName(const char *port_name); + char *getPortName(); + + bool setBaudRate(const int baudrate); + int getBaudRate(); + + int getBytesAvailable(); + + int readPort(uint8_t *packet, int length); + int writePort(uint8_t *packet, int length); + + void setPacketTimeout(uint16_t packet_length); + void setPacketTimeout(double msec); + bool isPacketTimeout(); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERWINDOWS_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h new file mode 100644 index 000000000..d4ae3f16a --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol1_packet_handler.h @@ -0,0 +1,123 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ + + +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC Protocol1PacketHandler : public PacketHandler +{ + private: + static Protocol1PacketHandler *unique_instance_; + + Protocol1PacketHandler(); + + public: + static Protocol1PacketHandler *getInstance() { return unique_instance_; } + + virtual ~Protocol1PacketHandler() { } + + float getProtocolVersion() { return 1.0; } + + void printTxRxResult(int result); + void printRxPacketError(uint8_t error); + + int txPacket (PortHandler *port, uint8_t *txpacket); + int rxPacket (PortHandler *port, uint8_t *rxpacket); + int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0); + + int ping (PortHandler *port, uint8_t id, uint8_t *error = 0); + int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0); + + // broadcastPing + int broadcastPing (PortHandler *port, std::vector &id_list); + + int action (PortHandler *port, uint8_t id); + int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0); + int factoryReset (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0); + + + int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length); + int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0); + int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0); + int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0); + + int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0); + int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0); + + int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0); + int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0); + + int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); + int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data); + int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0); + + int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data); + int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0); + + int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data); + int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0); + + int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); + int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); + // SyncReadRx -> GroupSyncRead class + // SyncReadTxRx -> GroupSyncRead class + + // param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn + int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); + + // param : LEN1 ID1 ADDR1 LEN2 ID2 ADDR2 ... + int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length); + // BulkReadRx -> GroupBulkRead class + // BulkReadTxRx -> GroupBulkRead class + + int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL1PACKETHANDLER_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h new file mode 100644 index 000000000..507b6f4a0 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/include/dynamixel_sdk/protocol2_packet_handler.h @@ -0,0 +1,128 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ +#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ + + +#include "dynamixel_sdk/packet_handler.h" + +namespace dynamixel +{ + +class WINDECLSPEC Protocol2PacketHandler : public PacketHandler +{ + private: + static Protocol2PacketHandler *unique_instance_; + + Protocol2PacketHandler(); + + uint16_t updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size); + void addStuffing(uint8_t *packet); + void removeStuffing(uint8_t *packet); + + public: + static Protocol2PacketHandler *getInstance() { return unique_instance_; } + + virtual ~Protocol2PacketHandler() { } + + float getProtocolVersion() { return 2.0; } + + void printTxRxResult(int result); + void printRxPacketError(uint8_t error); + + int txPacket (PortHandler *port, uint8_t *txpacket); + int rxPacket (PortHandler *port, uint8_t *rxpacket); + int txRxPacket (PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error = 0); + + int ping (PortHandler *port, uint8_t id, uint8_t *error = 0); + int ping (PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error = 0); + + // broadcastPing + int broadcastPing (PortHandler *port, std::vector &id_list); + + int action (PortHandler *port, uint8_t id); + int reboot (PortHandler *port, uint8_t id, uint8_t *error = 0); + int factoryReset (PortHandler *port, uint8_t id, uint8_t option, uint8_t *error = 0); + + + int readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length); + int readRx (PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error = 0); + int readTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int read1ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read1ByteRx (PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error = 0); + int read1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error = 0); + + int read2ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read2ByteRx (PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error = 0); + int read2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error = 0); + + int read4ByteTx (PortHandler *port, uint8_t id, uint16_t address); + int read4ByteRx (PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error = 0); + int read4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error = 0); + + int writeTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); + int writeTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data); + int write1ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error = 0); + + int write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data); + int write2ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error = 0); + + int write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data); + int write4ByteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error = 0); + + int regWriteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data); + int regWriteTxRx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error = 0); + + int syncReadTx (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); + // SyncReadRx -> GroupSyncRead class + // SyncReadTxRx -> GroupSyncRead class + + // param : ID1 DATA0 DATA1 ... DATAn ID2 DATA0 DATA1 ... DATAn ID3 DATA0 DATA1 ... DATAn + int syncWriteTxOnly (PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length); + + // param : ID1 ADDR_L1 ADDR_H1 LEN_L1 LEN_H1 ID2 ADDR_L2 ADDR_H2 LEN_L2 LEN_H2 ... + int bulkReadTx (PortHandler *port, uint8_t *param, uint16_t param_length); + // BulkReadRx -> GroupBulkRead class + // BulkReadTxRx -> GroupBulkRead class + + // param : ID1 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn ID2 START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H DATA0 DATA1 ... DATAn + int bulkWriteTxOnly (PortHandler *port, uint8_t *param, uint16_t param_length); +}; + +} + + +#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PROTOCOL2PACKETHANDLER_H_ */ diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/package.xml b/niryo_robot_hardware_stack/dynamixel_sdk/package.xml new file mode 100644 index 000000000..d67799035 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/package.xml @@ -0,0 +1,20 @@ + + + dynamixel_sdk + 3.4.7 + + (This package has been adapted to be used on the Ned custom RPI shield.) + + This package is wrapping version of ROBOTIS Dynamxel SDK for ROS. The ROBOTIS Dynamixel SDK, or SDK, is a software development library that provides Dynamixel control functions for packet communication. The API is designed for Dynamixel actuators and Dynamixel-based platforms. + BSD + Zerom + Leon + Pyo + https://github.com/ROBOTIS-GIT/DynamixelSDK/issues + https://github.com/ROBOTIS-GIT/DynamixelSDK + http://wiki.ros.org/dynamixel_sdk + catkin + roscpp + roscpp + + diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp new file mode 100644 index 000000000..a7a1d4e13 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_read.cpp @@ -0,0 +1,229 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include +#include "dynamixel_sdk/group_bulk_read.h" + +using namespace dynamixel; + +GroupBulkRead::GroupBulkRead(PortHandler *port, PacketHandler *ph) + : port_(port), + ph_(ph), + last_result_(false), + is_param_changed_(false), + param_(0) +{ + clearParam(); +} + +void GroupBulkRead::makeParam() +{ + if (id_list_.size() == 0) + return; + + if (param_ != 0) + delete[] param_; + param_ = 0; + + if (ph_->getProtocolVersion() == 1.0) + { + param_ = new uint8_t[id_list_.size() * 3]; // ID(1) + ADDR(1) + LENGTH(1) + } + else // 2.0 + { + param_ = new uint8_t[id_list_.size() * 5]; // ID(1) + ADDR(2) + LENGTH(2) + } + + int idx = 0; + for (unsigned int i = 0; i < id_list_.size(); i++) + { + uint8_t id = id_list_[i]; + if (ph_->getProtocolVersion() == 1.0) + { + param_[idx++] = (uint8_t)length_list_[id]; // LEN + param_[idx++] = id; // ID + param_[idx++] = (uint8_t)address_list_[id]; // ADDR + } + else // 2.0 + { + param_[idx++] = id; // ID + param_[idx++] = DXL_LOBYTE(address_list_[id]); // ADDR_L + param_[idx++] = DXL_HIBYTE(address_list_[id]); // ADDR_H + param_[idx++] = DXL_LOBYTE(length_list_[id]); // LEN_L + param_[idx++] = DXL_HIBYTE(length_list_[id]); // LEN_H + } + } +} + +bool GroupBulkRead::addParam(uint8_t id, uint16_t start_address, uint16_t data_length) +{ + if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist + return false; + + id_list_.push_back(id); + length_list_[id] = data_length; + address_list_[id] = start_address; + data_list_[id] = new uint8_t[data_length]; + + is_param_changed_ = true; + return true; +} + +void GroupBulkRead::removeParam(uint8_t id) +{ + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return; + + id_list_.erase(it); + address_list_.erase(id); + length_list_.erase(id); + delete[] data_list_[id]; + data_list_.erase(id); + + is_param_changed_ = true; +} + +void GroupBulkRead::clearParam() +{ + if (id_list_.size() == 0) + return; + + for (unsigned int i = 0; i < id_list_.size(); i++) + delete[] data_list_[id_list_[i]]; + + id_list_.clear(); + address_list_.clear(); + length_list_.clear(); + data_list_.clear(); + if (param_ != 0) + delete[] param_; + param_ = 0; +} + +int GroupBulkRead::txPacket() +{ + if (id_list_.size() == 0) + return COMM_NOT_AVAILABLE; + + if (is_param_changed_ == true || param_ == 0) + makeParam(); + + if (ph_->getProtocolVersion() == 1.0) + { + return ph_->bulkReadTx(port_, param_, id_list_.size() * 3); + } + else // 2.0 + { + return ph_->bulkReadTx(port_, param_, id_list_.size() * 5); + } +} + +int GroupBulkRead::rxPacket() +{ + int cnt = id_list_.size(); + int result = COMM_RX_FAIL; + + last_result_ = false; + + if (cnt == 0) + return COMM_NOT_AVAILABLE; + + for (int i = 0; i < cnt; i++) + { + uint8_t id = id_list_[i]; + + result = ph_->readRx(port_, id, length_list_[id], data_list_[id]); + if (result != COMM_SUCCESS) + return result; + } + + if (result == COMM_SUCCESS) + last_result_ = true; + + return result; +} + +int GroupBulkRead::txRxPacket() +{ + int result = COMM_TX_FAIL; + + result = txPacket(); + if (result != COMM_SUCCESS) + return result; + + return rxPacket(); +} + +bool GroupBulkRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length) +{ + uint16_t start_addr; + + if (last_result_ == false || data_list_.find(id) == data_list_.end()) + return false; + + start_addr = address_list_[id]; + + if (address < start_addr || start_addr + length_list_[id] - data_length < address) + return false; + + return true; +} + +uint32_t GroupBulkRead::getData(uint8_t id, uint16_t address, uint16_t data_length) +{ + if (isAvailable(id, address, data_length) == false) + return 0; + + uint16_t start_addr = address_list_[id]; + + switch(data_length) + { + case 1: + return data_list_[id][address - start_addr]; + + case 2: + return DXL_MAKEWORD(data_list_[id][address - start_addr], data_list_[id][address - start_addr + 1]); + + case 4: + return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_addr + 0], data_list_[id][address - start_addr + 1]), + DXL_MAKEWORD(data_list_[id][address - start_addr + 2], data_list_[id][address - start_addr + 3])); + + default: + return 0; + } +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp new file mode 100644 index 000000000..b142abdbd --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_bulk_write.cpp @@ -0,0 +1,163 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include "dynamixel_sdk/group_bulk_write.h" + +using namespace dynamixel; + +GroupBulkWrite::GroupBulkWrite(PortHandler *port, PacketHandler *ph) + : port_(port), + ph_(ph), + is_param_changed_(false), + param_(0), + param_length_(0) +{ + clearParam(); +} + +void GroupBulkWrite::makeParam() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return; + + if (param_ != 0) + delete[] param_; + param_ = 0; + + param_length_ = 0; + for (unsigned int i = 0; i < id_list_.size(); i++) + param_length_ += 1 + 2 + 2 + length_list_[id_list_[i]]; + + param_ = new uint8_t[param_length_]; + + int idx = 0; + for (unsigned int i = 0; i < id_list_.size(); i++) + { + uint8_t id = id_list_[i]; + if (data_list_[id] == 0) + return; + + param_[idx++] = id; + param_[idx++] = DXL_LOBYTE(address_list_[id]); + param_[idx++] = DXL_HIBYTE(address_list_[id]); + param_[idx++] = DXL_LOBYTE(length_list_[id]); + param_[idx++] = DXL_HIBYTE(length_list_[id]); + for (int c = 0; c < length_list_[id]; c++) + param_[idx++] = (data_list_[id])[c]; + } +} + +bool GroupBulkWrite::addParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data) +{ + if (ph_->getProtocolVersion() == 1.0) + return false; + + if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist + return false; + + id_list_.push_back(id); + address_list_[id] = start_address; + length_list_[id] = data_length; + data_list_[id] = new uint8_t[data_length]; + for (int c = 0; c < data_length; c++) + data_list_[id][c] = data[c]; + + is_param_changed_ = true; + return true; +} +void GroupBulkWrite::removeParam(uint8_t id) +{ + if (ph_->getProtocolVersion() == 1.0) + return; + + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return; + + id_list_.erase(it); + address_list_.erase(id); + length_list_.erase(id); + delete[] data_list_[id]; + data_list_.erase(id); + + is_param_changed_ = true; +} +bool GroupBulkWrite::changeParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data) +{ + if (ph_->getProtocolVersion() == 1.0) + return false; + + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return false; + + address_list_[id] = start_address; + length_list_[id] = data_length; + delete[] data_list_[id]; + data_list_[id] = new uint8_t[data_length]; + for (int c = 0; c < data_length; c++) + data_list_[id][c] = data[c]; + + is_param_changed_ = true; + return true; +} +void GroupBulkWrite::clearParam() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return; + + for (unsigned int i = 0; i < id_list_.size(); i++) + delete[] data_list_[id_list_[i]]; + + id_list_.clear(); + address_list_.clear(); + length_list_.clear(); + data_list_.clear(); + if (param_ != 0) + delete[] param_; + param_ = 0; +} +int GroupBulkWrite::txPacket() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return COMM_NOT_AVAILABLE; + + if (is_param_changed_ == true || param_ == 0) + makeParam(); + + return ph_->bulkWriteTxOnly(port_, param_, param_length_); +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp new file mode 100644 index 000000000..c6318b12d --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_read.cpp @@ -0,0 +1,198 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include "dynamixel_sdk/group_sync_read.h" + +using namespace dynamixel; + +GroupSyncRead::GroupSyncRead(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length) + : port_(port), + ph_(ph), + last_result_(false), + is_param_changed_(false), + param_(0), + start_address_(start_address), + data_length_(data_length) +{ + clearParam(); +} + +void GroupSyncRead::makeParam() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return; + + if (param_ != 0) + delete[] param_; + param_ = 0; + + param_ = new uint8_t[id_list_.size() * 1]; // ID(1) + + int idx = 0; + for (unsigned int i = 0; i < id_list_.size(); i++) + param_[idx++] = id_list_[i]; +} + +bool GroupSyncRead::addParam(uint8_t id) +{ + if (ph_->getProtocolVersion() == 1.0) + return false; + + if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist + return false; + + id_list_.push_back(id); + data_list_[id] = new uint8_t[data_length_]; + + is_param_changed_ = true; + return true; +} +void GroupSyncRead::removeParam(uint8_t id) +{ + if (ph_->getProtocolVersion() == 1.0) + return; + + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return; + + id_list_.erase(it); + delete[] data_list_[id]; + data_list_.erase(id); + + is_param_changed_ = true; +} +void GroupSyncRead::clearParam() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return; + + for (unsigned int i = 0; i < id_list_.size(); i++) + delete[] data_list_[id_list_[i]]; + + id_list_.clear(); + data_list_.clear(); + if (param_ != 0) + delete[] param_; + param_ = 0; +} + +int GroupSyncRead::txPacket() +{ + if (ph_->getProtocolVersion() == 1.0 || id_list_.size() == 0) + return COMM_NOT_AVAILABLE; + + if (is_param_changed_ == true || param_ == 0) + makeParam(); + + return ph_->syncReadTx(port_, start_address_, data_length_, param_, (uint16_t)id_list_.size() * 1); +} + +int GroupSyncRead::rxPacket() +{ + last_result_ = false; + + if (ph_->getProtocolVersion() == 1.0) + return COMM_NOT_AVAILABLE; + + int cnt = id_list_.size(); + int result = COMM_RX_FAIL; + + if (cnt == 0) + return COMM_NOT_AVAILABLE; + + for (int i = 0; i < cnt; i++) + { + uint8_t id = id_list_[i]; + + result = ph_->readRx(port_, id, data_length_, data_list_[id]); + if (result != COMM_SUCCESS) + return result; + } + + if (result == COMM_SUCCESS) + last_result_ = true; + + return result; +} + +int GroupSyncRead::txRxPacket() +{ + if (ph_->getProtocolVersion() == 1.0) + return COMM_NOT_AVAILABLE; + + int result = COMM_TX_FAIL; + + result = txPacket(); + if (result != COMM_SUCCESS) + return result; + + return rxPacket(); +} + +bool GroupSyncRead::isAvailable(uint8_t id, uint16_t address, uint16_t data_length) +{ + if (ph_->getProtocolVersion() == 1.0 || last_result_ == false || data_list_.find(id) == data_list_.end()) + return false; + + if (address < start_address_ || start_address_ + data_length_ - data_length < address) + return false; + + return true; +} + +uint32_t GroupSyncRead::getData(uint8_t id, uint16_t address, uint16_t data_length) +{ + if (isAvailable(id, address, data_length) == false) + return 0; + + switch(data_length) + { + case 1: + return data_list_[id][address - start_address_]; + + case 2: + return DXL_MAKEWORD(data_list_[id][address - start_address_], data_list_[id][address - start_address_ + 1]); + + case 4: + return DXL_MAKEDWORD(DXL_MAKEWORD(data_list_[id][address - start_address_ + 0], data_list_[id][address - start_address_ + 1]), + DXL_MAKEWORD(data_list_[id][address - start_address_ + 2], data_list_[id][address - start_address_ + 3])); + + default: + return 0; + } +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp new file mode 100644 index 000000000..6e4a9c192 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/group_sync_write.cpp @@ -0,0 +1,142 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include "dynamixel_sdk/group_sync_write.h" + +using namespace dynamixel; + +GroupSyncWrite::GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length) + : port_(port), + ph_(ph), + is_param_changed_(false), + param_(0), + start_address_(start_address), + data_length_(data_length) +{ + clearParam(); +} + +void GroupSyncWrite::makeParam() +{ + if (id_list_.size() == 0) return; + + if (param_ != 0) + delete[] param_; + param_ = 0; + + param_ = new uint8_t[id_list_.size() * (1 + data_length_)]; // ID(1) + DATA(data_length) + + int idx = 0; + for (unsigned int i = 0; i < id_list_.size(); i++) + { + uint8_t id = id_list_[i]; + if (data_list_[id] == 0) + return; + + param_[idx++] = id; + for (int c = 0; c < data_length_; c++) + param_[idx++] = (data_list_[id])[c]; + } +} + +bool GroupSyncWrite::addParam(uint8_t id, uint8_t *data) +{ + if (std::find(id_list_.begin(), id_list_.end(), id) != id_list_.end()) // id already exist + return false; + + id_list_.push_back(id); + data_list_[id] = new uint8_t[data_length_]; + for (int c = 0; c < data_length_; c++) + data_list_[id][c] = data[c]; + + is_param_changed_ = true; + return true; +} + +void GroupSyncWrite::removeParam(uint8_t id) +{ + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return; + + id_list_.erase(it); + delete[] data_list_[id]; + data_list_.erase(id); + + is_param_changed_ = true; +} + +bool GroupSyncWrite::changeParam(uint8_t id, uint8_t *data) +{ + std::vector::iterator it = std::find(id_list_.begin(), id_list_.end(), id); + if (it == id_list_.end()) // NOT exist + return false; + + delete[] data_list_[id]; + data_list_[id] = new uint8_t[data_length_]; + for (int c = 0; c < data_length_; c++) + data_list_[id][c] = data[c]; + + is_param_changed_ = true; + return true; +} + +void GroupSyncWrite::clearParam() +{ + if (id_list_.size() == 0) + return; + + for (unsigned int i = 0; i < id_list_.size(); i++) + delete[] data_list_[id_list_[i]]; + + id_list_.clear(); + data_list_.clear(); + if (param_ != 0) + delete[] param_; + param_ = 0; +} + +int GroupSyncWrite::txPacket() +{ + if (id_list_.size() == 0) + return COMM_NOT_AVAILABLE; + + if (is_param_changed_ == true || param_ == 0) + makeParam(); + + return ph_->syncWriteTxOnly(port_, start_address_, data_length_, param_, id_list_.size() * (1 + data_length_)); +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp new file mode 100644 index 000000000..b25be897c --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/packet_handler.cpp @@ -0,0 +1,55 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include "dynamixel_sdk/packet_handler.h" +#include "dynamixel_sdk/protocol1_packet_handler.h" +#include "dynamixel_sdk/protocol2_packet_handler.h" + +using namespace dynamixel; + +PacketHandler *PacketHandler::getPacketHandler(float protocol_version) +{ + if (protocol_version == 1.0) + { + return (PacketHandler *)(Protocol1PacketHandler::getInstance()); + } + else if (protocol_version == 2.0) + { + return (PacketHandler *)(Protocol2PacketHandler::getInstance()); + } + + return (PacketHandler *)(Protocol2PacketHandler::getInstance()); +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp new file mode 100644 index 000000000..1e3f169dd --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler.cpp @@ -0,0 +1,58 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include "dynamixel_sdk/port_handler.h" + +#ifdef __linux__ + #include "dynamixel_sdk/port_handler_linux.h" +#endif + +#if defined(_WIN32) || defined(_WIN64) + #include "dynamixel_sdk/port_handler_windows.h" +#endif + +using namespace dynamixel; + +PortHandler *PortHandler::getPortHandler(const char *port_name) +{ +#ifdef __linux__ + return (PortHandler *)(new PortHandlerLinux(port_name)); +#endif + +#if defined(_WIN32) || defined(_WIN64) + return (PortHandler *)(new PortHandlerWindows(port_name)); +#endif +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp new file mode 100644 index 000000000..09a703c7d --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_linux.cpp @@ -0,0 +1,334 @@ +/* + * port_handler_linux.cpp + * Copyright (c) 2017, Niryo + * All rights reserved. + * + * This library is an adaptation of dynamixel_sdk library for Raspberry Pi 4b with wiringPi + * See license below + */ + +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "dynamixel_sdk/port_handler_linux.h" + +#define LATENCY_TIMER 8 // msec (USB latency timer) [was changed from 4 due to the Ubuntu update 16.04.2] + +using namespace dynamixel; + +PortHandlerLinux::PortHandlerLinux(const char *port_name) + : socket_fd_(-1), + baudrate_(DEFAULT_BAUDRATE_), + packet_start_time_(0.0), + packet_timeout_(0.0), + tx_time_per_byte(0.0) +{ + is_using_ = false; + setPortName(port_name); +} + +#include +#if defined __arm__ || defined __aarch64__ +#include +#endif +#include + +#define GPIO_HALF_DUPLEX_DIRECTION 17 + +bool PortHandlerLinux::setupGpio() +{ +#if defined __arm__ || defined __aarch64__ + int result = wiringPiSetupGpio(); + if (!result) { + //printf("Gpio started\n"); + } + else { + //printf("Gpio startup fail\n"); + return false; + } + + pinMode(GPIO_HALF_DUPLEX_DIRECTION, OUTPUT); + + nanosleep((const struct timespec[]){{0, 500000L}}, NULL); + + gpioLow(); +#endif + + return true; +} + +void PortHandlerLinux::gpioHigh() +{ +#if defined __arm__ || defined __aarch64__ + digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, HIGH); +#endif +} + +void PortHandlerLinux::gpioLow() +{ +#if defined __arm__ || defined __aarch64__ + digitalWrite(GPIO_HALF_DUPLEX_DIRECTION, LOW); +#endif +} + +bool PortHandlerLinux::openPort() +{ + return setBaudRate(baudrate_); +} + +void PortHandlerLinux::closePort() +{ + if(socket_fd_ != -1) + close(socket_fd_); + socket_fd_ = -1; +} + +void PortHandlerLinux::clearPort() +{ + tcflush(socket_fd_, TCIOFLUSH); +} + +void PortHandlerLinux::setPortName(const char *port_name) +{ + strcpy(port_name_, port_name); +} + +char *PortHandlerLinux::getPortName() +{ + return port_name_; +} + +bool PortHandlerLinux::setBaudRate(const int baudrate) +{ + int baud = getCFlagBaud(baudrate); + + closePort(); + + if(baud <= 0) // custom baudrate + { + setupPort(B38400); + baudrate_ = baudrate; + return setCustomBaudrate(baudrate); + } + else + { + baudrate_ = baudrate; + return setupPort(baud); + } +} + +int PortHandlerLinux::getBaudRate() +{ + return baudrate_; +} + +int PortHandlerLinux::getBytesAvailable() +{ + int bytes_available; + ioctl(socket_fd_, FIONREAD, &bytes_available); + return bytes_available; +} + +int PortHandlerLinux::readPort(uint8_t *packet, int length) +{ + return read(socket_fd_, packet, length); +} + +int PortHandlerLinux::writePort(uint8_t *packet, int length) +{ + gpioHigh(); + + int write_result = write(socket_fd_, packet, length); + + double time_to_wait_secs = (double)length / ((double)baudrate_ / 10.0); + struct timespec tim; + tim.tv_sec = 0; + tim.tv_nsec = (long) (time_to_wait_secs * 1000000000.0); + nanosleep(&tim, NULL); + + gpioLow(); + + return write_result; +} + +void PortHandlerLinux::setPacketTimeout(uint16_t packet_length) +{ + packet_start_time_ = getCurrentTime(); + packet_timeout_ = (tx_time_per_byte * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; +} + +void PortHandlerLinux::setPacketTimeout(double msec) +{ + packet_start_time_ = getCurrentTime(); + packet_timeout_ = msec; +} + +bool PortHandlerLinux::isPacketTimeout() +{ + if(getTimeSinceStart() > packet_timeout_) + { + packet_timeout_ = 0; + return true; + } + return false; +} + +double PortHandlerLinux::getCurrentTime() +{ + struct timespec tv; + clock_gettime( CLOCK_REALTIME, &tv); + return ((double)tv.tv_sec*1000.0 + (double)tv.tv_nsec*0.001*0.001); +} + +double PortHandlerLinux::getTimeSinceStart() +{ + double time; + + time = getCurrentTime() - packet_start_time_; + if(time < 0.0) + packet_start_time_ = getCurrentTime(); + + return time; +} + +bool PortHandlerLinux::setupPort(int cflag_baud) +{ + struct termios newtio; + + socket_fd_ = open(port_name_, O_RDWR|O_NOCTTY|O_NONBLOCK); + if(socket_fd_ < 0) + { + printf("[PortHandlerLinux::SetupPort] Error opening serial port!\n"); + return false; + } + + bzero(&newtio, sizeof(newtio)); // clear struct for new port settings + + newtio.c_cflag = cflag_baud | CS8 | CLOCAL | CREAD; + newtio.c_iflag = IGNPAR; + newtio.c_oflag = 0; + newtio.c_lflag = 0; + newtio.c_cc[VTIME] = 0; + newtio.c_cc[VMIN] = 0; + + // clean the buffer and activate the settings for the port + tcflush(socket_fd_, TCIFLUSH); + tcsetattr(socket_fd_, TCSANOW, &newtio); + + tx_time_per_byte = (1000.0 / (double)baudrate_) * 10.0; + return true; +} + +bool PortHandlerLinux::setCustomBaudrate(int speed) +{ + // try to set a custom divisor + struct serial_struct ss; + if(ioctl(socket_fd_, TIOCGSERIAL, &ss) != 0) + { + printf("[PortHandlerLinux::SetCustomBaudrate] TIOCGSERIAL failed!\n"); + return false; + } + + ss.flags = (ss.flags & ~ASYNC_SPD_MASK) | ASYNC_SPD_CUST; + ss.custom_divisor = (ss.baud_base + (speed / 2)) / speed; + int closest_speed = ss.baud_base / ss.custom_divisor; + + if(closest_speed < speed * 98 / 100 || closest_speed > speed * 102 / 100) + { + printf("[PortHandlerLinux::SetCustomBaudrate] Cannot set speed to %d, closest is %d \n", speed, closest_speed); + return false; + } + + if(ioctl(socket_fd_, TIOCSSERIAL, &ss) < 0) + { + printf("[PortHandlerLinux::SetCustomBaudrate] TIOCSSERIAL failed!\n"); + return false; + } + + tx_time_per_byte = (1000.0 / (double)speed) * 10.0; + return true; +} + +int PortHandlerLinux::getCFlagBaud(int baudrate) +{ + switch(baudrate) + { + case 9600: + return B9600; + case 19200: + return B19200; + case 38400: + return B38400; + case 57600: + return B57600; + case 115200: + return B115200; + case 230400: + return B230400; + case 460800: + return B460800; + case 500000: + return B500000; + case 576000: + return B576000; + case 921600: + return B921600; + case 1000000: + return B1000000; + case 1152000: + return B1152000; + case 1500000: + return B1500000; + case 2000000: + return B2000000; + case 2500000: + return B2500000; + case 3000000: + return B3000000; + case 3500000: + return B3500000; + case 4000000: + return B4000000; + default: + return -1; + } +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp new file mode 100644 index 000000000..d39c9aa2c --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/port_handler_windows.cpp @@ -0,0 +1,250 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include "dynamixel_sdk/port_handler_windows.h" + +#include +#include +#include + +#define LATENCY_TIMER 16 // msec (USB latency timer) + +using namespace dynamixel; + +PortHandlerWindows::PortHandlerWindows(const char *port_name) + : serial_handle_(INVALID_HANDLE_VALUE), + baudrate_(DEFAULT_BAUDRATE_), + packet_start_time_(0.0), + packet_timeout_(0.0), + tx_time_per_byte_(0.0) +{ + is_using_ = false; + + char buffer[15]; + sprintf_s(buffer, sizeof(buffer), "\\\\.\\%s", port_name); + setPortName(buffer); +} + +//#include +//#include +//#include + +bool PortHandlerWindows::setupGpio() { return false; } + +void PortHandlerWindows::gpioHigh() { } + +void PortHandlerWindows::gpioLow() { } + +bool PortHandlerWindows::openPort() +{ + return setBaudRate(baudrate_); +} + +void PortHandlerWindows::closePort() +{ + if (serial_handle_ != INVALID_HANDLE_VALUE) + { + CloseHandle(serial_handle_); + serial_handle_ = INVALID_HANDLE_VALUE; + } +} + +void PortHandlerWindows::clearPort() +{ + PurgeComm(serial_handle_, PURGE_RXABORT | PURGE_RXCLEAR); +} + +void PortHandlerWindows::setPortName(const char *port_name) +{ + strcpy_s(port_name_, sizeof(port_name_), port_name); +} + +char *PortHandlerWindows::getPortName() +{ + return port_name_; +} + +bool PortHandlerWindows::setBaudRate(const int baudrate) +{ + closePort(); + + baudrate_ = baudrate; + return setupPort(baudrate); +} + +int PortHandlerWindows::getBaudRate() +{ + return baudrate_; +} + +int PortHandlerWindows::getBytesAvailable() +{ + DWORD retbyte = 2; + BOOL res = DeviceIoControl(serial_handle_, GENERIC_READ | GENERIC_WRITE, NULL, 0, 0, 0, &retbyte, (LPOVERLAPPED)NULL); + + printf("%d", (int)res); + return (int)retbyte; +} + +int PortHandlerWindows::readPort(uint8_t *packet, int length) +{ + DWORD dwRead = 0; + + if (ReadFile(serial_handle_, packet, (DWORD)length, &dwRead, NULL) == FALSE) + return -1; + + return (int)dwRead; +} + +int PortHandlerWindows::writePort(uint8_t *packet, int length) +{ + DWORD dwWrite = 0; + + if (WriteFile(serial_handle_, packet, (DWORD)length, &dwWrite, NULL) == FALSE) + return -1; + + return (int)dwWrite; +} + +void PortHandlerWindows::setPacketTimeout(uint16_t packet_length) +{ + packet_start_time_ = getCurrentTime(); + packet_timeout_ = (tx_time_per_byte_ * (double)packet_length) + (LATENCY_TIMER * 2.0) + 2.0; +} + +void PortHandlerWindows::setPacketTimeout(double msec) +{ + packet_start_time_ = getCurrentTime(); + packet_timeout_ = msec; +} + +bool PortHandlerWindows::isPacketTimeout() +{ + if (getTimeSinceStart() > packet_timeout_) + { + packet_timeout_ = 0; + return true; + } + return false; +} + +double PortHandlerWindows::getCurrentTime() +{ + QueryPerformanceCounter(&counter_); + QueryPerformanceFrequency(&freq_); + return (double)counter_.QuadPart / (double)freq_.QuadPart * 1000.0; +} + +double PortHandlerWindows::getTimeSinceStart() +{ + double time; + + time = getCurrentTime() - packet_start_time_; + if (time < 0.0) packet_start_time_ = getCurrentTime(); + + return time; +} + +bool PortHandlerWindows::setupPort(int baudrate) +{ + DCB dcb; + COMMTIMEOUTS timeouts; + DWORD dwError; + + closePort(); + + serial_handle_ = CreateFileA(port_name_, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL); + if (serial_handle_ == INVALID_HANDLE_VALUE) + { + printf("[PortHandlerWindows::SetupPort] Error opening serial port!\n"); + return false; + } + + dcb.DCBlength = sizeof(DCB); + if (GetCommState(serial_handle_, &dcb) == FALSE) + goto DXL_HAL_OPEN_ERROR; + + // Set baudrate + dcb.BaudRate = (DWORD)baudrate; + dcb.ByteSize = 8; // Data bit = 8bit + dcb.Parity = NOPARITY; // No parity + dcb.StopBits = ONESTOPBIT; // Stop bit = 1 + dcb.fParity = NOPARITY; // No Parity check + dcb.fBinary = 1; // Binary mode + dcb.fNull = 0; // Get Null byte + dcb.fAbortOnError = 0; + dcb.fErrorChar = 0; + // Not using XOn/XOff + dcb.fOutX = 0; + dcb.fInX = 0; + // Not using H/W flow control + dcb.fDtrControl = DTR_CONTROL_DISABLE; + dcb.fRtsControl = RTS_CONTROL_DISABLE; + dcb.fDsrSensitivity = 0; + dcb.fOutxDsrFlow = 0; + dcb.fOutxCtsFlow = 0; + + if (SetCommState(serial_handle_, &dcb) == FALSE) + goto DXL_HAL_OPEN_ERROR; + + if (SetCommMask(serial_handle_, 0) == FALSE) // Not using Comm event + goto DXL_HAL_OPEN_ERROR; + if (SetupComm(serial_handle_, 4096, 4096) == FALSE) // Buffer size (Rx,Tx) + goto DXL_HAL_OPEN_ERROR; + if (PurgeComm(serial_handle_, PURGE_TXABORT | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_RXCLEAR) == FALSE) // Clear buffer + goto DXL_HAL_OPEN_ERROR; + if (ClearCommError(serial_handle_, &dwError, NULL) == FALSE) + goto DXL_HAL_OPEN_ERROR; + + if (GetCommTimeouts(serial_handle_, &timeouts) == FALSE) + goto DXL_HAL_OPEN_ERROR; + // Timeout (Not using timeout) + // Immediatly return + timeouts.ReadIntervalTimeout = 0; + timeouts.ReadTotalTimeoutMultiplier = 0; + timeouts.ReadTotalTimeoutConstant = 1; // must not be zero. + timeouts.WriteTotalTimeoutMultiplier = 0; + timeouts.WriteTotalTimeoutConstant = 0; + if (SetCommTimeouts(serial_handle_, &timeouts) == FALSE) + goto DXL_HAL_OPEN_ERROR; + + tx_time_per_byte_ = (1000.0 / (double)baudrate_) * 10.0; + return true; + +DXL_HAL_OPEN_ERROR: + closePort(); + return false; +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp new file mode 100644 index 000000000..ae75c0fbe --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol1_packet_handler.cpp @@ -0,0 +1,738 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include +#include "dynamixel_sdk/protocol1_packet_handler.h" + +#define TXPACKET_MAX_LEN (250) +#define RXPACKET_MAX_LEN (250) + +///////////////// for Protocol 1.0 Packet ///////////////// +#define PKT_HEADER0 0 +#define PKT_HEADER1 1 +#define PKT_ID 2 +#define PKT_LENGTH 3 +#define PKT_INSTRUCTION 4 +#define PKT_ERROR 4 +#define PKT_PARAMETER0 5 + +///////////////// Protocol 1.0 Error bit ///////////////// +#define ERRBIT_VOLTAGE 1 // Supplied voltage is out of the range (operating volatage set in the control table) +#define ERRBIT_ANGLE 2 // Goal position is written out of the range (from CW angle limit to CCW angle limit) +#define ERRBIT_OVERHEAT 4 // Temperature is out of the range (operating temperature set in the control table) +#define ERRBIT_RANGE 8 // Command(setting value) is out of the range for use. +#define ERRBIT_CHECKSUM 16 // Instruction packet checksum is incorrect. +#define ERRBIT_OVERLOAD 32 // The current load cannot be controlled by the set torque. +#define ERRBIT_INSTRUCTION 64 // Undefined instruction or delivering the action command without the reg_write command. + +using namespace dynamixel; + +Protocol1PacketHandler *Protocol1PacketHandler::unique_instance_ = new Protocol1PacketHandler(); + +Protocol1PacketHandler::Protocol1PacketHandler() { } + +void Protocol1PacketHandler::printTxRxResult(int result) +{ + switch(result) + { + case COMM_SUCCESS: + printf("[TxRxResult] Communication success.\n"); + break; + + case COMM_PORT_BUSY: + printf("[TxRxResult] Port is in use!\n"); + break; + + case COMM_TX_FAIL: + printf("[TxRxResult] Failed transmit instruction packet!\n"); + break; + + case COMM_RX_FAIL: + printf("[TxRxResult] Failed get status packet from device!\n"); + break; + + case COMM_TX_ERROR: + printf("[TxRxResult] Incorrect instruction packet!\n"); + break; + + case COMM_RX_WAITING: + printf("[TxRxResult] Now recieving status packet!\n"); + break; + + case COMM_RX_TIMEOUT: + printf("[TxRxResult] There is no status packet!\n"); + break; + + case COMM_RX_CORRUPT: + printf("[TxRxResult] Incorrect status packet!\n"); + break; + + case COMM_NOT_AVAILABLE: + printf("[TxRxResult] Protocol does not support This function!\n"); + break; + + default: + break; + } +} + +void Protocol1PacketHandler::printRxPacketError(uint8_t error) +{ + if (error & ERRBIT_VOLTAGE) + printf("[RxPacketError] Input voltage error!\n"); + + if (error & ERRBIT_ANGLE) + printf("[RxPacketError] Angle limit error!\n"); + + if (error & ERRBIT_OVERHEAT) + printf("[RxPacketError] Overheat error!\n"); + + if (error & ERRBIT_RANGE) + printf("[RxPacketError] Out of range error!\n"); + + if (error & ERRBIT_CHECKSUM) + printf("[RxPacketError] Checksum error!\n"); + + if (error & ERRBIT_OVERLOAD) + printf("[RxPacketError] Overload error!\n"); + + if (error & ERRBIT_INSTRUCTION) + printf("[RxPacketError] Instruction code error!\n"); +} + +int Protocol1PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket) +{ + uint8_t checksum = 0; + uint8_t total_packet_length = txpacket[PKT_LENGTH] + 4; // 4: HEADER0 HEADER1 ID LENGTH + uint8_t written_packet_length = 0; + + if (port->is_using_) + return COMM_PORT_BUSY; + port->is_using_ = true; + + // check max packet length + if (total_packet_length > TXPACKET_MAX_LEN) + { + port->is_using_ = false; + return COMM_TX_ERROR; + } + + // make packet header + txpacket[PKT_HEADER0] = 0xFF; + txpacket[PKT_HEADER1] = 0xFF; + + // add a checksum to the packet + for (int idx = 2; idx < total_packet_length - 1; idx++) // except header, checksum + checksum += txpacket[idx]; + txpacket[total_packet_length - 1] = ~checksum; + + // tx packet + port->clearPort(); + written_packet_length = port->writePort(txpacket, total_packet_length); + if (total_packet_length != written_packet_length) + { + port->is_using_ = false; + return COMM_TX_FAIL; + } + + return COMM_SUCCESS; +} + +int Protocol1PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket) +{ + int result = COMM_TX_FAIL; + + uint8_t checksum = 0; + uint8_t rx_length = 0; + uint8_t wait_length = 6; // minimum length (HEADER0 HEADER1 ID LENGTH ERROR CHKSUM) + + while(true) + { + rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); + if (rx_length >= wait_length) + { + uint8_t idx = 0; + + // find packet header + for (idx = 0; idx < (rx_length - 1); idx++) + { + if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF) + break; + } + + if (idx == 0) // found at the beginning of the packet + { + if (rxpacket[PKT_ID] > 0xFD || // unavailable ID + rxpacket[PKT_LENGTH] > RXPACKET_MAX_LEN || // unavailable Length + rxpacket[PKT_ERROR] >= 0x64) // unavailable Error + { + // remove the first byte in the packet + for (uint8_t s = 0; s < rx_length - 1; s++) + rxpacket[s] = rxpacket[1 + s]; + //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); + rx_length -= 1; + continue; + } + + // re-calculate the exact length of the rx packet + if (wait_length != rxpacket[PKT_LENGTH] + PKT_LENGTH + 1) + { + wait_length = rxpacket[PKT_LENGTH] + PKT_LENGTH + 1; + continue; + } + + if (rx_length < wait_length) + { + // check timeout + if (port->isPacketTimeout() == true) + { + if (rx_length == 0) + { + result = COMM_RX_TIMEOUT; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + else + { + continue; + } + } + + // calculate checksum + for (int i = 2; i < wait_length - 1; i++) // except header, checksum + checksum += rxpacket[i]; + checksum = ~checksum; + + // verify checksum + if (rxpacket[wait_length - 1] == checksum) + { + result = COMM_SUCCESS; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + else + { + // remove unnecessary packets + for (uint8_t s = 0; s < rx_length - idx; s++) + rxpacket[s] = rxpacket[idx + s]; + //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); + rx_length -= idx; + } + } + else + { + // check timeout + if (port->isPacketTimeout() == true) + { + if (rx_length == 0) + { + result = COMM_RX_TIMEOUT; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + } + } + port->is_using_ = false; + + return result; +} + +// NOT for BulkRead instruction +int Protocol1PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + // tx packet + result = txPacket(port, txpacket); + if (result != COMM_SUCCESS) + return result; + + // (Instruction == BulkRead) == this function is not available. + if(txpacket[PKT_INSTRUCTION] == INST_BULK_READ) + result = COMM_NOT_AVAILABLE; + + // (ID == Broadcast ID) == no need to wait for status packet or not available + // (Instruction == action) == no need to wait for status packet + if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION) + { + port->is_using_ = false; + return result; + } + + // set packet timeout + if (txpacket[PKT_INSTRUCTION] == INST_READ) + { + port->setPacketTimeout((uint16_t)(txpacket[PKT_PARAMETER0+1] + 6)); + } + else + { + port->setPacketTimeout((uint16_t)6); // HEADER0 HEADER1 ID LENGTH ERROR CHECKSUM + } + + // rx packet + do { + result = rxPacket(port, rxpacket); + } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]); + + if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID]) + { + if (error != 0) + *error = (uint8_t)rxpacket[PKT_ERROR]; + } + + return result; +} + +int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error) +{ + return ping(port, id, 0, error); +} + +int Protocol1PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[6] = {0}; + uint8_t rxpacket[6] = {0}; + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = 2; + txpacket[PKT_INSTRUCTION] = INST_PING; + + result = txRxPacket(port, txpacket, rxpacket, error); + if (result == COMM_SUCCESS && model_number != 0) + { + uint8_t data_read[2] = {0}; + result = readTxRx(port, id, 0, 2, data_read); // Address 0 : Model Number + if (result == COMM_SUCCESS) *model_number = DXL_MAKEWORD(data_read[0], data_read[1]); + } + + return result; +} + +int Protocol1PacketHandler::broadcastPing(PortHandler *port, std::vector &id_list) +{ + return COMM_NOT_AVAILABLE; +} + +int Protocol1PacketHandler::action(PortHandler *port, uint8_t id) +{ + uint8_t txpacket[6] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = 2; + txpacket[PKT_INSTRUCTION] = INST_ACTION; + + return txRxPacket(port, txpacket, 0); +} + +int Protocol1PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error) +{ + return COMM_NOT_AVAILABLE; +} + +int Protocol1PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error) +{ + uint8_t txpacket[6] = {0}; + uint8_t rxpacket[6] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = 2; + txpacket[PKT_INSTRUCTION] = INST_FACTORY_RESET; + + return txRxPacket(port, txpacket, rxpacket, error); +} + +int Protocol1PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[8] = {0}; + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = 4; + txpacket[PKT_INSTRUCTION] = INST_READ; + txpacket[PKT_PARAMETER0+0] = (uint8_t)address; + txpacket[PKT_PARAMETER0+1] = (uint8_t)length; + + result = txPacket(port, txpacket); + + // set packet timeout + if (result == COMM_SUCCESS) + port->setPacketTimeout((uint16_t)(length+6)); + + return result; +} + +int Protocol1PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6); + //uint8_t *rxpacket = new uint8_t[length+6]; + + do { + result = rxPacket(port, rxpacket); + } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id); + + if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id) + { + if (error != 0) + { + *error = (uint8_t)rxpacket[PKT_ERROR]; + } + for (uint8_t s = 0; s < length; s++) + { + data[s] = rxpacket[PKT_PARAMETER0 + s]; + } + //memcpy(data, &rxpacket[PKT_PARAMETER0], length); + } + + free(rxpacket); + //delete[] rxpacket; + return result; +} + +int Protocol1PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[8] = {0}; + uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN);//(length+6); + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = 4; + txpacket[PKT_INSTRUCTION] = INST_READ; + txpacket[PKT_PARAMETER0+0] = (uint8_t)address; + txpacket[PKT_PARAMETER0+1] = (uint8_t)length; + + result = txRxPacket(port, txpacket, rxpacket, error); + if (result == COMM_SUCCESS) + { + if (error != 0) + { + *error = (uint8_t)rxpacket[PKT_ERROR]; + } + for (uint8_t s = 0; s < length; s++) + { + data[s] = rxpacket[PKT_PARAMETER0 + s]; + } + //memcpy(data, &rxpacket[PKT_PARAMETER0], length); + } + + free(rxpacket); + //delete[] rxpacket; + return result; +} + +int Protocol1PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 1); +} +int Protocol1PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error) +{ + uint8_t data_read[1] = {0}; + int result = readRx(port, id, 1, data_read, error); + if (result == COMM_SUCCESS) + *data = data_read[0]; + return result; +} +int Protocol1PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error) +{ + uint8_t data_read[1] = {0}; + int result = readTxRx(port, id, address, 1, data_read, error); + if (result == COMM_SUCCESS) + *data = data_read[0]; + return result; +} + +int Protocol1PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 2); +} +int Protocol1PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error) +{ + uint8_t data_read[2] = {0}; + int result = readRx(port, id, 2, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEWORD(data_read[0], data_read[1]); + return result; +} +int Protocol1PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error) +{ + uint8_t data_read[2] = {0}; + int result = readTxRx(port, id, address, 2, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEWORD(data_read[0], data_read[1]); + return result; +} + +int Protocol1PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 4); +} +int Protocol1PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error) +{ + uint8_t data_read[4] = {0}; + int result = readRx(port, id, 4, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); + return result; +} +int Protocol1PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error) +{ + uint8_t data_read[4] = {0}; + int result = readTxRx(port, id, address, 4, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); + return result; +} + +int Protocol1PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length+7); + //uint8_t *txpacket = new uint8_t[length+7]; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = length+3; + txpacket[PKT_INSTRUCTION] = INST_WRITE; + txpacket[PKT_PARAMETER0] = (uint8_t)address; + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+1+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); + + result = txPacket(port, txpacket); + port->is_using_ = false; + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length+7); //#6->7 + //uint8_t *txpacket = new uint8_t[length+7]; + uint8_t rxpacket[6] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = length+3; + txpacket[PKT_INSTRUCTION] = INST_WRITE; + txpacket[PKT_PARAMETER0] = (uint8_t)address; + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+1+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); + + result = txRxPacket(port, txpacket, rxpacket, error); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) +{ + uint8_t data_write[1] = { data }; + return writeTxOnly(port, id, address, 1, data_write); +} +int Protocol1PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error) +{ + uint8_t data_write[1] = { data }; + return writeTxRx(port, id, address, 1, data_write, error); +} + +int Protocol1PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) +{ + uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; + return writeTxOnly(port, id, address, 2, data_write); +} +int Protocol1PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error) +{ + uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; + return writeTxRx(port, id, address, 2, data_write, error); +} + +int Protocol1PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) +{ + uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; + return writeTxOnly(port, id, address, 4, data_write); +} +int Protocol1PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error) +{ + uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; + return writeTxRx(port, id, address, 4, data_write, error); +} + +int Protocol1PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length+6); + //uint8_t *txpacket = new uint8_t[length+6]; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = length+3; + txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; + txpacket[PKT_PARAMETER0] = (uint8_t)address; + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+1+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); + + result = txPacket(port, txpacket); + port->is_using_ = false; + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length+6); + //uint8_t *txpacket = new uint8_t[length+6]; + uint8_t rxpacket[6] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH] = length+3; + txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; + txpacket[PKT_PARAMETER0] = (uint8_t)address; + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+1+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+1], data, length); + + result = txRxPacket(port, txpacket, rxpacket, error); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) +{ + return COMM_NOT_AVAILABLE; +} + +int Protocol1PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length+8); + // 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM + //uint8_t *txpacket = new uint8_t[param_length + 8]; + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH] = param_length + 4; // 4: INST START_ADDR DATA_LEN ... CHKSUM + txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE; + txpacket[PKT_PARAMETER0+0] = start_address; + txpacket[PKT_PARAMETER0+1] = data_length; + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+2+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0+2], param, param_length); + + result = txRxPacket(port, txpacket, 0, 0); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length+7); + // 7: HEADER0 HEADER1 ID LEN INST 0x00 ... CHKSUM + //uint8_t *txpacket = new uint8_t[param_length + 7]; + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH] = param_length + 3; // 3: INST 0x00 ... CHKSUM + txpacket[PKT_INSTRUCTION] = INST_BULK_READ; + txpacket[PKT_PARAMETER0+0] = 0x00; + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+1+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0+1], param, param_length); + + result = txPacket(port, txpacket); + if (result == COMM_SUCCESS) + { + int wait_length = 0; + for (int i = 0; i < param_length; i += 3) + wait_length += param[i] + 7; + port->setPacketTimeout((uint16_t)wait_length); + } + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol1PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length) +{ + return COMM_NOT_AVAILABLE; +} diff --git a/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp new file mode 100644 index 000000000..8d8878ea7 --- /dev/null +++ b/niryo_robot_hardware_stack/dynamixel_sdk/src/protocol2_packet_handler.cpp @@ -0,0 +1,1066 @@ +/******************************************************************************* +* Copyright (c) 2016, ROBOTIS CO., LTD. +* 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 ROBOTIS 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. +*******************************************************************************/ + +/* Author: zerom, Ryu Woon Jung (Leon) */ + +#if defined(_WIN32) || defined(_WIN64) +#define WINDLLEXPORT +#endif + +#include +#include +#include +#include "dynamixel_sdk/protocol2_packet_handler.h" + +#define TXPACKET_MAX_LEN (4*1024) +#define RXPACKET_MAX_LEN (4*1024) + +///////////////// for Protocol 2.0 Packet ///////////////// +#define PKT_HEADER0 0 +#define PKT_HEADER1 1 +#define PKT_HEADER2 2 +#define PKT_RESERVED 3 +#define PKT_ID 4 +#define PKT_LENGTH_L 5 +#define PKT_LENGTH_H 6 +#define PKT_INSTRUCTION 7 +#define PKT_ERROR 8 +#define PKT_PARAMETER0 8 + +///////////////// Protocol 2.0 Error bit ///////////////// +#define ERRNUM_RESULT_FAIL 1 // Failed to process the instruction packet. +#define ERRNUM_INSTRUCTION 2 // Instruction error +#define ERRNUM_CRC 3 // CRC check error +#define ERRNUM_DATA_RANGE 4 // Data range error +#define ERRNUM_DATA_LENGTH 5 // Data length error +#define ERRNUM_DATA_LIMIT 6 // Data limit error +#define ERRNUM_ACCESS 7 // Access error + +#define ERRBIT_ALERT 128 //When the device has a problem, this bit is set to 1. Check "Device Status Check" value. + +using namespace dynamixel; + +Protocol2PacketHandler *Protocol2PacketHandler::unique_instance_ = new Protocol2PacketHandler(); + +Protocol2PacketHandler::Protocol2PacketHandler() { } + +//#include +//#include +//#include +// +//void Protocol2PacketHandler::setupGpio() +//{ +// int result = wiringPiSetupGpio(); +// if (!result) { +// printf("Gpio started\n"); +// } +// else { +// printf("Gpio startup fail\n"); +// } +// +// pinMode(17, OUTPUT); +// +// nanosleep((const struct timespec[]){{0, 500000L}}, NULL); +// +// gpioLow(); +//} +// +//void Protocol2PacketHandler::gpioHigh() +//{ +// digitalWrite(17, HIGH); +//} +// +//void Protocol2PacketHandler::gpioLow() +//{ +// digitalWrite(17, LOW); +//} + +void Protocol2PacketHandler::printTxRxResult(int result) +{ + switch(result) + { + case COMM_SUCCESS: + printf("[TxRxResult] Communication success.\n"); + break; + + case COMM_PORT_BUSY: + printf("[TxRxResult] Port is in use!\n"); + break; + + case COMM_TX_FAIL: + printf("[TxRxResult] Failed transmit instruction packet!\n"); + break; + + case COMM_RX_FAIL: + printf("[TxRxResult] Failed get status packet from device!\n"); + break; + + case COMM_TX_ERROR: + printf("[TxRxResult] Incorrect instruction packet!\n"); + break; + + case COMM_RX_WAITING: + printf("[TxRxResult] Now recieving status packet!\n"); + break; + + case COMM_RX_TIMEOUT: + printf("[TxRxResult] There is no status packet!\n"); + break; + + case COMM_RX_CORRUPT: + printf("[TxRxResult] Incorrect status packet!\n"); + break; + + case COMM_NOT_AVAILABLE: + printf("[TxRxResult] Protocol does not support This function!\n"); + break; + + default: + break; + } +} + +void Protocol2PacketHandler::printRxPacketError(uint8_t error) +{ + if (error & ERRBIT_ALERT) + printf("[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!\n"); + + int not_alert_error = error & ~ERRBIT_ALERT; + + switch(not_alert_error) + { + case 0: + break; + + case ERRNUM_RESULT_FAIL: + printf("[RxPacketError] Failed to process the instruction packet!\n"); + break; + + case ERRNUM_INSTRUCTION: + printf("[RxPacketError] Undefined instruction or incorrect instruction!\n"); + break; + + case ERRNUM_CRC: + printf("[RxPacketError] CRC doesn't match!\n"); + break; + + case ERRNUM_DATA_RANGE: + printf("[RxPacketError] The data value is out of range!\n"); + break; + + case ERRNUM_DATA_LENGTH: + printf("[RxPacketError] The data length does not match as expected!\n"); + break; + + case ERRNUM_DATA_LIMIT: + printf("[RxPacketError] The data value exceeds the limit value!\n"); + break; + + case ERRNUM_ACCESS: + printf("[RxPacketError] Writing or Reading is not available to target address!\n"); + break; + + default: + printf("[RxPacketError] Unknown error code!\n"); + break; + } +} + +unsigned short Protocol2PacketHandler::updateCRC(uint16_t crc_accum, uint8_t *data_blk_ptr, uint16_t data_blk_size) +{ + uint16_t i; + uint16_t crc_table[256] = {0x0000, + 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, + 0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, + 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, + 0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, + 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9, + 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, + 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, + 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093, + 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, + 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, + 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, + 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, + 0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9, + 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F, + 0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, + 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123, + 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, + 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, + 0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, + 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, + 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A, + 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C, + 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, + 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3, + 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, + 0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, + 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, + 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, + 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, + 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC, + 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5, + 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, + 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252, + 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, + 0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, + 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, + 0x820D, 0x8207, 0x0202 }; + + for (uint16_t j = 0; j < data_blk_size; j++) + { + i = ((uint16_t)(crc_accum >> 8) ^ *data_blk_ptr++) & 0xFF; + crc_accum = (crc_accum << 8) ^ crc_table[i]; + } + + return crc_accum; +} + +void Protocol2PacketHandler::addStuffing(uint8_t *packet) +{ + int i = 0, index = 0; + int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]); + int packet_length_out = packet_length_in; + uint8_t temp[TXPACKET_MAX_LEN] = {0}; + + for (uint8_t s = PKT_HEADER0; s <= PKT_LENGTH_H; s++) + temp[s] = packet[s]; // FF FF FD XX ID LEN_L LEN_H + //memcpy(temp, packet, PKT_LENGTH_H+1); + index = PKT_INSTRUCTION; + for (i = 0; i < packet_length_in - 2; i++) // except CRC + { + temp[index++] = packet[i+PKT_INSTRUCTION]; + if (packet[i+PKT_INSTRUCTION] == 0xFD && packet[i+PKT_INSTRUCTION-1] == 0xFF && packet[i+PKT_INSTRUCTION-2] == 0xFF) + { // FF FF FD + temp[index++] = 0xFD; + packet_length_out++; + } + } + temp[index++] = packet[PKT_INSTRUCTION+packet_length_in-2]; + temp[index++] = packet[PKT_INSTRUCTION+packet_length_in-1]; + + + ////////////////////////// + if (packet_length_in != packet_length_out) + packet = (uint8_t *)realloc(packet, index * sizeof(uint8_t)); + + /////////////////////////// + + for (uint8_t s = 0; s < index; s++) + packet[s] = temp[s]; + //memcpy(packet, temp, index); + packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out); + packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out); +} + +void Protocol2PacketHandler::removeStuffing(uint8_t *packet) +{ + int i = 0, index = 0; + int packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H]); + int packet_length_out = packet_length_in; + + index = PKT_INSTRUCTION; + for (i = 0; i < packet_length_in - 2; i++) // except CRC + { + if (packet[i+PKT_INSTRUCTION] == 0xFD && packet[i+PKT_INSTRUCTION+1] == 0xFD && packet[i+PKT_INSTRUCTION-1] == 0xFF && packet[i+PKT_INSTRUCTION-2] == 0xFF) + { // FF FF FD FD + packet_length_out--; + i++; + } + packet[index++] = packet[i+PKT_INSTRUCTION]; + } + packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-2]; + packet[index++] = packet[PKT_INSTRUCTION+packet_length_in-1]; + + packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out); + packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out); +} + +int Protocol2PacketHandler::txPacket(PortHandler *port, uint8_t *txpacket) +{ + uint16_t total_packet_length = 0; + uint16_t written_packet_length = 0; + + if (port->is_using_) + return COMM_PORT_BUSY; + port->is_using_ = true; + + // byte stuffing for header + addStuffing(txpacket); + + // check max packet length + total_packet_length = DXL_MAKEWORD(txpacket[PKT_LENGTH_L], txpacket[PKT_LENGTH_H]) + 7; + // 7: HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H + if (total_packet_length > TXPACKET_MAX_LEN) + { + port->is_using_ = false; + return COMM_TX_ERROR; + } + + // make packet header + txpacket[PKT_HEADER0] = 0xFF; + txpacket[PKT_HEADER1] = 0xFF; + txpacket[PKT_HEADER2] = 0xFD; + txpacket[PKT_RESERVED] = 0x00; + + // add CRC16 + uint16_t crc = updateCRC(0, txpacket, total_packet_length - 2); // 2: CRC16 + txpacket[total_packet_length - 2] = DXL_LOBYTE(crc); + txpacket[total_packet_length - 1] = DXL_HIBYTE(crc); + + // tx packet + port->clearPort(); + written_packet_length = port->writePort(txpacket, total_packet_length); + + if (total_packet_length != written_packet_length) + { + port->is_using_ = false; + return COMM_TX_FAIL; + } + + return COMM_SUCCESS; +} + +int Protocol2PacketHandler::rxPacket(PortHandler *port, uint8_t *rxpacket) +{ + int result = COMM_TX_FAIL; + + uint16_t rx_length = 0; + uint16_t wait_length = 11; // minimum length (HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H) + + while(true) + { + rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); + if (rx_length >= wait_length) + { + uint16_t idx = 0; + + // find packet header + for (idx = 0; idx < (rx_length - 3); idx++) + { + if ((rxpacket[idx] == 0xFF) && (rxpacket[idx+1] == 0xFF) && (rxpacket[idx+2] == 0xFD) && (rxpacket[idx+3] != 0xFD)) + break; + } + + if (idx == 0) // found at the beginning of the packet + { + if (rxpacket[PKT_RESERVED] != 0x00 || + rxpacket[PKT_ID] > 0xFC || + DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) > RXPACKET_MAX_LEN || + rxpacket[PKT_INSTRUCTION] != 0x55) + { + // remove the first byte in the packet + for (uint8_t s = 0; s < rx_length - 1; s++) + rxpacket[s] = rxpacket[1 + s]; + //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); + rx_length -= 1; + continue; + } + + // re-calculate the exact length of the rx packet + if (wait_length != DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1) + { + wait_length = DXL_MAKEWORD(rxpacket[PKT_LENGTH_L], rxpacket[PKT_LENGTH_H]) + PKT_LENGTH_H + 1; + continue; + } + + if (rx_length < wait_length) + { + // check timeout + if (port->isPacketTimeout() == true) + { + if (rx_length == 0) + { + result = COMM_RX_TIMEOUT; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + else + { + continue; + } + } + + // verify CRC16 + uint16_t crc = DXL_MAKEWORD(rxpacket[wait_length-2], rxpacket[wait_length-1]); + if (updateCRC(0, rxpacket, wait_length - 2) == crc) + { + result = COMM_SUCCESS; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + else + { + // remove unnecessary packets + for (uint8_t s = 0; s < rx_length - idx; s++) + rxpacket[s] = rxpacket[idx + s]; + //memcpy(&rxpacket[0], &rxpacket[idx], rx_length - idx); + rx_length -= idx; + } + } + else + { + // check timeout + if (port->isPacketTimeout() == true) + { + if (rx_length == 0) + { + result = COMM_RX_TIMEOUT; + } + else + { + result = COMM_RX_CORRUPT; + } + break; + } + } + } + port->is_using_ = false; + + if (result == COMM_SUCCESS) + removeStuffing(rxpacket); + + return result; +} + +// NOT for BulkRead / SyncRead instruction +int Protocol2PacketHandler::txRxPacket(PortHandler *port, uint8_t *txpacket, uint8_t *rxpacket, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + // tx packet + result = txPacket(port, txpacket); + if (result != COMM_SUCCESS) + return result; + + // (Instruction == BulkRead or SyncRead) == this function is not available. + if (txpacket[PKT_INSTRUCTION] == INST_BULK_READ || txpacket[PKT_INSTRUCTION] == INST_SYNC_READ) + result = COMM_NOT_AVAILABLE; + + // (ID == Broadcast ID) == no need to wait for status packet or not available. + // (Instruction == action) == no need to wait for status packet + if (txpacket[PKT_ID] == BROADCAST_ID || txpacket[PKT_INSTRUCTION] == INST_ACTION) + { + port->is_using_ = false; + return result; + } + + // set packet timeout + if (txpacket[PKT_INSTRUCTION] == INST_READ) + { + port->setPacketTimeout((uint16_t)(DXL_MAKEWORD(txpacket[PKT_PARAMETER0+2], txpacket[PKT_PARAMETER0+3]) + 11)); + } + else + { + port->setPacketTimeout((uint16_t)11); + // HEADER0 HEADER1 HEADER2 RESERVED ID LENGTH_L LENGTH_H INST ERROR CRC16_L CRC16_H + } + + // rx packet + do { + result = rxPacket(port, rxpacket); + } while (result == COMM_SUCCESS && txpacket[PKT_ID] != rxpacket[PKT_ID]); + + if (result == COMM_SUCCESS && txpacket[PKT_ID] == rxpacket[PKT_ID]) + { + if (error != 0) + *error = (uint8_t)rxpacket[PKT_ERROR]; + } + + return result; +} + +int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint8_t *error) +{ + return ping(port, id, 0, error); +} + +int Protocol2PacketHandler::ping(PortHandler *port, uint8_t id, uint16_t *model_number, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[10] = {0}; + uint8_t rxpacket[14] = {0}; + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 3; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_PING; + + result = txRxPacket(port, txpacket, rxpacket, error); + if (result == COMM_SUCCESS && model_number != 0) + *model_number = DXL_MAKEWORD(rxpacket[PKT_PARAMETER0+1], rxpacket[PKT_PARAMETER0+2]); + + return result; +} + +int Protocol2PacketHandler::broadcastPing(PortHandler *port, std::vector &id_list) +{ + const int STATUS_LENGTH = 14; + int result = COMM_TX_FAIL; + + id_list.clear(); + + uint16_t rx_length = 0; + uint16_t wait_length = STATUS_LENGTH * MAX_ID; + + uint8_t txpacket[10] = {0}; + uint8_t rxpacket[STATUS_LENGTH * MAX_ID] = {0}; + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH_L] = 3; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_PING; + + result = txPacket(port, txpacket); + if (result != COMM_SUCCESS) + { + port->is_using_ = false; + return result; + } + + // set rx timeout + port->setPacketTimeout((uint16_t)(wait_length * 30)); + + while(1) + { + rx_length += port->readPort(&rxpacket[rx_length], wait_length - rx_length); + if (port->isPacketTimeout() == true)// || rx_length >= wait_length) + break; + } + + port->is_using_ = false; + + if (rx_length == 0) + return COMM_RX_TIMEOUT; + + while(1) + { + if (rx_length < STATUS_LENGTH) + return COMM_RX_CORRUPT; + + uint16_t idx = 0; + + // find packet header + for (idx = 0; idx < (rx_length - 2); idx++) + { + if (rxpacket[idx] == 0xFF && rxpacket[idx+1] == 0xFF && rxpacket[idx+2] == 0xFD) + break; + } + + if (idx == 0) // found at the beginning of the packet + { + // verify CRC16 + uint16_t crc = DXL_MAKEWORD(rxpacket[STATUS_LENGTH-2], rxpacket[STATUS_LENGTH-1]); + + if (updateCRC(0, rxpacket, STATUS_LENGTH - 2) == crc) + { + result = COMM_SUCCESS; + + id_list.push_back(rxpacket[PKT_ID]); + + for (uint8_t s = 0; s < rx_length - STATUS_LENGTH; s++) + rxpacket[s] = rxpacket[STATUS_LENGTH + s]; + rx_length -= STATUS_LENGTH; + + if (rx_length == 0) + return result; + } + else + { + result = COMM_RX_CORRUPT; + + // remove header (0xFF 0xFF 0xFD) + for (uint8_t s = 0; s < rx_length - 3; s++) + rxpacket[s] = rxpacket[3 + s]; + rx_length -= 3; + } + } + else + { + // remove unnecessary packets + for (uint8_t s = 0; s < rx_length - idx; s++) + rxpacket[s] = rxpacket[idx + s]; + rx_length -= idx; + } + } + + return result; +} + +int Protocol2PacketHandler::action(PortHandler *port, uint8_t id) +{ + uint8_t txpacket[10] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 3; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_ACTION; + + return txRxPacket(port, txpacket, 0); +} + +int Protocol2PacketHandler::reboot(PortHandler *port, uint8_t id, uint8_t *error) +{ + uint8_t txpacket[10] = {0}; + uint8_t rxpacket[11] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 3; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_REBOOT; + + return txRxPacket(port, txpacket, rxpacket, error); +} + +int Protocol2PacketHandler::factoryReset(PortHandler *port, uint8_t id, uint8_t option, uint8_t *error) +{ + uint8_t txpacket[11] = {0}; + uint8_t rxpacket[11] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 4; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_FACTORY_RESET; + txpacket[PKT_PARAMETER0] = option; + + return txRxPacket(port, txpacket, rxpacket, error); +} + +int Protocol2PacketHandler::readTx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[14] = {0}; + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 7; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_READ; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + txpacket[PKT_PARAMETER0+2] = (uint8_t)DXL_LOBYTE(length); + txpacket[PKT_PARAMETER0+3] = (uint8_t)DXL_HIBYTE(length); + + result = txPacket(port, txpacket); + + // set packet timeout + if (result == COMM_SUCCESS) + port->setPacketTimeout((uint16_t)(length + 11)); + + return result; +} + +int Protocol2PacketHandler::readRx(PortHandler *port, uint8_t id, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN); + //(length + 11 + (length/3)); // (length/3): consider stuffing + //uint8_t *rxpacket = new uint8_t[length + 11 + (length/3)]; // (length/3): consider stuffing + + do { + result = rxPacket(port, rxpacket); + } while (result == COMM_SUCCESS && rxpacket[PKT_ID] != id); + + if (result == COMM_SUCCESS && rxpacket[PKT_ID] == id) + { + if (error != 0) + *error = (uint8_t)rxpacket[PKT_ERROR]; + for (uint8_t s = 0; s < length; s++) + data[s] = rxpacket[PKT_PARAMETER0 + 1 + s]; + //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length); + } + + free(rxpacket); + //delete[] rxpacket; + return result; +} + +int Protocol2PacketHandler::readTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t txpacket[14] = {0}; + uint8_t *rxpacket = (uint8_t *)malloc(RXPACKET_MAX_LEN); + //(length + 11 + (length/3)); // (length/3): consider stuffing + + if (id >= BROADCAST_ID) + return COMM_NOT_AVAILABLE; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = 7; + txpacket[PKT_LENGTH_H] = 0; + txpacket[PKT_INSTRUCTION] = INST_READ; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + txpacket[PKT_PARAMETER0+2] = (uint8_t)DXL_LOBYTE(length); + txpacket[PKT_PARAMETER0+3] = (uint8_t)DXL_HIBYTE(length); + + result = txRxPacket(port, txpacket, rxpacket, error); + if (result == COMM_SUCCESS) + { + if (error != 0) + *error = (uint8_t)rxpacket[PKT_ERROR]; + for (uint8_t s = 0; s < length; s++) + data[s] = rxpacket[PKT_PARAMETER0 + 1 + s]; + //memcpy(data, &rxpacket[PKT_PARAMETER0+1], length); + } + + free(rxpacket); + //delete[] rxpacket; + return result; +} + +int Protocol2PacketHandler::read1ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 1); +} +int Protocol2PacketHandler::read1ByteRx(PortHandler *port, uint8_t id, uint8_t *data, uint8_t *error) +{ + uint8_t data_read[1] = {0}; + int result = readRx(port, id, 1, data_read, error); + if (result == COMM_SUCCESS) + *data = data_read[0]; + return result; +} +int Protocol2PacketHandler::read1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t *data, uint8_t *error) +{ + uint8_t data_read[1] = {0}; + int result = readTxRx(port, id, address, 1, data_read, error); + if (result == COMM_SUCCESS) + *data = data_read[0]; + return result; +} + +int Protocol2PacketHandler::read2ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 2); +} +int Protocol2PacketHandler::read2ByteRx(PortHandler *port, uint8_t id, uint16_t *data, uint8_t *error) +{ + uint8_t data_read[2] = {0}; + int result = readRx(port, id, 2, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEWORD(data_read[0], data_read[1]); + return result; +} +int Protocol2PacketHandler::read2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t *data, uint8_t *error) +{ + uint8_t data_read[2] = {0}; + int result = readTxRx(port, id, address, 2, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEWORD(data_read[0], data_read[1]); + return result; +} + +int Protocol2PacketHandler::read4ByteTx(PortHandler *port, uint8_t id, uint16_t address) +{ + return readTx(port, id, address, 4); +} +int Protocol2PacketHandler::read4ByteRx(PortHandler *port, uint8_t id, uint32_t *data, uint8_t *error) +{ + uint8_t data_read[4] = {0}; + int result = readRx(port, id, 4, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); + return result; +} +int Protocol2PacketHandler::read4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t *data, uint8_t *error) +{ + uint8_t data_read[4] = {0}; + int result = readTxRx(port, id, address, 4, data_read, error); + if (result == COMM_SUCCESS) + *data = DXL_MAKEDWORD(DXL_MAKEWORD(data_read[0], data_read[1]), DXL_MAKEWORD(data_read[2], data_read[3])); + return result; +} + + +int Protocol2PacketHandler::writeTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length+12); + //uint8_t *txpacket = new uint8_t[length+12]; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); + txpacket[PKT_INSTRUCTION] = INST_WRITE; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+2+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); + + result = txPacket(port, txpacket); + port->is_using_ = false; + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::writeTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length + 12); + //uint8_t *txpacket = new uint8_t[length+12]; + uint8_t rxpacket[11] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); + txpacket[PKT_INSTRUCTION] = INST_WRITE; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+2+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); + + result = txRxPacket(port, txpacket, rxpacket, error); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::write1ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint8_t data) +{ + uint8_t data_write[1] = { data }; + return writeTxOnly(port, id, address, 1, data_write); +} +int Protocol2PacketHandler::write1ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error) +{ + uint8_t data_write[1] = { data }; + return writeTxRx(port, id, address, 1, data_write, error); +} + +int Protocol2PacketHandler::write2ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t data) +{ + uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; + return writeTxOnly(port, id, address, 2, data_write); +} +int Protocol2PacketHandler::write2ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error) +{ + uint8_t data_write[2] = { DXL_LOBYTE(data), DXL_HIBYTE(data) }; + return writeTxRx(port, id, address, 2, data_write, error); +} + +int Protocol2PacketHandler::write4ByteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint32_t data) +{ + uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; + return writeTxOnly(port, id, address, 4, data_write); +} +int Protocol2PacketHandler::write4ByteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error) +{ + uint8_t data_write[4] = { DXL_LOBYTE(DXL_LOWORD(data)), DXL_HIBYTE(DXL_LOWORD(data)), DXL_LOBYTE(DXL_HIWORD(data)), DXL_HIBYTE(DXL_HIWORD(data)) }; + return writeTxRx(port, id, address, 4, data_write, error); +} + +int Protocol2PacketHandler::regWriteTxOnly(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length + 12); + //uint8_t *txpacket = new uint8_t[length+12]; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); + txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+2+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); + + result = txPacket(port, txpacket); + port->is_using_ = false; + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::regWriteTxRx(PortHandler *port, uint8_t id, uint16_t address, uint16_t length, uint8_t *data, uint8_t *error) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(length + 12); + //uint8_t *txpacket = new uint8_t[length+12]; + uint8_t rxpacket[11] = {0}; + + txpacket[PKT_ID] = id; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(length+5); + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(length+5); + txpacket[PKT_INSTRUCTION] = INST_REG_WRITE; + txpacket[PKT_PARAMETER0+0] = (uint8_t)DXL_LOBYTE(address); + txpacket[PKT_PARAMETER0+1] = (uint8_t)DXL_HIBYTE(address); + + for (uint8_t s = 0; s < length; s++) + txpacket[PKT_PARAMETER0+2+s] = data[s]; + //memcpy(&txpacket[PKT_PARAMETER0+2], data, length); + + result = txRxPacket(port, txpacket, rxpacket, error); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::syncReadTx(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length + 14); + // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + txpacket[PKT_INSTRUCTION] = INST_SYNC_READ; + txpacket[PKT_PARAMETER0+0] = DXL_LOBYTE(start_address); + txpacket[PKT_PARAMETER0+1] = DXL_HIBYTE(start_address); + txpacket[PKT_PARAMETER0+2] = DXL_LOBYTE(data_length); + txpacket[PKT_PARAMETER0+3] = DXL_HIBYTE(data_length); + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+4+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length); + + result = txPacket(port, txpacket); + if (result == COMM_SUCCESS) + port->setPacketTimeout((uint16_t)((11 + data_length) * param_length)); + + free(txpacket); + return result; +} + +int Protocol2PacketHandler::syncWriteTxOnly(PortHandler *port, uint16_t start_address, uint16_t data_length, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length + 14); + //uint8_t *txpacket = new uint8_t[param_length + 14]; + // 14: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 7); // 7: INST START_ADDR_L START_ADDR_H DATA_LEN_L DATA_LEN_H CRC16_L CRC16_H + txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE; + txpacket[PKT_PARAMETER0+0] = DXL_LOBYTE(start_address); + txpacket[PKT_PARAMETER0+1] = DXL_HIBYTE(start_address); + txpacket[PKT_PARAMETER0+2] = DXL_LOBYTE(data_length); + txpacket[PKT_PARAMETER0+3] = DXL_HIBYTE(data_length); + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+4+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0+4], param, param_length); + + result = txRxPacket(port, txpacket, 0, 0); + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::bulkReadTx(PortHandler *port, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length + 10); + //uint8_t *txpacket = new uint8_t[param_length + 10]; + // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H + txpacket[PKT_INSTRUCTION] = INST_BULK_READ; + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0], param, param_length); + + result = txPacket(port, txpacket); + if (result == COMM_SUCCESS) + { + int wait_length = 0; + for (int i = 0; i < param_length; i += 5) + wait_length += DXL_MAKEWORD(param[i+3], param[i+4]) + 10; + port->setPacketTimeout((uint16_t)wait_length); + } + + free(txpacket); + //delete[] txpacket; + return result; +} + +int Protocol2PacketHandler::bulkWriteTxOnly(PortHandler *port, uint8_t *param, uint16_t param_length) +{ + int result = COMM_TX_FAIL; + + uint8_t *txpacket = (uint8_t *)malloc(param_length + 10); + //uint8_t *txpacket = new uint8_t[param_length + 10]; + // 10: HEADER0 HEADER1 HEADER2 RESERVED ID LEN_L LEN_H INST CRC16_L CRC16_H + + txpacket[PKT_ID] = BROADCAST_ID; + txpacket[PKT_LENGTH_L] = DXL_LOBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H + txpacket[PKT_LENGTH_H] = DXL_HIBYTE(param_length + 3); // 3: INST CRC16_L CRC16_H + txpacket[PKT_INSTRUCTION] = INST_BULK_WRITE; + + for (uint8_t s = 0; s < param_length; s++) + txpacket[PKT_PARAMETER0+s] = param[s]; + //memcpy(&txpacket[PKT_PARAMETER0], param, param_length); + + result = txRxPacket(port, txpacket, 0, 0); + + free(txpacket); + //delete[] txpacket; + return result; +} diff --git a/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt b/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt new file mode 100644 index 000000000..c9ac66a76 --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 2.8.3) +project(fake_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + niryo_robot_msgs + std_msgs + hardware_interface + controller_manager + tools_interface + joints_interface + conveyor_interface + actionlib +) + +find_package(Boost REQUIRED COMPONENTS system) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp + niryo_robot_msgs + std_msgs + hardware_interface + controller_manager + tools_interface + joints_interface + conveyor_interface + actionlib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/fake_interface_core.cpp + src/FakeJointHardwareInterface.cpp +) + +add_executable(${PROJECT_NAME}_node + src/fake_interface_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp) diff --git a/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp new file mode 100644 index 000000000..6ca6928de --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/FakeJointHardwareInterface.hpp @@ -0,0 +1,63 @@ +/* + FakeJointHardwareInterface.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef FAKE_JOINT_HARDWARE_INTERFACE_HPP +#define FAKE_JOINT_HARDWARE_INTERFACE_HPP + +#include +#include +#include +#include + +#include "stepper_driver/stepper_driver_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" + +class FakeJointHardwareInterface : public hardware_interface::RobotHW +{ +public: + FakeJointHardwareInterface(); + + std::string jointIdToJointName(int id, uint8_t motor_type); + + void read(); + void write(); + +private: + ros::NodeHandle _nh; + + std::vector _list_stepper_id; + std::map _map_stepper_name; + + std::vector _list_dxl_id; + std::map _map_dxl_name; + + hardware_interface::JointStateInterface _joint_state_interface; + hardware_interface::PositionJointInterface _joint_position_interface; + + std::string _joints_name[6] = {""}; + int _joints_id[6] = {0}; + + double _cmd[6] = {0, 0.6, -1.3, 0, 0, 0}; + double _pos[6] = {0, 0.6, -1.3, 0, 0, 0}; + double _vel[6] = {0}; + double _eff[6] = {0}; + double _home_position_1, _home_position_2, _home_position_3; +}; + +#endif diff --git a/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp new file mode 100644 index 000000000..dd125f16a --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/include/fake_interface/fake_interface_core.hpp @@ -0,0 +1,155 @@ +/* + fake_interface_core.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef FAKE_INTERFACE_CORE_HPP +#define FAKE_INTERFACE_CORE_HPP + +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include "niryo_robot_msgs/SetInt.h" +#include "niryo_robot_msgs/SetBool.h" +#include "niryo_robot_msgs/HardwareStatus.h" +#include "niryo_robot_msgs/SoftwareVersion.h" +#include "niryo_robot_msgs/CommandStatus.h" +#include "niryo_robot_msgs/Trigger.h" + +#include "tools_interface/PingDxlTool.h" +#include "tools_interface/OpenGripper.h" +#include "tools_interface/CloseGripper.h" +#include "tools_interface/PullAirVacuumPump.h" +#include "tools_interface/PushAirVacuumPump.h" + +#include "conveyor_interface/SetConveyor.h" +#include "conveyor_interface/ControlConveyor.h" +#include "conveyor_interface/ConveyorFeedback.h" + +#include "dynamixel_driver/dxl_driver_core.hpp" +#include "stepper_driver/stepper_driver_core.hpp" +#include "joints_interface/joints_interface_core.hpp" +#include "tools_interface/tools_interface_core.hpp" +#include "conveyor_interface/conveyor_interface_core.hpp" + +#include "fake_interface/FakeJointHardwareInterface.hpp" + +class FakeInterfaceCore +{ +public: + FakeInterfaceCore(); + + void initServices(); + void startPublishersSubscribers(); + void initParams(); + + void rosControlLoop(); + + dynamixel_driver::DxlArrayMotorHardwareStatus getDxlHwStatus(); + niryo_robot_msgs::BusState getDxlBusState(); + stepper_driver::StepperArrayMotorHardwareStatus getStepperHwStatus(); + niryo_robot_msgs::BusState getCanBusState(); + void getCalibrationState(boost::shared_ptr &need_calibration, boost::shared_ptr &calibration_in_progress); + + int getCpuTemperature(); + + void pubToolId(int id); + + std::string jointIdToJointName(int id, uint8_t motor_type); + + std::vector _dxl_motors_id{2, 3, 6}; + std::vector _dxl_motors_type{niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL430, niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL430, niryo_robot_msgs::MotorHeader::MOTOR_TYPE_XL320}; + + std::vector _stepper_motors_id{1, 2, 3}; + +private: + ros::NodeHandle _nh; + + double _publish_hw_status_frequency; + double _publish_software_version_frequency; + double _publish_learning_mode_frequency; + double _ros_control_frequency; + + bool _gazebo; + bool _simu_gripper; + + bool _learning_mode; + std::string _ros_niryo_robot_version; + + boost::shared_ptr _robot; + boost::shared_ptr _cm; + + boost::shared_ptr _ros_control_thread; + boost::shared_ptr _publish_hardware_status_thread; + boost::shared_ptr _publish_software_version_thread; + boost::shared_ptr _publish_learning_mode_thread; + + ros::ServiceServer _reset_controller_server; // workaround to compensate missed steps + ros::Subscriber _trajectory_result_subscriber; + + ros::ServiceServer _calibrate_motors_server; + ros::ServiceServer _request_new_calibration_server; + + ros::ServiceServer _activate_learning_mode_server; + + ros::ServiceServer _ping_and_set_dxl_tool_server; + ros::ServiceServer _open_gripper_server; + ros::ServiceServer _close_gripper_server; + ros::ServiceServer _pull_air_vacuum_pump_server; + ros::ServiceServer _push_air_vacuum_pump_server; + + ros::ServiceServer _ping_and_set_stepper_server; + ros::ServiceServer _control_conveyor_server; + + ros::Publisher _hardware_status_publisher; + ros::Publisher _software_version_publisher; + ros::Publisher _learning_mode_publisher; + ros::Publisher _current_tools_id_publisher; + + bool _callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + void _callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult &msg); + + bool _callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res); + bool _callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + bool _callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res); + + bool _callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res); + bool _callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res); + bool _callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res); + bool _callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res); + bool _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res); + + bool _callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res); + bool _callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res); + + void _publishLearningMode(); +}; + +#endif diff --git a/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch b/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch new file mode 100644 index 000000000..abf3adc17 --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/launch/fake_interface.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_hardware_stack/fake_interface/package.xml b/niryo_robot_hardware_stack/fake_interface/package.xml new file mode 100644 index 000000000..ed40e533b --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/package.xml @@ -0,0 +1,32 @@ + + + fake_interface + 0.0.0 + The fake_interface package + Etienne Rey-Coquais + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + std_msgs + tools_interface + joints_interface + conveyor_interface + actionlib + + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + std_msgs + tools_interface + joints_interface + conveyor_interface + actionlib + diff --git a/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp b/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp new file mode 100644 index 000000000..d21c447d6 --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/src/FakeJointHardwareInterface.cpp @@ -0,0 +1,113 @@ +/* + FakeJointHardwareInterface.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "fake_interface/FakeJointHardwareInterface.hpp" + +FakeJointHardwareInterface::FakeJointHardwareInterface() +{ + ROS_DEBUG("Starting Fake Joint Hardware Interface..."); + + for (int i = 0; i < 6; i++) + { + _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_id", _joints_id[i]); + _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_name", _joints_name[i]); + } + + ROS_INFO("Fake Joint Interface - Joints' Name : (1 : %s, 2 : %s, 3 : %s)", _joints_name[0].c_str(), _joints_name[1].c_str(), _joints_name[2].c_str()); + ROS_INFO("Fake Joint Interface - Joints' Name : (4 : %s, 5 : %s, 6 : %s)", _joints_name[3].c_str(), _joints_name[4].c_str(), _joints_name[5].c_str()); + ROS_INFO("Fake Joint Interface - Joints' ID : (1 : %d, 2 : %d, 3 : %d)", _joints_id[0], _joints_id[1], _joints_id[2]); + ROS_INFO("Fake Joint Interface - Joints' ID : (4 : %d, 5 : %d, 6 : %d)", _joints_id[3], _joints_id[4], _joints_id[5]); + + // connect and register joint state interface + std::vector state_handle; + for (int i = 0; i < 6; i++) + { + state_handle.push_back(hardware_interface::JointStateHandle(_joints_name[i], &_pos[i], &_vel[i], &_eff[i])); + _joint_state_interface.registerHandle(state_handle[i]); + } + registerInterface(&_joint_state_interface); + + std::vector position_handle; + for (int i = 0; i < 6; i++) + { + position_handle.push_back(hardware_interface::JointHandle(_joint_state_interface.getHandle(_joints_name[i]), &_cmd[i])); + _joint_position_interface.registerHandle(position_handle[i]); + } + registerInterface(&_joint_position_interface); + + + // Create motors with previous params + _list_stepper_id.clear(); + _map_stepper_name.clear(); + _list_dxl_id.clear(); + _map_dxl_name.clear(); + + for (int i = 0; i < 3; i++) + { + _list_stepper_id.push_back(_joints_id[i]); + _map_stepper_name[_joints_id[i]] = _joints_name[i]; + } + for (int i = 3; i < 5; i++) + { + _list_dxl_id.push_back(_joints_id[i]); + _map_dxl_name[_joints_id[i]] = _joints_name[i]; + } + for (int i = 5; i < 6; i++) + { + _list_dxl_id.push_back(_joints_id[i]); + _map_dxl_name[_joints_id[i]] = _joints_name[i]; + } +} + +void FakeJointHardwareInterface::read() +{ + _pos[0] = _cmd[0]; + _pos[1] = _cmd[1]; + _pos[2] = _cmd[2]; + _pos[3] = _cmd[3]; + _pos[4] = _cmd[4]; + _pos[5] = _cmd[5]; +} + +void FakeJointHardwareInterface::write() +{ + _pos[0] = _cmd[0]; + _pos[1] = _cmd[1]; + _pos[2] = _cmd[2]; + _pos[3] = _cmd[3]; + _pos[4] = _cmd[4]; + _pos[5] = _cmd[5]; +} + +std::string FakeJointHardwareInterface::jointIdToJointName(int id, uint8_t motor_type) +{ + if (motor_type == (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER) + { + std::map::iterator it= _map_stepper_name.find(id); + if (it != _map_stepper_name.end()) + return it->second; + } + else if (motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430 or motor_type ==(uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320) + { + std::map::iterator it= _map_dxl_name.find(id); + if (it != _map_dxl_name.end()) + return it->second; + } + return ""; +} diff --git a/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp new file mode 100644 index 000000000..4594dc892 --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_core.cpp @@ -0,0 +1,337 @@ +/* + fake_interface_core.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "fake_interface/fake_interface_core.hpp" + +FakeInterfaceCore::FakeInterfaceCore() +{ + initParams(); + initServices(); + startPublishersSubscribers(); + + ROS_INFO("Fake Hardware Interface - Started "); + _robot.reset(new FakeJointHardwareInterface()); + + _learning_mode = true; + + if(!_gazebo) + { + ROS_DEBUG("Fake Hardware Interface - Create controller manager"); + _cm.reset(new controller_manager::ControllerManager(_robot.get(), _nh)); + ros::Duration(0.1).sleep(); + + ROS_DEBUG("Fake Hardware Interface - Starting ROS control thread..."); + _ros_control_thread.reset(new std::thread(&FakeInterfaceCore::rosControlLoop, this)); + } + + pubToolId(0); + + ros::Duration(0.1).sleep(); +} + +void FakeInterfaceCore::initServices() +{ + ROS_DEBUG("Fake Hardware Interface - Init Services"); + _calibrate_motors_server = _nh.advertiseService("/niryo_robot/joints_interface/calibrate_motors", &FakeInterfaceCore::_callbackCalibrateMotors, this); + _request_new_calibration_server = _nh.advertiseService("/niryo_robot/joints_interface/request_new_calibration", &FakeInterfaceCore::_callbackRequestNewCalibration, this); + _activate_learning_mode_server = _nh.advertiseService("niryo_robot/learning_mode/activate", &FakeInterfaceCore::_callbackActivateLearningMode, this); + + _ping_and_set_dxl_tool_server = _nh.advertiseService("/niryo_robot/tools/ping_and_set_dxl_tool", &FakeInterfaceCore::_callbackPingAndSetDxlTool, this); + _open_gripper_server = _nh.advertiseService("/niryo_robot/tools/open_gripper", &FakeInterfaceCore::_callbackOpenGripper, this); + _close_gripper_server = _nh.advertiseService("/niryo_robot/tools/close_gripper", &FakeInterfaceCore::_callbackCloseGripper, this); + _pull_air_vacuum_pump_server = _nh.advertiseService("/niryo_robot/tools/pull_air_vacuum_pump", &FakeInterfaceCore::_callbackPullAirVacuumPump, this); + _push_air_vacuum_pump_server = _nh.advertiseService("/niryo_robot/tools/push_air_vacuum_pump", &FakeInterfaceCore::_callbackPushAirVacuumPump, this); + + _ping_and_set_stepper_server = _nh.advertiseService("/niryo_robot/conveyor/ping_and_set_conveyor", &FakeInterfaceCore::_callbackPingAndSetConveyor, this); + _control_conveyor_server = _nh.advertiseService("/niryo_robot/conveyor/control_conveyor", &FakeInterfaceCore::_callbackControlConveyor, this); + + _learning_mode_publisher = _nh.advertise("/niryo_robot/learning_mode/state", 10); + + _reset_controller_server = _nh.advertiseService("/niryo_robot/joints_interface/steppers_reset_controller", &FakeInterfaceCore::_callbackResetController, this); + + _publish_learning_mode_thread.reset(new std::thread(boost::bind(&FakeInterfaceCore::_publishLearningMode, this))); + +} + +void FakeInterfaceCore::startPublishersSubscribers() +{ + ROS_DEBUG("Fake Hardware Interface - Init Subscribers"); + _trajectory_result_subscriber = _nh.subscribe("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/result", + 10, &FakeInterfaceCore::_callbackTrajectoryResult, this); + _current_tools_id_publisher = _nh.advertise("/niryo_robot_hardware/tools/current_id", 1, true); + +} + +void FakeInterfaceCore::initParams() +{ + ROS_DEBUG("Fake Hardware Interface - Init Params"); + ros::param::get("~gazebo", _gazebo); + ros::param::get("~simu_gripper", _simu_gripper); + ros::param::get("~ros_control_loop_frequency", _ros_control_frequency); + ROS_DEBUG("Fake Hardware Interface - ros control loop freqeuncy %f", _ros_control_frequency); + + ros::param::get("~publish_hw_status_frequency", _publish_hw_status_frequency); + ros::param::get("~publish_software_version_frequency", _publish_software_version_frequency); + ros::param::get("~publish_learning_mode_frequency", _publish_learning_mode_frequency); + ros::param::get("/niryo_robot/info/ros_version", _ros_niryo_robot_version); + + _ros_niryo_robot_version.erase(_ros_niryo_robot_version.find_last_not_of(" \n\r\t") + 1); + + ROS_DEBUG("Fake Hardware Interface - Publish_hw_status_frequency : %f", _publish_hw_status_frequency); + ROS_DEBUG("Fake Hardware Interface - Publish_software_version_frequency : %f", _publish_software_version_frequency); + ROS_DEBUG("Fake Hardware Interface - Publish_learning_mode_frequency : %f", _publish_learning_mode_frequency); +} + +void FakeInterfaceCore::rosControlLoop() +{ + ros::Time last_time = ros::Time::now(); + ros::Time current_time = ros::Time::now(); + ros::Duration elapsed_time; + ros::Rate control_loop_rate = ros::Rate(_ros_control_frequency); + while(ros::ok()) + { + _robot->read(); + current_time = ros::Time::now(); + elapsed_time = ros::Duration(current_time - last_time); + last_time = current_time; + _cm->update(ros::Time::now(), elapsed_time, false); + _robot->write(); + control_loop_rate.sleep(); + } +} + +void FakeInterfaceCore::pubToolId(int id) +{ + std_msgs::Int32 msg; + msg.data = id; + _current_tools_id_publisher.publish(msg); +} + +bool FakeInterfaceCore::_callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) +{ + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "Reset done"; + return true; +} + +void FakeInterfaceCore::_callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult& msg) +{ + // Nothing To Do +} + + +bool FakeInterfaceCore::_callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Calibrate motors"); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "Calibration done"; + return true; +} + +bool FakeInterfaceCore::_callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Request New Calibration"); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "New calibration request has been made, you will be requested to confirm it."; + return true; +} + +bool FakeInterfaceCore::_callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res) +{ + bool learning_mode_on; + std_msgs::Bool msg; + + learning_mode_on = req.value; + if(learning_mode_on == _learning_mode) + { + res.message = (learning_mode_on) ? "Learning mode already activated" : "Learning mode already deactivating"; + } + else + { + if(!learning_mode_on) + { + ROS_INFO("Fake Hardware Interface - Deactivate Learning Mode"); + res.message = "Deactivating learning mode"; + } + else + { + ROS_INFO("Fake Hardware Interface - Activate Learning Mode"); + res.message = "Activating learning mode"; + } + _learning_mode = learning_mode_on; + msg.data = _learning_mode; + _learning_mode_publisher.publish(msg); + } + + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + return true; +} + + +bool FakeInterfaceCore::_callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res) +{ + ROS_DEBUG("Fake Hardware Interface - Ping Dxl Tool"); + if(_simu_gripper) + { + res.id = 11; + } + else + { + res.id = 0; + } + pubToolId(res.id); + res.state = TOOL_STATE_PING_OK; + return true; +} + +bool FakeInterfaceCore::_callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Open gripper with id : %03d", req.id); + res.state = GRIPPER_STATE_OPEN; + return true; +} + +bool FakeInterfaceCore::_callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Close gripper with id : %03d", req.id); + res.state = GRIPPER_STATE_CLOSE; + return true; +} + +bool FakeInterfaceCore::_callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Pull air on vacuum pump with id : %03d", req.id); + res.state = VACUUM_PUMP_STATE_PULLED; + return true; +} + +bool FakeInterfaceCore:: _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Push air on vacuum pump with id : %03d", req.id); + res.state = VACUUM_PUMP_STATE_PUSHED; + return true; +} + + +bool FakeInterfaceCore::_callbackPingAndSetConveyor(conveyor_interface::SetConveyor::Request &req, conveyor_interface::SetConveyor::Response &res) +{ + int new_id = 12; + ROS_INFO("Fake Hardware Interface - Set conveyor with id : %d", new_id); + std::string message = ""; + message = "Set Conveyor id "; + message += std::to_string(new_id); + message += " OK"; + res.message = message; + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.id = new_id; + return true; +} + +bool FakeInterfaceCore::_callbackControlConveyor(conveyor_interface::ControlConveyor::Request &req, conveyor_interface::ControlConveyor::Response &res) +{ + ROS_INFO("Fake Hardware Interface - Set command conveyor with id : %03d", req.id); + std::string message = ""; + message = "Set command on conveyor id "; + message += std::to_string(req.id); + message += " is OK"; + res.message = message; + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + return true; +} + +dynamixel_driver::DxlArrayMotorHardwareStatus FakeInterfaceCore::getDxlHwStatus() +{ + dynamixel_driver::DxlMotorHardwareStatus data; + dynamixel_driver::DxlArrayMotorHardwareStatus hw_state; + for (int i = 0; i < 3; i++) + { + data.motor_identity.motor_id = _dxl_motors_id.at(i); + data.motor_identity.motor_type = _dxl_motors_type.at(i); + data.temperature = 0; + data.voltage = 0; + data.error = 0; + hw_state.motors_hw_status.push_back(data); + } + return hw_state; +} + +niryo_robot_msgs::BusState FakeInterfaceCore::getDxlBusState() +{ + niryo_robot_msgs::BusState dxl_bus_state; + + dxl_bus_state.connection_status = true; + dxl_bus_state.motor_id_connected = _dxl_motors_id; + dxl_bus_state.error = ""; + return dxl_bus_state; +} + +stepper_driver::StepperArrayMotorHardwareStatus FakeInterfaceCore::getStepperHwStatus() +{ + stepper_driver::StepperMotorHardwareStatus data; + stepper_driver::StepperArrayMotorHardwareStatus hw_state; + + for(int i = 0; i < 3; i++) + { + data.motor_identity.motor_id = _stepper_motors_id.at(i) ; + data.motor_identity.motor_type = niryo_robot_msgs::MotorHeader::MOTOR_TYPE_STEPPER; + data.temperature = 0; + data.error = 0; + data.firmware_version = ""; + hw_state.motors_hw_status.push_back(data); + } + return hw_state; +} + +niryo_robot_msgs::BusState FakeInterfaceCore::getCanBusState() +{ + niryo_robot_msgs::BusState can_bus_state; + + can_bus_state.connection_status = true; + can_bus_state.motor_id_connected = _stepper_motors_id; + can_bus_state.error = ""; + return can_bus_state; +} + +void FakeInterfaceCore::getCalibrationState(boost::shared_ptr &need_calibration, boost::shared_ptr &calibration_in_progress) +{ + (*need_calibration) = false; + (*calibration_in_progress) = false; +} + +int FakeInterfaceCore::getCpuTemperature() +{ + return 0; +} + +void FakeInterfaceCore::_publishLearningMode() +{ + ros::Rate publish_learning_mode_rate = ros::Rate(_publish_learning_mode_frequency); + while (ros::ok()) + { + std_msgs::Bool msg; + msg.data = _learning_mode; + _learning_mode_publisher.publish(msg); + publish_learning_mode_rate.sleep(); + } +} + +std::string FakeInterfaceCore::jointIdToJointName(int id, uint8_t motor_type) +{ + return _robot->jointIdToJointName(id, motor_type); +} diff --git a/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp new file mode 100644 index 000000000..bf37435d1 --- /dev/null +++ b/niryo_robot_hardware_stack/fake_interface/src/fake_interface_node.cpp @@ -0,0 +1,17 @@ +#include +#include "fake_interface/fake_interface_core.hpp" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "fake_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + FakeInterfaceCore nd(); + ros::waitForShutdown(); + + ROS_INFO("Fake Joint Interface - Shutdown node"); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt b/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt new file mode 100644 index 000000000..94d23410d --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/CMakeLists.txt @@ -0,0 +1,98 @@ +cmake_minimum_required(VERSION 2.8.3) +project(joints_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + std_msgs + sensor_msgs + dynamixel_driver + stepper_driver + actionlib + +) + +find_package(Boost REQUIRED COMPONENTS system) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + ${PROJECT_NAME}_core + CATKIN_DEPENDS + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + dynamixel_driver + stepper_driver + actionlib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/joint_state.cpp + src/calibration_interface.cpp + src/motor_offset_file_handler.cpp +) + +add_library(${PROJECT_NAME}_core + src/joints_interface_core.cpp + src/JointHardwareInterface.cpp +) + +add_executable(${PROJECT_NAME}_node + src/joints_interface_node.cpp +) + +# add_executable(${PROJECT_NAME}_test +# test/joints_interface_test.cpp +# ) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_core + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME}_core + ${catkin_LIBRARIES} +) + +# target_link_libraries(${PROJECT_NAME}_test +# ${PROJECT_NAME}_core +# ${catkin_LIBRARIES} +# ) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp) diff --git a/niryo_robot_hardware_stack/joints_interface/config/default.yaml b/niryo_robot_hardware_stack/joints_interface/config/default.yaml new file mode 100644 index 000000000..d50a7adf2 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/default.yaml @@ -0,0 +1,8 @@ +ros_control_loop_frequency: 100.0 +publish_hw_status_frequency: 2.0 +publish_software_version_frequency: 2.0 +publish_learning_mode_frequency: 2.0 + +calibration_timeout: 30 + +calibration_file: "/home/niryo/niryo_robot_saved_files/stepper_motor_calibration_offsets.txt" diff --git a/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml new file mode 100644 index 000000000..7c227a942 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/joints_params.yaml @@ -0,0 +1,20 @@ +joint_1_name: "joint_1" +joint_2_name: "joint_2" +joint_3_name: "joint_3" +joint_4_name: "joint_4" +joint_5_name: "joint_5" +joint_6_name: "joint_6" + +joint_1_id: 1 +joint_2_id: 2 +joint_3_id: 3 +joint_4_id: 2 +joint_5_id: 3 +joint_6_id: 6 + +joint_1_type: 1 +joint_2_type: 1 +joint_3_type: 1 +joint_4_type: 2 +joint_5_type: 2 +joint_6_type: 3 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml b/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml new file mode 100644 index 000000000..9de71f8c1 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/motors_param.yaml @@ -0,0 +1,4 @@ +motors_params: + dxl_motor_id_list: [2,3,6] + dxl_motor_type_list: ["xl430","xl430","xl320"] + stepper_motor_id_list: [1,2,3] \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml new file mode 100644 index 000000000..b34b822cb --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/ned/dynamixels_params.yaml @@ -0,0 +1,17 @@ +dynamixels: + dxl_1_offset_position: 0 + dxl_2_offset_position: 0 + dxl_3_offset_position: 0 + + xl430_middle_position: 2047 + xl320_middle_position: 511 + + dxl_1_P_gain: 1000 + dxl_1_I_gain: 500 + + dxl_2_P_gain: 1000 + dxl_2_I_gain: 500 + + dxl_3_P_gain: 40 + dxl_3_I_gain: 20 + dxl_3_D_gain: 100 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml b/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml new file mode 100644 index 000000000..443fe750e --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/ned/steppers_params.yaml @@ -0,0 +1,27 @@ +# +# Stepper caracteristics for Ned's hardware +# +steppers: + stepper_1_id: 1 + stepper_2_id: 2 + stepper_3_id: 3 + + stepper_1_gear_ratio: 5.4375 + stepper_2_gear_ratio: 8.5625 + stepper_3_gear_ratio: 7.6875 + + stepper_1_offset_position: 2.96706 + stepper_2_offset_position: 0.610865 + stepper_3_offset_position: -1.3439 + + stepper_1_home_position: 0.0 + stepper_2_home_position: 0.5 + stepper_3_home_position: -1.25 + + stepper_1_direction: -1.0 + stepper_2_direction: -1.0 + stepper_3_direction: -1.0 + + stepper_1_max_effort: 110 + stepper_2_max_effort: 130 + stepper_3_max_effort: 120 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml b/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml new file mode 100644 index 000000000..13f114eb2 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/config/niryo_ned_controllers.yaml @@ -0,0 +1,34 @@ +# Settings for ros_control control loop +hardware_control_loop: + loop_hz: 25 + +# Publish all joint states ----------------------- +joint_state_controller: + type: "joint_state_controller/JointStateController" + publish_rate: 50 + +# Joint Trajectory Controller - position based ----------------------- +niryo_robot_follow_joint_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + constraints: + goal_time: 1.0 + stopped_velocity_tolerance: 0.05 + joint_1: {trajectory: 0.5, goal: 0.2} + joint_2: {trajectory: 0.5, goal: 0.2} + joint_3: {trajectory: 0.5, goal: 0.2} + joint_4: {trajectory: 0.5, goal: 0.2} + joint_5: {trajectory: 1.0, goal: 0.3} + joint_6: {trajectory: 1.0, goal: 0.3} + stop_trajectory_duration: 1.0 + state_publish_rate: 20 + #action_monitor_rate: 20 + + + diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp new file mode 100644 index 000000000..87434053b --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/JointHardwareInterface.hpp @@ -0,0 +1,115 @@ +/* + JointHardwareInterface.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef JOINT_HARDWARE_INTERFACE_HPP +#define JOINT_HARDWARE_INTERFACE_HPP + +#include +#include +#include +#include +#include + +#include "joints_interface/joint_state.hpp" +#include "joints_interface/calibration_interface.hpp" + +#include "stepper_driver/stepper_driver_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" + +#include +#include + +class JointHardwareInterface : public hardware_interface::RobotHW +{ + +public: + JointHardwareInterface( + boost::shared_ptr &dynamixel, + boost::shared_ptr &stepper); + + void initPublisherSubscribers(); + void initServices(); + void initMotors(); + + void sendInitMotorsParams(); + + void read(); + void write(); + + bool needCalibration(); + + int calibrateJoints(int mode, std::string &result_message); + + void newCalibration(); + + bool isCalibrationInProgress(); + + void activateLearningMode(); + + void deactivateLearningMode(); + + void setCommandToCurrentPosition(); + + void synchronizeMotors(bool synchronise); + + std::vector &getJointsState(); + + std::string jointIdToJointName(int id, uint8_t motor_type); + +private: + ros::NodeHandle _nh; + + hardware_interface::JointStateInterface _joint_state_interface; + hardware_interface::PositionJointInterface _joint_position_interface; + + boost::shared_ptr &_dynamixel; + boost::shared_ptr &_stepper; + + std::vector _list_stepper_id; + std::map _map_stepper_name; + + std::vector _list_dxl_id; + std::map _map_dxl_name; + + std::vector _joint_list; + + boost::shared_ptr _calibration_interface; + + std::string _joints_name[6] = {""}; + int _joints_id[6] = {0}; + + double _cmd[6] = {0, 0.64, -1.39, 0, 0, 0}; + double _pos[6] = {0, 0.64, -1.39, 0, 0, 0}; + double _vel[6] = {0}; + double _eff[6] = {0}; + + double _gear_ratio_1, _gear_ratio_2, _gear_ratio_3; + double _home_position_1, _home_position_2, _home_position_3; + double _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3; + double _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3; + double _direction_1, _direction_2, _direction_3; + int _max_effort_1, _max_effort_2, _max_effort_3; + + int _p_gain_1, _p_gain_2, _p_gain_3; + int _i_gain_1, _i_gain_2, _i_gain_3; + int _d_gain_3; + bool _learning_mode; +}; + +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp new file mode 100644 index 000000000..db2f9585e --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/Math.hpp @@ -0,0 +1,67 @@ +/* + Math.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef MATH_HPP +#define MATH_HPP + +#define RADIAN_TO_DEGREE 57.295779513082320876798154814105 + +#define XL320_TOTAL_RANGE_POSITION 1023 +#define XL320_MIDDLE_POSITION 511 +#define XL320_TOTAL_ANGLE 296.67 + +#define XL430_TOTAL_RANGE_POSITION 4095 +#define XL430_MIDDLE_POSITION 2047 +#define XL430_TOTAL_ANGLE 360.36 + +#define STEPPERS_MICROSTEPS 8.0 +#define STEPPERS_MOTOR_STEPS_PER_REVOLUTION 200.0 + +#include + +int32_t rad_pos_to_steps(double position_rad, double gear_ratio, double direction) +{ + return (int32_t)((STEPPERS_MOTOR_STEPS_PER_REVOLUTION * STEPPERS_MICROSTEPS * gear_ratio * position_rad * RADIAN_TO_DEGREE / 360.0) * direction); +}; + +double steps_to_rad_pos(int32_t steps, double gear_ratio, double direction) +{ + return (double)((double)steps * 360.0 / (STEPPERS_MOTOR_STEPS_PER_REVOLUTION * STEPPERS_MICROSTEPS * gear_ratio * RADIAN_TO_DEGREE)) * direction; +}; + +uint32_t rad_pos_to_xl320_pos(double position_rad) +{ + return (uint32_t)((double)XL320_MIDDLE_POSITION + (position_rad * RADIAN_TO_DEGREE * (double)XL320_TOTAL_RANGE_POSITION) / (double)XL320_TOTAL_ANGLE); +}; + +uint32_t rad_pos_to_xl430_pos(double position_rad) +{ + return (uint32_t)((double)XL430_MIDDLE_POSITION + (position_rad * RADIAN_TO_DEGREE * (double)XL430_TOTAL_RANGE_POSITION) / (double)XL430_TOTAL_ANGLE); +}; + +double xl320_pos_to_rad_pos(int32_t position_dxl) +{ + return (double)((((double)position_dxl - XL320_MIDDLE_POSITION) * (double)XL320_TOTAL_ANGLE) / (RADIAN_TO_DEGREE * (double)XL320_TOTAL_RANGE_POSITION)); +}; + +double xl430_pos_to_rad_pos(int32_t position_dxl) +{ + return (double)((((double)position_dxl - XL430_MIDDLE_POSITION) * (double)XL430_TOTAL_ANGLE) / (RADIAN_TO_DEGREE * (double)XL430_TOTAL_RANGE_POSITION)); +}; +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp new file mode 100644 index 000000000..0f407446b --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/calibration_interface.hpp @@ -0,0 +1,86 @@ +/* + calibration_interface.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef CALIBRATION_INTERFACE_HPP +#define CALIBRATION_INTERFACE_HPP + +#include +#include +#include +#include +#include + +#include "joints_interface/joint_state.hpp" +#include "joints_interface/motor_offset_file_handler.hpp" + +#include "stepper_driver/stepper_driver_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" + +#include "niryo_robot_msgs/CommandStatus.h" + +#define STEPPERS_MICROSTEPS 8.0 +#define STEPPERS_MOTOR_STEPS_PER_REVOLUTION 200.0 + +class CalibrationInterface +{ + +public: + CalibrationInterface(std::vector &joint_list, + boost::shared_ptr &stepper, boost::shared_ptr &dynamixel); + + int startCalibration(int mode, std::string &result_message); + + bool CalibrationInprogress(); + +private: + std::vector &_joint_list; + ros::NodeHandle _nh; + boost::shared_ptr &_stepper; + boost::shared_ptr &_dynamixel; + + int _xl430_middle_position, _xl320_middle_position; + double _home_position_1, _home_position_2, _home_position_3; + double _gear_ratio_1, _gear_ratio_2, _gear_ratio_3; + double _direction_1, _direction_2, _direction_3; + double _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3; + double _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3; + + bool _calibration_in_progress; + int _calibration_timeout; + + std::vector _motor_calibration_list; + + bool _check_steppers_connected(); + + void _auto_calibration(); + void _send_calibration_offset(uint8_t id, int offset_to_send, int absolute_steps_at_offset_position); + bool _can_process_manual_calibration(std::string &result_message); + int _manual_calibration(); + + void _motorTorque(JointState &motor, bool status); + void _moveMotor(JointState &motor, int steps, float delay); + int _relativeMoveMotor(JointState &motor, int steps, int delay, bool wait); + void _setCalibrationCommand( + JointState &motor, int offset, int delay, int motor_direction, int calibration_direction, int timeout, + boost::shared_ptr &calibration_result); + + int _getCalibrationResult(JointState &motor); + +}; +#endif diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp new file mode 100644 index 000000000..bba708867 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joint_state.hpp @@ -0,0 +1,59 @@ +/* + joint_state.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef JOINT_STATE_HPP +#define JOINT_STATE_HPP + +#include +#include + +class JointState { + + public: + JointState(std::string name, uint8_t type, uint8_t id ); + + std::string& getName(); + void setName(std::string &name); + + uint8_t getId(); + void setId(uint8_t id); + + uint8_t getType(); + void setType(uint8_t id); + + bool needCalibration(); + void setNeedCalibration(bool need_calibration); + + void setPosition(double position); + double getPosition(); + + bool operator==(const JointState& other) const; + + protected : + + std::string _name; + uint8_t _id; + uint8_t _type; + + double _position; + bool _need_calibration; + +}; + +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp new file mode 100644 index 000000000..b11b127a5 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/joints_interface_core.hpp @@ -0,0 +1,121 @@ +/* + joints_hardware_interface_node.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef JOINTS_INTERFACE_CORE_HPP +#define JOINTS_INTERFACE_CORE_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "joints_interface/JointHardwareInterface.hpp" +#include "niryo_robot_msgs/SetInt.h" +#include "niryo_robot_msgs/SetBool.h" +#include "niryo_robot_msgs/CommandStatus.h" +#include "niryo_robot_msgs/Trigger.h" + +class JointsInterfaceCore +{ + public: + + JointsInterfaceCore( + boost::shared_ptr& dynamixel, + boost::shared_ptr& stepper); + + void init(); + void initParams(); + + void startServices(); + void startSubscribers(); + + void rosControlLoop(); + + void activateLearningMode(bool learning_mode_on, int &resp_status, std::string &resp_message); + + void calibrateJoints(); + + bool getFreeDriveMode(); + + void getCalibrationState(boost::shared_ptr &need_calibration, boost::shared_ptr &calibration_in_progress); + + std::vector& getJointsState(); + + std::string jointIdToJointName(int id, uint8_t motor_type); + + void sendMotorsParams(); + + private: + + ros::NodeHandle _nh; + + bool _callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + + void _callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult& msg); + + bool _callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res); + + bool _callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + + bool _callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res); + + void _publishPackageStates(); + + void _publishLearningMode(); + + boost::shared_ptr _robot; + boost::shared_ptr& _dynamixel; + boost::shared_ptr& _stepper; + + double _publish_learning_mode_frequency; + + double _ros_control_frequency; + + boost::shared_ptr _cm; + boost::shared_ptr _ros_control_thread; + boost::shared_ptr _publish_learning_mode_thread; + + ros::Subscriber _trajectory_result_subscriber; + + ros::Publisher _learning_mode_publisher; + + ros::ServiceServer _reset_controller_server; // workaround to compensate missed steps + ros::ServiceServer _calibrate_motors_server; + ros::ServiceServer _request_new_calibration_server; + + ros::ServiceServer _activate_learning_mode_server; + + bool _enable_control_loop; + + bool _previous_state_learning_mode; + + bool _reset_controller; +}; +#endif diff --git a/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp new file mode 100644 index 000000000..cfaa1799e --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/include/joints_interface/motor_offset_file_handler.hpp @@ -0,0 +1,32 @@ +/* + motor_offset_file_handler.h + Copyright (C) 2018 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef MOTOR_OFFSET_FILE_HANDLER_H +#define MOTOR_OFFSET_FILE_HANDLER_H + +#include +#include +#include +#include + +bool get_motors_calibration_offsets(std::vector &motor_id_list, std::vector &steps_list); + +bool set_motors_calibration_offsets(std::vector &motor_id_list, std::vector &steps_list); + +#endif diff --git a/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch b/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch new file mode 100644 index 000000000..cd821536b --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/launch/joints_interface.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_hardware_stack/joints_interface/launch/test.launch b/niryo_robot_hardware_stack/joints_interface/launch/test.launch new file mode 100644 index 000000000..e4514ebba --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/launch/test.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/niryo_robot_hardware_stack/joints_interface/package.xml b/niryo_robot_hardware_stack/joints_interface/package.xml new file mode 100644 index 000000000..95815d2e2 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/package.xml @@ -0,0 +1,32 @@ + + + joints_interface + 0.0.0 + The joints_interface package include all hardware componant to control the joints of the robot. + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + std_msgs + dynamixel_driver + stepper_driver + actionlib + + roscpp + hardware_interface + controller_manager + niryo_robot_msgs + std_msgs + dynamixel_driver + stepper_driver + actionlib + + diff --git a/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp b/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp new file mode 100644 index 000000000..cd82b124a --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/JointHardwareInterface.cpp @@ -0,0 +1,405 @@ +/* + JointHardwareInterface.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "joints_interface/JointHardwareInterface.hpp" +#include "joints_interface/Math.hpp" +#include "dynamixel_driver/SendCustomDxlValue.h" + +JointHardwareInterface::JointHardwareInterface( + boost::shared_ptr &dynamixel, + boost::shared_ptr &stepper) + : _dynamixel(dynamixel), _stepper(stepper) +{ + _learning_mode = true; + + for (int i = 0; i < 6; i++) + { + _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_id", _joints_id[i]); + _nh.getParam("/niryo_robot_hardware_interface/joint_" + std::to_string(i + 1) + "_name", _joints_name[i]); + } + + ROS_INFO("Joints Hardware Interface - Joints' Name : (1 : %s, 2 : %s, 3 : %s)", _joints_name[0].c_str(), _joints_name[1].c_str(), _joints_name[2].c_str()); + ROS_INFO("Joints Hardware Interface - Joints' Name : (4 : %s, 5 : %s, 6 : %s)", _joints_name[3].c_str(), _joints_name[4].c_str(), _joints_name[5].c_str()); + ROS_INFO("Joints Hardware Interface - Joints' ID : (1 : %d, 2 : %d, 3 : %d)", _joints_id[0], _joints_id[1], _joints_id[2]); + ROS_INFO("Joints Hardware Interface - Joints' ID : (4 : %d, 5 : %d, 6 : %d)", _joints_id[3], _joints_id[4], _joints_id[5]); + + // connect and register joint state interface + std::vector state_handle; + for (int i = 0; i < 6; i++) + { + state_handle.push_back(hardware_interface::JointStateHandle(_joints_name[i], &_pos[i], &_vel[i], &_eff[i])); + _joint_state_interface.registerHandle(state_handle[i]); + } + registerInterface(&_joint_state_interface); + + std::vector position_handle; + for (int i = 0; i < 6; i++) + { + position_handle.push_back(hardware_interface::JointHandle(_joint_state_interface.getHandle(_joints_name[i]), &_cmd[i])); + _joint_position_interface.registerHandle(position_handle[i]); + } + registerInterface(&_joint_position_interface); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_gear_ratio", _gear_ratio_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_gear_ratio", _gear_ratio_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_gear_ratio", _gear_ratio_3); + ROS_DEBUG("Joints Hardware Interface - Joint Hardware Interface - Gear ratios : (1 : %lf, 2 : %lf, 3 : %lf)", _gear_ratio_1, _gear_ratio_2, _gear_ratio_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_home_position", _home_position_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_home_position", _home_position_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_home_position", _home_position_3); + ROS_DEBUG("Joints Hardware Interface - Home positions : (1 : %lf, 2 : %lf, 3 : %lf)", _home_position_1, _home_position_2, _home_position_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_offset_position", _offset_position_stepper_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_offset_position", _offset_position_stepper_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_offset_position", _offset_position_stepper_3); + ROS_DEBUG("Joints Hardware Interface - Angle offsets steppers: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_direction", _direction_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_direction", _direction_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_direction", _direction_3); + ROS_DEBUG("Joints Hardware Interface - Direction : (1 : %lf, 2 : %lf, 3 : %lf)", _direction_1, _direction_2, _direction_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_max_effort", _max_effort_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_max_effort", _max_effort_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_max_effort", _max_effort_3); + ROS_DEBUG("Joints Hardware Interface - Max effort : (1 : %d, 2 : %d, 3 : %d)", _max_effort_1, _max_effort_2, _max_effort_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_offset_position", _offset_position_dxl_1); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_offset_position", _offset_position_dxl_2); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_offset_position", _offset_position_dxl_3); + ROS_DEBUG("Joints Hardware Interface - Angle offsets dxk: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_P_gain", _p_gain_1); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_P_gain", _p_gain_2); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_P_gain", _p_gain_3); + ROS_DEBUG("Joints Hardware Interface - Proportional Gain dxk: (1 : %d, 2 : %d, 3 : %d)", _p_gain_1, _p_gain_2, _p_gain_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_I_gain", _i_gain_1); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_I_gain", _i_gain_2); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_I_gain", _i_gain_3); + ROS_DEBUG("Joints Hardware Interface - Integral Gain dxk: (1 : %d, 2 : %d, 3 : %d)", _i_gain_1, _i_gain_2, _i_gain_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_D_gain", _d_gain_3); + ROS_DEBUG("Joints Hardware Interface - Integral Gain dxk: (3 : %d)", _d_gain_3); + + // Create motors with previous params + _joint_list.clear(); + _list_stepper_id.clear(); + _map_stepper_name.clear(); + _list_dxl_id.clear(); + _map_dxl_name.clear(); + std::vector joints_vect; + for (int i = 0; i < 3; i++) + { + joints_vect.push_back(JointState(_joints_name[i], (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER, _joints_id[i])); + _list_stepper_id.push_back(_joints_id[i]); + _map_stepper_name[_joints_id[i]] = _joints_name[i]; + _joint_list.push_back(joints_vect[i]); + } + for (int i = 3; i < 5; i++) + { + joints_vect.push_back(JointState(_joints_name[i], (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430, _joints_id[i])); + _list_dxl_id.push_back(_joints_id[i]); + _map_dxl_name[_joints_id[i]] = _joints_name[i]; + _joint_list.push_back(joints_vect[i]); + } + for (int i = 5; i < 6; i++) + { + joints_vect.push_back(JointState(_joints_name[i], (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320, _joints_id[i])); + _list_dxl_id.push_back(_joints_id[i]); + _map_dxl_name[_joints_id[i]] = _joints_name[i]; + _joint_list.push_back(joints_vect[i]); + } + initMotors(); + + _calibration_interface.reset(new CalibrationInterface(_joint_list + , _stepper, _dynamixel)); +} + +void JointHardwareInterface::initMotors() +{ + _joint_list.at(0).setNeedCalibration(true); + _joint_list.at(1).setNeedCalibration(true); + _joint_list.at(2).setNeedCalibration(true); + _joint_list.at(3).setNeedCalibration(false); + _joint_list.at(4).setNeedCalibration(false); + _joint_list.at(5).setNeedCalibration(false); + + sendInitMotorsParams(); + + activateLearningMode(); +} + +void JointHardwareInterface::sendInitMotorsParams() +{ + StepperDriver::StepperMotorCmd cmd; + std::vector stepper_params{8, 8, 8}; + cmd.setParams(stepper_params); + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MICRO_STEPS); + cmd.setMotorsId(_list_stepper_id); + + _stepper->setStepperCommands(cmd); + ros::Duration(0.05).sleep(); + + stepper_params.clear(); + stepper_params = { + _max_effort_1, + _max_effort_2, + _max_effort_3}; + + cmd.setParams(stepper_params); + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_MAX_EFFORT); + cmd.setMotorsId(_list_stepper_id); + + _stepper->setStepperCommands(cmd); + ros::Duration(0.05).sleep(); + + // ** DXL PID configuration ** // + ros::ServiceClient dxl_client = _nh.serviceClient("/niryo_robot/dynamixel_driver/send_custom_dxl_value"); + dynamixel_driver::SendCustomDxlValue dxl_cmd_srv; + + // * Joint 4 + dxl_cmd_srv.request.motor_type = 2; + dxl_cmd_srv.request.id = 2; + dxl_cmd_srv.request.byte_number = 2; + dxl_cmd_srv.request.value = _p_gain_1; + dxl_cmd_srv.request.reg_address = 80; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 4 P Gain OK"); + + dxl_cmd_srv.request.value = _i_gain_1; + dxl_cmd_srv.request.reg_address = 82; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 4 I Gain OK"); + + // * Joint 5 + dxl_cmd_srv.request.motor_type = 2; + dxl_cmd_srv.request.id = 3; + dxl_cmd_srv.request.byte_number = 2; + dxl_cmd_srv.request.value = _p_gain_2; + dxl_cmd_srv.request.reg_address = 80; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 5 P Gain OK"); + + dxl_cmd_srv.request.value = _i_gain_2; + dxl_cmd_srv.request.reg_address = 82; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 5 I Gain OK"); + + // * Joint 6 + dxl_cmd_srv.request.motor_type = 3; + dxl_cmd_srv.request.id = 6; + dxl_cmd_srv.request.byte_number = 1; + dxl_cmd_srv.request.value = _p_gain_3; + dxl_cmd_srv.request.reg_address = 27; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 6 P Gain OK"); + + dxl_cmd_srv.request.value = _i_gain_3; + dxl_cmd_srv.request.reg_address = 28; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 6 I Gain OK"); + + dxl_cmd_srv.request.value = _d_gain_3; + dxl_cmd_srv.request.reg_address = 29; + if (dxl_client.call(dxl_cmd_srv)) + ROS_DEBUG("Joints Hardware Interface - Set joint 6 D Gain OK"); +} + +void JointHardwareInterface::setCommandToCurrentPosition() +{ + ROS_DEBUG("Joints Hardware Interface - Set command to current position called"); + _joint_position_interface.getHandle("joint_1").setCommand(_pos[0]); + _joint_position_interface.getHandle("joint_2").setCommand(_pos[1]); + _joint_position_interface.getHandle("joint_3").setCommand(_pos[2]); + _joint_position_interface.getHandle("joint_4").setCommand(_pos[3]); + _joint_position_interface.getHandle("joint_5").setCommand(_pos[4]); + _joint_position_interface.getHandle("joint_6").setCommand(_pos[5]); +} + +void JointHardwareInterface::read() +{ + // std::vector stepper_motor_state; + std::vector stepper_motor_state = _stepper->getTrajectoryControllerStates(); + std::vector dxl_motor_state = _dynamixel->getDxlStates(); + _pos[0] = steps_to_rad_pos(stepper_motor_state.at(0), _gear_ratio_1, _direction_1); + _pos[1] = steps_to_rad_pos(stepper_motor_state.at(1), _gear_ratio_2, _direction_2); + _pos[2] = steps_to_rad_pos(stepper_motor_state.at(2), _gear_ratio_3, _direction_3); + + // Quick fix + double dxl1_pose = _offset_position_dxl_1 + xl430_pos_to_rad_pos(dxl_motor_state.at(0).getPositionState()); + double dxl2_pose = _offset_position_dxl_2 + xl430_pos_to_rad_pos(XL430_MIDDLE_POSITION * 2 - dxl_motor_state.at(1).getPositionState()); + double dxl3_pose = _offset_position_dxl_3 + xl320_pos_to_rad_pos(dxl_motor_state.at(2).getPositionState()); + _pos[3] = abs(dxl1_pose) < 2 * M_PI ? dxl1_pose : _pos[3]; + _pos[4] = abs(dxl2_pose) < 2 * M_PI ? dxl2_pose : _pos[4]; + _pos[5] = abs(dxl3_pose) < 2 * M_PI ? dxl3_pose : _pos[5]; + + // Require new calibration for stepper because it was disconnected + if (!_stepper->isConnectionOk()) + this->newCalibration(); +} + +void JointHardwareInterface::write() +{ + std::vector stepper_cmds{ + rad_pos_to_steps(_cmd[0], _gear_ratio_1, _direction_1), + rad_pos_to_steps(_cmd[1], _gear_ratio_2, _direction_2), + rad_pos_to_steps(_cmd[2], _gear_ratio_3, _direction_3)}; + + std::vector dxl_cmds{ + rad_pos_to_xl430_pos(_cmd[3] - _offset_position_dxl_1), + (XL430_MIDDLE_POSITION * 2 - rad_pos_to_xl430_pos(_cmd[4] - _offset_position_dxl_2)), + rad_pos_to_xl320_pos(_cmd[5] - _offset_position_dxl_3)}; + + _stepper->setTrajectoryControllerCommands(stepper_cmds); + _dynamixel->setTrajectoryControllerCommands(dxl_cmds); +} + +bool JointHardwareInterface::needCalibration() +{ + bool result = false; + for (int i = 0; i < _joint_list.size(); i++) + { + if (_joint_list.at(i).needCalibration()) + { + result = true; + break; + } + } + ROS_DEBUG_THROTTLE(2, "Joints Hardware Interface - Need calibration returned: %d", static_cast(result)); + return result; +} + +int JointHardwareInterface::calibrateJoints(int mode, std::string &result_message) +{ + if (isCalibrationInProgress()) + { + result_message = "Joints Hardware Interface - Calibration already in process"; + return niryo_robot_msgs::CommandStatus::ABORTED; + } + if (needCalibration()) + { + return _calibration_interface->startCalibration(mode, result_message); + } + else + { + result_message = "Joints Hardware Interface - Calibration already done"; + return niryo_robot_msgs::CommandStatus::SUCCESS; + } +} + +void JointHardwareInterface::newCalibration() +{ + _joint_list.at(0).setNeedCalibration(true); + _joint_list.at(1).setNeedCalibration(true); + _joint_list.at(2).setNeedCalibration(true); + return; +} + +void JointHardwareInterface::activateLearningMode() +{ + ROS_DEBUG("Joints Hardware Interface - activate learning mode"); + DynamixelDriver::SynchronizeMotorCmd dxl_cmd; + StepperDriver::StepperMotorCmd stepper_cmd; + + dxl_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_LEARNING_MODE); + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + + stepper_cmd.setMotorsId(_list_stepper_id); + + std::vector stepper_params{0, 0, 0}; + std::vector dxl_params{0}; + + dxl_cmd.setParams(dxl_params); + stepper_cmd.setParams(stepper_params); + + _stepper->setStepperCommands(stepper_cmd); + _dynamixel->setDxlCommands(dxl_cmd); + + _learning_mode = true; +} + +void JointHardwareInterface::deactivateLearningMode() +{ + ROS_DEBUG("Joints Hardware Interface - deactivate learning mode"); + DynamixelDriver::SynchronizeMotorCmd dxl_cmd; + StepperDriver::StepperMotorCmd stepper_cmd; + bool enable_torque = false; + + dxl_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_LEARNING_MODE); + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + + stepper_cmd.setMotorsId(_list_stepper_id); + + std::vector stepper_params{1, 1, 1}; + std::vector dxl_params{1}; + dxl_cmd.setParams(dxl_params); + stepper_cmd.setParams(stepper_params); + + _stepper->setStepperCommands(stepper_cmd); + _dynamixel->setDxlCommands(dxl_cmd); + _learning_mode = false; +} + +void JointHardwareInterface::synchronizeMotors(bool synchronise) +{ + ROS_DEBUG("JointHardwareInterface::synchronizeMotors"); + StepperDriver::StepperMotorCmd stepper_cmd; + + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_SYNCHRONIZE); + + stepper_cmd.setMotorsId(_list_stepper_id); + + std::vector stepper_params{ + (int8_t)synchronise, + (int8_t)synchronise, + (int8_t)synchronise}; + + stepper_cmd.setParams(stepper_params); + + _stepper->setStepperCommands(stepper_cmd); +} + +bool JointHardwareInterface::isCalibrationInProgress() +{ + return _calibration_interface->CalibrationInprogress(); +} + +std::vector &JointHardwareInterface::getJointsState() +{ + return _joint_list; +} + +std::string JointHardwareInterface::jointIdToJointName(int id, uint8_t motor_type) +{ + if (motor_type == (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER) + { + std::map::iterator it= _map_stepper_name.find(id); + if (it != _map_stepper_name.end()) + return it->second; + } + else if (motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430 or motor_type ==(uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320) + { + std::map::iterator it= _map_dxl_name.find(id); + if (it != _map_dxl_name.end()) + return it->second; + } + return ""; +} diff --git a/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp b/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp new file mode 100644 index 000000000..bc7334d13 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/calibration_interface.cpp @@ -0,0 +1,456 @@ +// /* +// calibration_interface.cpp +// Copyright (C) 2020 Niryo +// All rights reserved. + +// This program is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. + +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. + +// You should have received a copy of the GNU General Public License +// along with this program. If not, see . +// */ + +#include "joints_interface/calibration_interface.hpp" +#include "joints_interface/Math.hpp" +#include + +CalibrationInterface::CalibrationInterface(std::vector &joint_list, + boost::shared_ptr &stepper, boost::shared_ptr &dynamixel) : _joint_list(joint_list), _stepper(stepper), _dynamixel(dynamixel) +{ + // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) { + // ros::console::notifyLoggerLevelsChanged(); + // } + + _nh.getParam("/niryo_robot_hardware_interface/calibration_timeout", _calibration_timeout); + ROS_DEBUG("Calibration Interface - Calibration timeout %d", _calibration_timeout); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_gear_ratio", _gear_ratio_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_gear_ratio", _gear_ratio_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_gear_ratio", _gear_ratio_3); + ROS_DEBUG("Calibration Interface - Gear ratios : (1 : %lf, 2 : %lf, 3 : %lf)", _gear_ratio_1, _gear_ratio_2, _gear_ratio_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_offset_position", _offset_position_stepper_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_offset_position", _offset_position_stepper_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_offset_position", _offset_position_stepper_3); + ROS_DEBUG("Calibration Interface - Angle offsets steppers: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_stepper_1, _offset_position_stepper_2, _offset_position_stepper_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_1_offset_position", _offset_position_dxl_1); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_2_offset_position", _offset_position_dxl_2); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/dxl_3_offset_position", _offset_position_dxl_3); + ROS_DEBUG("Calibration Interface - Angle offsets dxl: (1 : %lf, 2 : %lf, 3 : %lf)", _offset_position_dxl_1, _offset_position_dxl_2, _offset_position_dxl_3); + + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_1_direction", _direction_1); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_2_direction", _direction_2); + _nh.getParam("/niryo_robot_hardware_interface/steppers/stepper_3_direction", _direction_3); + ROS_DEBUG("Calibration Interface - Direction : (1 : %lf, 2 : %lf, 3 : %lf)", _direction_1, _direction_2, _direction_3); + + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/xl430_middle_position", _xl430_middle_position); + _nh.getParam("/niryo_robot_hardware_interface/dynamixels/xl320_middle_position", _xl320_middle_position); + ROS_DEBUG("Calibration Interface - xl430 middle position %d, xl320 middle position %d)", _xl430_middle_position, _xl320_middle_position); + + _motor_calibration_list.clear(); + _calibration_in_progress = false; + + ROS_INFO("Calibration Interface - Calibration interface started"); +} + +bool CalibrationInterface::CalibrationInprogress() +{ + return _calibration_in_progress; +} + +int CalibrationInterface::startCalibration(int mode, std::string &result_message) +{ + if (mode == 1) // auto + { + _calibration_in_progress = true; + if (!_check_steppers_connected()) + { + result_message = "Calibration Interface - Please ensure that all motors are connected"; + _calibration_in_progress = false; + return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE; + } + _auto_calibration(); + _calibration_in_progress = false; + } + else if (mode == 2) // manuel + { + _calibration_in_progress = true; + if (!_can_process_manual_calibration(result_message)) + { + result_message = "Calibration Interface - Can't proceed to manual calibration"; + _calibration_in_progress = false; + return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE; + } + if (!_check_steppers_connected()) + { + result_message = "Calibration Interface - Please ensure that all motors are connected"; + _calibration_in_progress = false; + return niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE; + } + + _manual_calibration(); + _calibration_in_progress = false; + } + else + { + result_message = "Calibration Interface - Command error"; + return -1; + } + result_message = "Calibration Interface - Calibration done"; + return niryo_robot_msgs::CommandStatus::SUCCESS; +} + +void CalibrationInterface::_motorTorque(JointState &motor, bool status) +{ + StepperDriver::StepperMotorCmd stepper_cmd; + + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + std::vector id{motor.getId()}; + stepper_cmd.setMotorsId(id); + std::vector param{status}; + stepper_cmd.setParams(param); + + _stepper->setStepperCommands(stepper_cmd); + ros::Duration(0.2).sleep(); +} + +void CalibrationInterface::_moveMotor(JointState &motor, int steps, float delay) +{ + _motorTorque(motor, true); + + StepperDriver::StepperMotorCmd stepper_cmd; + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION); + + std::vector id{motor.getId()}; + stepper_cmd.setMotorsId(id); + + std::vector param{steps}; + stepper_cmd.setParams(param); + + _stepper->setStepperCommands(stepper_cmd); + + ros::Duration(delay).sleep(); +} + +int CalibrationInterface::_relativeMoveMotor(JointState &motor, int steps, int delay, bool wait) +{ + _motorTorque(motor, true); + + StepperDriver::StepperMotorCmd stepper_cmd; + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_RELATIVE_MOVE); + std::vector param{steps, delay}; + stepper_cmd.setParams(param); + std::vector id{motor.getId()}; + stepper_cmd.setMotorsId(id); + + _stepper->setStepperCommands(stepper_cmd); + param.clear(); + if (wait) + { + ros::Duration(std::abs(steps * delay / 1000000) + 0.5).sleep(); // wait for 0.5 sec more to finish + } + return 1; +} + +void CalibrationInterface::_setCalibrationCommand( + JointState &motor, int offset, int delay, int motor_direction, int calibration_direction, int timeout, + boost::shared_ptr &calibration_result) +{ + StepperDriver::StepperMotorCmd stepper_cmd; + + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_CALIBRATION); + std::vector id{motor.getId()}; + stepper_cmd.setMotorsId(id); + + std::vector params{offset, delay, motor_direction * calibration_direction, timeout}; + stepper_cmd.setParams(params); + + _stepper->setStepperCommands(stepper_cmd); + + ROS_INFO("Calibration Interface - Wait for calibration result for motor id %d :", id[0]); + ros::Duration(0.2).sleep(); + while (_stepper->getCalibrationResult(id[0], calibration_result) == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS) + { + ros::Duration(0.2).sleep(); + } + ROS_INFO("Calibration Interface - Motor %d, calibration cmd result %d ", id[0], *calibration_result.get()); +} + +bool CalibrationInterface::_check_steppers_connected() +{ + for (int stepper_id = 0; stepper_id < 3; stepper_id++) + { + if (!_stepper->scanMotorId(_joint_list.at(stepper_id).getId())) + return false; + } + return true; +} + +void CalibrationInterface::_auto_calibration() +{ + _stepper->startCalibration(true); + // 0. Torque ON for motor 2 + + ros::Duration sld(0.2); + sld.sleep(); + StepperDriver::StepperMotorCmd stepper_cmd; + + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + + std::vector id{_joint_list.at(1).getId()}; + stepper_cmd.setMotorsId(id); + std::vector stepper_param{true}; + stepper_cmd.setParams(stepper_param); + _stepper->setStepperCommands(stepper_cmd); + sld.sleep(); + + // 1. Relative Move Motor 3 + _relativeMoveMotor(_joint_list.at(2), rad_pos_to_steps(0.25, _gear_ratio_3, _direction_3), 500, false); + ros::Duration(0.5).sleep(); + + // 2. Move All Dynamixel to Home Position + DynamixelDriver::SynchronizeMotorCmd dynamixel_cmd; + + dynamixel_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE); + id.clear(); + id = { + _joint_list.at(3).getId(), + _joint_list.at(4).getId(), + _joint_list.at(5).getId()}; + dynamixel_cmd.setMotorsId(id); + std::vector dxl_param{1, 1, 1}; + dynamixel_cmd.setParams(dxl_param); + _dynamixel->setDxlCommands(dynamixel_cmd); + sld.sleep(); + + dxl_param = { + rad_pos_to_xl430_pos(-_offset_position_dxl_1), + rad_pos_to_xl430_pos(-_offset_position_dxl_2), + rad_pos_to_xl320_pos(-_offset_position_dxl_3)}; + _dynamixel->setTrajectoryControllerCommands(dxl_param); + sld.sleep(); + + _joint_list.at(3).setNeedCalibration(false); + _joint_list.at(4).setNeedCalibration(false); + _joint_list.at(5).setNeedCalibration(false); + + // 3. Send calibration cmd 1 + 2 + 3 + + boost::shared_ptr stepper_1_calibration_result(new int32_t()); + boost::shared_ptr stepper_2_calibration_result(new int32_t()); + boost::shared_ptr stepper_3_calibration_result(new int32_t()); + + //_stepper->setCalibrationResult(_joint_list.at(0).getId(), 0); + std::thread stepper_1_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this, + _joint_list.at(0), rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1), 200, _direction_1, 1, _calibration_timeout, + stepper_1_calibration_result)); + sld.sleep(); + std::thread stepper_2_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this, + _joint_list.at(1), rad_pos_to_steps(_offset_position_stepper_2, _gear_ratio_2, _direction_2), 1000, _direction_2, 1, _calibration_timeout, + stepper_2_calibration_result)); + sld.sleep(); + std::thread stepper_3_calibration_thread = std::thread(boost::bind(&CalibrationInterface::_setCalibrationCommand, this, + _joint_list.at(2), rad_pos_to_steps(_offset_position_stepper_3, _gear_ratio_3, _direction_3), 1000, _direction_3, -1, _calibration_timeout, + stepper_3_calibration_result)); + sld.sleep(); + + stepper_1_calibration_thread.join(); + stepper_2_calibration_thread.join(); + stepper_3_calibration_thread.join(); + + if (*stepper_1_calibration_result.get() == 0 || *stepper_2_calibration_result.get() == 0 || *stepper_3_calibration_result.get() == 0) + { + ROS_ERROR("Calibration Interface - An error occured while calibrating stepper motors"); + return; + } + ROS_INFO("Calibration Interface - New Calibration values : "); + ROS_INFO("Calibration Interface - motor id %d - calibration value %d", _joint_list.at(0).getId(), *stepper_1_calibration_result.get()); + ROS_INFO("Calibration Interface - motor id %d - calibration value %d", _joint_list.at(1).getId(), *stepper_2_calibration_result.get()); + ROS_INFO("Calibration Interface - motor id %d - calibration value %d", _joint_list.at(2).getId(), *stepper_3_calibration_result.get()); + + std::vector sensor_offset_ids; + sensor_offset_ids.push_back(_joint_list.at(0).getId()); + sensor_offset_ids.push_back(_joint_list.at(1).getId()); + sensor_offset_ids.push_back(_joint_list.at(2).getId()); + + std::vector sensor_offset_steps; + sensor_offset_steps.push_back(*stepper_1_calibration_result.get()); + sensor_offset_steps.push_back(*stepper_2_calibration_result.get()); + sensor_offset_steps.push_back(*stepper_3_calibration_result.get()); + + // 4. Move motor 1,2,3 to 0.0 + // -0.01 to bypass error + sld.sleep(); + _relativeMoveMotor(_joint_list.at(0), -rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1), 550, false); + ros::Duration(2.5).sleep(); + + + dynamixel_cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_TORQUE); + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + + dynamixel_cmd.setMotorsId(std::vector{ + _joint_list.at(3).getId(), + _joint_list.at(4).getId(), + _joint_list.at(5).getId()}); + + stepper_cmd.setMotorsId(std::vector{ + _joint_list.at(0).getId(), + _joint_list.at(1).getId(), + _joint_list.at(2).getId()}); + + std::vector stepper_params{0, 0, 0}; + std::vector dxl_params{0, 0, 0}; + + dynamixel_cmd.setParams(dxl_params); + stepper_cmd.setParams(stepper_params); + + _stepper->setStepperCommands(stepper_cmd); + _dynamixel->setDxlCommands(dynamixel_cmd); + sld.sleep(); + + // 6. Write sensor_offset_steps to file + set_motors_calibration_offsets(sensor_offset_ids, sensor_offset_steps); + + _stepper->startCalibration(false); + _joint_list.at(0).setNeedCalibration(false); + _joint_list.at(1).setNeedCalibration(false); + _joint_list.at(2).setNeedCalibration(false); +} + +bool CalibrationInterface::_can_process_manual_calibration(std::string &result_message) +{ + std::vector stepper_motor_state; + double gear_ratio, direction = 0.0; + + stepper_motor_state = _stepper->getStepperStates(); + + // 1. Check if motors firmware version is ok + for (int i = 0; i < stepper_motor_state.size(); i++) + { + std::string firmware_version = stepper_motor_state.at(i).getFirmwareVersion(); + if (firmware_version.length() == 0) + { + result_message = "Calibration Interface - No firmware version available for motor " + std::to_string(stepper_motor_state.at(i).getId()) + ". Make sure all motors are connected"; + ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str()); + return false; + } + if (std::stoi(firmware_version.substr(0, 1)) < 2) + { + result_message = "Calibration Interface - You need to upgrade stepper firmware for motor " + std::to_string(stepper_motor_state.at(i).getId()); + ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str()); + return false; + } + } + + // 2. Check if motor offset values have been previously saved (with auto calibration) + std::vector motor_id_list; + std::vector steps_list; + if (!get_motors_calibration_offsets(motor_id_list, steps_list)) + { + result_message = "Calibration Interface - You need to make one auto calibration before using the manual calibration"; + ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str()); + return false; + } + + // 3. Check if all connected motors have a motor offset value + for (int i = 0; i < stepper_motor_state.size(); i++) + { + for (int j = 0; j < motor_id_list.size(); j++) + { + if (motor_id_list.at(j) == stepper_motor_state.at(i).getId()) + { + break; + } + if (j == motor_id_list.size() - 1) + { + result_message = "Calibration Interface - Motor " + std::to_string(stepper_motor_state.at(i).getId()) + " does not have a saved offset value, " + "you need to do one auto calibration"; + ROS_WARN("Calibration Interface - Can't process manual calibration : %s", result_message.c_str()); + return false; + } + } + } + + return true; +} + +void CalibrationInterface::_send_calibration_offset(uint8_t id, int offset_to_send, int absolute_steps_at_offset_position) +{ + StepperDriver::StepperMotorCmd stepper_cmd; + + stepper_cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION_OFFSET); + + std::vector id_cmd = {id}; + std::vector params_cmd = {offset_to_send, absolute_steps_at_offset_position}; + + stepper_cmd.setMotorsId(id_cmd); + stepper_cmd.setParams(params_cmd); + _stepper->setStepperCommands(stepper_cmd); + // rest.sleep(); + id_cmd.clear(); + params_cmd.clear(); +} + +int CalibrationInterface::_manual_calibration() +{ + ros::Rate rest(0.5); + ros::Duration sld(0.2); + std::vector motor_id_list; + std::vector steps_list; + + if (!get_motors_calibration_offsets(motor_id_list, steps_list)) + { + return static_cast(e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_FAIL); + } + _stepper->startCalibration(true); + // 0. Torque ON for motor 2 + + int steps_per_rev = int(STEPPERS_MICROSTEPS * STEPPERS_MOTOR_STEPS_PER_REVOLUTION); + + for (int i = 0; i < motor_id_list.size(); i++) + { + int offset_to_send = 0; + int sensor_offset_steps = steps_list.at(i); + int absolute_steps_at_offset_position = 0; + + if (motor_id_list.at(i) == _joint_list.at(0).getId()) + { + offset_to_send = (sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_1, _gear_ratio_1, _direction_1)) % steps_per_rev; + if (offset_to_send < 0) + offset_to_send += steps_per_rev; + absolute_steps_at_offset_position = offset_to_send; + + _send_calibration_offset(_joint_list.at(0).getId(), offset_to_send, absolute_steps_at_offset_position); + _joint_list.at(0).setNeedCalibration(false); + sld.sleep(); + } + + else if (motor_id_list.at(i) == _joint_list.at(1).getId()) + { + offset_to_send = (sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_2, _gear_ratio_2, _direction_2)); + absolute_steps_at_offset_position = sensor_offset_steps; + + _send_calibration_offset(_joint_list.at(1).getId(), offset_to_send, absolute_steps_at_offset_position); + _joint_list.at(1).setNeedCalibration(false); + sld.sleep(); + } + + else if (motor_id_list.at(i) == _joint_list.at(2).getId()) + { + offset_to_send = sensor_offset_steps - rad_pos_to_steps(_offset_position_stepper_3, _gear_ratio_3, _direction_3); + absolute_steps_at_offset_position = sensor_offset_steps; + + _send_calibration_offset(_joint_list.at(2).getId(), offset_to_send, absolute_steps_at_offset_position); + _joint_list.at(2).setNeedCalibration(false); + sld.sleep(); + } + } + _stepper->startCalibration(false); +} diff --git a/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp b/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp new file mode 100644 index 000000000..ec15064e0 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/joint_state.cpp @@ -0,0 +1,83 @@ +/* + joint_state.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "joints_interface/joint_state.hpp" + +JointState::JointState(std::string name, uint8_t type, uint8_t id) : + _name(name), _id(id), _type(type) +{ + +} + +bool JointState::operator==(const JointState& m) const +{ + return((this->_type == m._type) && (this->_id == m._id)); +} + +std::string& JointState::getName() +{ + return _name; +} + +void JointState::setName(std::string& name) +{ + _name = name; +} + + +uint8_t JointState::getId() +{ + return _id; +} + +void JointState::setId(uint8_t id) +{ + _id = id; +} + +uint8_t JointState::getType() +{ + return _type; +} + +void JointState::setType(uint8_t type) +{ + _type = type; +} + +bool JointState::needCalibration() +{ + return _need_calibration; +} + +void JointState::setNeedCalibration(bool need_calibration) +{ + _need_calibration = need_calibration; +} + +void JointState::setPosition(double position) +{ + _position = position; +} + +double JointState::getPosition() +{ + return _position; +} + diff --git a/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp new file mode 100644 index 000000000..75479917a --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_core.cpp @@ -0,0 +1,262 @@ +/* + joints_hardware_interface_core.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "joints_interface/joints_interface_core.hpp" + +JointsInterfaceCore::JointsInterfaceCore( + boost::shared_ptr &dynamixel, + boost::shared_ptr &stepper) + : _stepper(stepper), _dynamixel(dynamixel) +{ + init(); +} + +void JointsInterfaceCore::init() +{ + initParams(); + startServices(); + startSubscribers(); + ROS_DEBUG("Joints Interface Core - Start joint hardware interface"); + _robot.reset(new JointHardwareInterface(_dynamixel, _stepper)); + + ROS_DEBUG("Joints Interface Core - Create controller manager"); + _cm.reset(new controller_manager::ControllerManager(_robot.get(), _nh)); + + _enable_control_loop = true; + _previous_state_learning_mode = true; + _reset_controller = false; + + ROS_DEBUG("Joints Interface Core - Starting ros control thread..."); + _ros_control_thread.reset(new std::thread(&JointsInterfaceCore::rosControlLoop, this)); + + ROS_INFO("Joints Interface Core - Started"); + _nh.setParam("/niryo_robot_joint_interface/initialized", true); +} + +void JointsInterfaceCore::initParams() +{ + _nh.getParam("/niryo_robot_hardware_interface/ros_control_loop_frequency", _ros_control_frequency); + _nh.getParam("/niryo_robot_hardware_interface/publish_learning_mode_frequency", _publish_learning_mode_frequency); + ROS_DEBUG("Joints Interface Core - Ros control loop frequency %f", _ros_control_frequency); + ROS_DEBUG("Joints Interface Core - Publish learning mode frequency : %f", _publish_learning_mode_frequency); +} + +void JointsInterfaceCore::startServices() +{ + _calibrate_motors_server = _nh.advertiseService("/niryo_robot/joints_interface/calibrate_motors", &JointsInterfaceCore::_callbackCalibrateMotors, this); + _request_new_calibration_server = _nh.advertiseService("/niryo_robot/joints_interface/request_new_calibration", &JointsInterfaceCore::_callbackRequestNewCalibration, this); + _activate_learning_mode_server = _nh.advertiseService("niryo_robot/learning_mode/activate", &JointsInterfaceCore::_callbackActivateLearningMode, this); + _reset_controller_server = _nh.advertiseService("/niryo_robot/joints_interface/steppers_reset_controller", &JointsInterfaceCore::_callbackResetController, this); +} + +void JointsInterfaceCore::startSubscribers() +{ + _trajectory_result_subscriber = _nh.subscribe("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory/result", + 10, &JointsInterfaceCore::_callbackTrajectoryResult, this); + _learning_mode_publisher = _nh.advertise("niryo_robot/learning_mode/state", 10); + _publish_learning_mode_thread.reset(new std::thread(boost::bind(&JointsInterfaceCore::_publishLearningMode, this))); +} + +void JointsInterfaceCore::rosControlLoop() +{ + ros::Time last_time = ros::Time::now(); + ros::Time current_time = ros::Time::now(); + ros::Duration elapsed_time; + ros::Rate control_loop_rate = ros::Rate(_ros_control_frequency); + while (ros::ok()) + { + if (_enable_control_loop) + { + _robot->read(); + current_time = ros::Time::now(); + elapsed_time = ros::Duration(current_time - last_time); + last_time = current_time; + + if (_reset_controller) + { + ROS_DEBUG("Joints Interface Core - Reset Controller"); + _robot->setCommandToCurrentPosition(); + _cm->update(ros::Time::now(), elapsed_time, true); + _reset_controller = false; + } + else + { + _cm->update(ros::Time::now(), elapsed_time, false); + } + if (!_previous_state_learning_mode) + { + _robot->write(); + } + control_loop_rate.sleep(); + } + } +} + +/* +* Problem : for joint_trajectory_controller, position command has no discontinuity +* --> If the stepper motor missed some steps, we need to start at current position (given by the encoder) +* So current real position != current trajectory command, we need a discontinuity in controller command. +* We have to reset controllers to start from sensor position. +* If we subscribe to trajectory /goal topic and reset when we receive a goal, it is often +* too late and trajectory will just be preempted. +* +* So, in order to start from encoder position, we need to reset controller before we send the goal. If you +* send a new goal, be sure to send a message on /joints_interface/steppers_reset_controller BEFORE sending the goal. +* +* This behavior is used in robot_commander node. +* +*/ +bool JointsInterfaceCore::_callbackResetController(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) +{ + ROS_DEBUG("Joints Interface Core - Reset Controller"); + _robot->setCommandToCurrentPosition(); // set current command to encoder position + _cm->update(ros::Time::now(), ros::Duration(0.00), true); // reset controllers to allow a discontinuity in position command + _robot->synchronizeMotors(true); + + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "Reset done"; + return true; +} + +void JointsInterfaceCore::_callbackTrajectoryResult(const control_msgs::FollowJointTrajectoryActionResult &msg) +{ + ROS_DEBUG("Joints Interface Core - Received trajectory RESULT"); + _robot->synchronizeMotors(false); +} + +bool JointsInterfaceCore::_callbackCalibrateMotors(niryo_robot_msgs::SetInt::Request &req, niryo_robot_msgs::SetInt::Response &res) +{ + ROS_DEBUG("Joints Interface Core - Received a calibration request"); + int calibration_mode = req.value; + std::string result_message = ""; + _enable_control_loop = false; + + int result = _robot->calibrateJoints(calibration_mode, result_message); + res.status = result; + res.message = result_message; + + // // special case here + // // we set flag learning_mode_on, but we don't activate from here + // // learning_mode should be activated in comm, AFTER motors have been calibrated + // // --> this fixes an issue where motors will jump back to a previous cmd after being calibrated + if (result == niryo_robot_msgs::CommandStatus::SUCCESS) + { + _previous_state_learning_mode = true; + _robot->activateLearningMode(); + _enable_control_loop = true; + } + return true; +} + +bool JointsInterfaceCore::_callbackRequestNewCalibration(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) +{ + ROS_DEBUG("Joints Interface Core - New calibration requested"); + _previous_state_learning_mode = true; + _robot->activateLearningMode(); + _robot->newCalibration(); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "Joints Interface Core - New calibration request has been made, you will be requested to confirm it."; + return true; +} + +/* + * Deactivating learning mode (= activating motors) is possible only if motors are calibrated + * Activating learning mode is also possible when waiting for calibration + */ +bool JointsInterfaceCore::_callbackActivateLearningMode(niryo_robot_msgs::SetBool::Request &req, niryo_robot_msgs::SetBool::Response &res) +{ + bool learning_mode_on = req.value; + activateLearningMode(req.value, res.status, res.message); + return true; +} + +void JointsInterfaceCore::activateLearningMode(bool learning_mode_on, int &resp_status, std::string &resp_message) +{ + std_msgs::Bool msg; + resp_message = " "; + + if (_robot->isCalibrationInProgress()) + { + resp_status = niryo_robot_msgs::CommandStatus::CALIBRATION_NOT_DONE; + resp_message = "Joints Interface Core - You can't activate/deactivate learning mode during motors calibration"; + return; + } + + if (_previous_state_learning_mode != learning_mode_on) + { + if (!learning_mode_on) + { + _reset_controller = true; + _robot->deactivateLearningMode(); + resp_message = "Deactivating learning mode"; + } + else + { + _robot->activateLearningMode(); + resp_message = "Activating learning mode"; + } + _previous_state_learning_mode = learning_mode_on; + msg.data = _previous_state_learning_mode; + _learning_mode_publisher.publish(msg); + } + else + { + resp_message = (learning_mode_on) ? "Learning mode already activated" : "Learning mode already deactivating"; + } + resp_status = niryo_robot_msgs::CommandStatus::SUCCESS; +} + +bool JointsInterfaceCore::getFreeDriveMode() +{ + return _previous_state_learning_mode; +} + +void JointsInterfaceCore::getCalibrationState(boost::shared_ptr &need_calibration, boost::shared_ptr &calibration_in_progress) +{ + (*need_calibration) = _robot->needCalibration(); + (*calibration_in_progress) = _robot->isCalibrationInProgress(); +} + +std::vector &JointsInterfaceCore::getJointsState() +{ + return _robot->getJointsState(); +} + +void JointsInterfaceCore::_publishLearningMode() +{ + ros::Rate publish_learning_mode_rate = ros::Rate(_publish_learning_mode_frequency); + while (ros::ok()) + { + std_msgs::Bool msg; + msg.data = _previous_state_learning_mode; + _learning_mode_publisher.publish(msg); + publish_learning_mode_rate.sleep(); + } +} + +std::string JointsInterfaceCore::jointIdToJointName(int id, uint8_t motor_type) +{ + return _robot->jointIdToJointName(id, motor_type); +} + + +void JointsInterfaceCore::sendMotorsParams() +{ + _robot->sendInitMotorsParams(); +} diff --git a/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp new file mode 100644 index 000000000..5c6d14ac5 --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/joints_interface_node.cpp @@ -0,0 +1,26 @@ +#include +#include +#include "joints_interface/joints_interface_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" +#include "stepper_driver/stepper_driver_core.hpp" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "joints_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + boost::shared_ptr dynamixel(new DynamixelDriver::DynamixelDriverCore()); + ros::Duration(1).sleep(); + + boost::shared_ptr stepper(new StepperDriver::StepperDriverCore()); + ros::Duration(1).sleep(); + + boost::shared_ptr joints(new JointsInterfaceCore(dynamixel, stepper)); + ros::waitForShutdown(); + + ROS_INFO("Joints Interface - Shutdown node"); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp b/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp new file mode 100644 index 000000000..cdd8c56ed --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/src/motor_offset_file_handler.cpp @@ -0,0 +1,112 @@ +/* + motor_offset_file_handler.h + Copyright (C) 2018 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "joints_interface/motor_offset_file_handler.hpp" + +#include "boost/filesystem.hpp" +#include +#include +#include + +bool get_motors_calibration_offsets(std::vector &motor_id_list, std::vector &steps_list) +{ + std::string file_name; + ros::param::get("/niryo_robot_hardware_interface/calibration_file", file_name); + + std::vector lines; + std::string current_line; + + std::ifstream offset_file(file_name.c_str()); + if (offset_file.is_open()) + { + while (std::getline(offset_file, current_line)) + { + try + { + size_t index = current_line.find(":"); + motor_id_list.push_back(stoi(current_line.substr(0, index))); + steps_list.push_back(stoi(current_line.erase(0, index + 1))); + } + catch (std::exception &e) + { + } + } + offset_file.close(); + } + else + { + ROS_WARN("Motor Offset - Unable to open file : %s", file_name.c_str()); + return false; + } + return true; +} + +bool set_motors_calibration_offsets(std::vector &motor_id_list, std::vector &steps_list) +{ + if (motor_id_list.size() != steps_list.size()) + { + return false; + } + std::string file_name; + ros::param::get("/niryo_robot_hardware_interface/calibration_file", file_name); + + size_t found = file_name.find_last_of("/"); + std::string folder_name = file_name.substr(0, found); + + boost::filesystem::path filepath(file_name); + boost::filesystem::path directory(folder_name); + + // Create dir if not exist + boost::system::error_code returned_error; + boost::filesystem::create_directories(directory, returned_error); + if (returned_error) + { + ROS_WARN("Motor Offset - Could not create directory : %s", folder_name.c_str()); + return false; + } + + // Create text to write + std::string text_to_write = ""; + for (int i = 0; i < motor_id_list.size(); i++) + { + text_to_write += std::to_string(motor_id_list.at(i)); + text_to_write += ":"; + text_to_write += std::to_string(steps_list.at(i)); + if (i < motor_id_list.size() - 1) + { + text_to_write += "\n"; + } + } + + // Write to file + std::ofstream offset_file(file_name.c_str()); + if (offset_file.is_open()) + { + ROS_DEBUG("Motor Offset - Writing calibration offsets to file : \n%s", text_to_write.c_str()); + offset_file << text_to_write.c_str(); + offset_file.close(); + } + else + { + ROS_WARN("Motor Offset - Unable to open file : %s", file_name.c_str()); + return false; + } + + return true; +} diff --git a/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp b/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp new file mode 100644 index 000000000..00cdfcdca --- /dev/null +++ b/niryo_robot_hardware_stack/joints_interface/test/joints_interface_test.cpp @@ -0,0 +1,356 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include +// #include + +#include +#include + +#include "niryo_robot_msgs/SetBool.h" +#include "niryo_robot_msgs/SetInt.h" + +#include +#include + +typedef actionlib::SimpleActionClient TrajClient; + +class JointsInterfaceTest +{ + +private: + ros::NodeHandle nh; + ros::ServiceClient learnig_mode_client; + ros::ServiceClient calibrate_motor_client; + + ros::Publisher reset_stepper_publisher; + + TrajClient *traj_client_; + + std::vector pose_start{0.2, 0.0, 0.25, 0.0, 1.57, 0}; + std::vector pick_pose{0.2, 0.1, 0.14, 0.0, 1.57, 0}; + std::vector place_pose{0.2, -0.1, 0.14, 0.0, 1.57, 0}; + +public: + JointsInterfaceTest() + { + + reset_stepper_publisher = nh.advertise("/niryo_robot/joints_interface/steppers_reset_controller", 1000); + learnig_mode_client = nh.serviceClient("niryo_robot/learning_mode/activate"); + calibrate_motor_client = nh.serviceClient("/niryo_robot/joints_interface/calibrate_motors"); + + traj_client_ = new TrajClient("/niryo_robot_follow_joint_trajectory_controller/follow_joint_trajectory", true); + + ROS_INFO(" Joint interface - Test - Calibrate motors"); + ros::Duration(1).sleep(); + niryo_robot_msgs::SetInt calibrate_srv; + calibrate_srv.request.value = 0; + if (calibrate_motor_client.call(calibrate_srv)) + { + ROS_INFO(" Joint interface - Test - Calibrate motor service return"); + } + ros::Duration(10).sleep(); + + ROS_INFO(" Joint interface - Test - Deactivate Learning Mode"); + niryo_robot_msgs::SetBool learning_mode_srv; + learning_mode_srv.request.value = false; + if (learnig_mode_client.call(learning_mode_srv)) + { + ROS_INFO(" Joint interface - Test - Learning mode Server return"); + } + ros::Duration(10).sleep(); + + // ROS_INFO(" Joint interface - Test - Activate Learning Mode"); + // learning_mode_srv.request.value = true; + // if(learnig_mode_client.call(learning_mode_srv)) + // { + // ROS_INFO(" Joint interface - Test - Learning mode Server return"); + // } + // ros::Duration(10).sleep(); + + // ROS_INFO(" Joint interface - Test - Deactivate Learning Mode"); + // learning_mode_srv.request.value = false; + // if(learnig_mode_client.call(learning_mode_srv)) + // { + // ROS_INFO(" Joint interface - Test - Learning mode Server return"); + // } + // ros::Duration(10).sleep(); + + ROS_INFO(" Joint interface - Test - Send trajectory"); + while (!traj_client_->waitForServer(ros::Duration(5.0))) + { + ROS_INFO(" Joint interface - Test - Waiting for the joint_trajectory_action server"); + } + + ROS_INFO(" Joint interface - Test - Reset Controller"); + std_msgs::Empty reset_controller_topic; + reset_stepper_publisher.publish(reset_controller_topic); + ros::Duration(0.05).sleep(); + startTrajectory(armExtensionTrajectory2()); + // Wait for trajectory completion + while (!getState().isDone() && ros::ok()) + { + usleep(50000); + } + // ros::Rate(10).sleep(); + + // startTrajectory(armExtensionTrajectory2()); + // // Wait for trajectory completion + // while(!getState().isDone() && ros::ok()) + // { + // usleep(50000); + // } + } + + void startTrajectory(control_msgs::FollowJointTrajectoryGoal goal) + { + // When to start the trajectory: 1s from now + goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0); + traj_client_->sendGoal(goal); + } + + control_msgs::FollowJointTrajectoryGoal armExtensionTrajectory() + { + //our goal variable + control_msgs::FollowJointTrajectoryGoal goal; + + // First, the joint names, which apply to all waypoints + goal.trajectory.joint_names.push_back("joint_1"); + goal.trajectory.joint_names.push_back("joint_2"); + goal.trajectory.joint_names.push_back("joint_3"); + goal.trajectory.joint_names.push_back("joint_4"); + goal.trajectory.joint_names.push_back("joint_5"); + goal.trajectory.joint_names.push_back("joint_6"); + ; + + // We will have two waypoints in this goal trajectory + goal.trajectory.points.resize(2); + + // First trajectory point + // Positions + int ind = 0; + goal.trajectory.points[ind].positions.resize(6); + goal.trajectory.points[ind].positions[0] = 0.0; + goal.trajectory.points[ind].positions[1] = 0.0; + goal.trajectory.points[ind].positions[2] = 0.0; + goal.trajectory.points[ind].positions[3] = 0.0; + goal.trajectory.points[ind].positions[4] = 0.0; + goal.trajectory.points[ind].positions[5] = 0.0; + // Velocities + goal.trajectory.points[ind].velocities.resize(6); + for (size_t j = 0; j < 6; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 1 second after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(1.0); + + // Second trajectory point + // Positions + ind += 1; + goal.trajectory.points[ind].positions.resize(6); + goal.trajectory.points[ind].positions[0] = 1.6; + goal.trajectory.points[ind].positions[1] = 0.0; + goal.trajectory.points[ind].positions[2] = 0.0; + goal.trajectory.points[ind].positions[3] = 0.0; + goal.trajectory.points[ind].positions[4] = 0.0; + goal.trajectory.points[ind].positions[5] = 0.0; + // Velocities + goal.trajectory.points[ind].velocities.resize(6); + for (size_t j = 0; j < 6; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 2 seconds after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(2.0); + + //we are done; return the goal + return goal; + } + + control_msgs::FollowJointTrajectoryGoal armExtensionTrajectory2() + { + //our goal variable + control_msgs::FollowJointTrajectoryGoal goal; + + // First, the joint names, which apply to all waypoints + goal.trajectory.joint_names.push_back("joint_1"); + goal.trajectory.joint_names.push_back("joint_2"); + goal.trajectory.joint_names.push_back("joint_3"); + goal.trajectory.joint_names.push_back("joint_4"); + goal.trajectory.joint_names.push_back("joint_5"); + goal.trajectory.joint_names.push_back("joint_6"); + + // We will have two waypoints in this goal trajectory + goal.trajectory.points.resize(1); + + // First trajectory point + // Positions + int ind = 0; + goal.trajectory.points[ind].positions.resize(6); + goal.trajectory.points[ind].positions[0] = 1.6; + goal.trajectory.points[ind].positions[1] = 0.0; + goal.trajectory.points[ind].positions[2] = 0.0; + goal.trajectory.points[ind].positions[3] = 0.0; + goal.trajectory.points[ind].positions[4] = 0.0; + goal.trajectory.points[ind].positions[5] = 0.0; + // goal.trajectory.points[ind].positions.resize(6); + // goal.trajectory.points[ind].positions[0] = 1.6; + // goal.trajectory.points[ind].positions[1] = 0.0; + // goal.trajectory.points[ind].positions[2] = 1.6; + // goal.trajectory.points[ind].positions[3] = -1.5; + // goal.trajectory.points[ind].positions[4] = -1.3; + // goal.trajectory.points[ind].positions[5] = -1; + // Velocities + goal.trajectory.points[ind].velocities.resize(6); + for (size_t j = 0; j < 6; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 1 second after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(1.0); + + // Second trajectory point + // Positions + // ind += 1; + // goal.trajectory.points[ind].positions.resize(6); + // goal.trajectory.points[ind].positions[0] = -0.3; + // goal.trajectory.points[ind].positions[1] = 0.2; + // goal.trajectory.points[ind].positions[2] = -0.1; + // goal.trajectory.points[ind].positions[3] = -1.2; + // goal.trajectory.points[ind].positions[4] = 1.5; + // goal.trajectory.points[ind].positions[5] = -0.3; + // // Velocities + // goal.trajectory.points[ind].velocities.resize(6); + // for (size_t j = 0; j < 6; ++j) + // { + // goal.trajectory.points[ind].velocities[j] = 0.0; + // } + // // To be reached 2 seconds after starting along the trajectory + // goal.trajectory.points[ind].time_from_start = ros::Duration(2.0); + + //we are done; return the goal + return goal; + } + + actionlib::SimpleClientGoalState getState() + { + return traj_client_->getState(); + } + + void test1() + { + ROS_INFO(" Joint interface - Test - Deactivate Learning Mod "); + ros::Rate pause_1(1); + ros::Rate pause_2(2); + activeFreeDriveMod(false); + pause_2.sleep(); + + ROS_INFO(" Joint interface - Test - Activate Learning Mod "); + activeFreeDriveMod(true); + pause_2.sleep(); + + ROS_INFO(" Joint interface - Test - Activate Learning Mod "); + activeFreeDriveMod(true); + pause_2.sleep(); + + ROS_INFO(" Joint interface - Test - Deactivate Learning Mod "); + activeFreeDriveMod(false); + pause_2.sleep(); + + ROS_INFO(" Joint interface - Test - Deactivate Learning Mod "); + activeFreeDriveMod(false); + pause_2.sleep(); + + ROS_INFO(" Joint interface - Test - Activate Learning Mod "); + activeFreeDriveMod(true); + pause_2.sleep(); + } + + void activeFreeDriveMod(bool active) + { + niryo_robot_msgs::SetBool msg; + msg.request.value = active; + if (learnig_mode_client.call(msg)) + { + ROS_INFO(" Joint interface - Test - Free Drive Server return "); + } + else + { + ROS_INFO(" Joint interface - Test - Free Drive error"); + } + } + + void test2() + { + ROS_INFO(" Joint interface - Test - Calibrate motors "); + niryo_robot_msgs::SetInt msg; + msg.request.value = 0; + if (calibrate_motor_client.call(msg)) + { + ROS_INFO(" Joint interface - Test - Calibrate motor Server return "); + } + else + { + ROS_INFO(" Joint interface - Test - Calibrate motor error"); + } + } + + // void test3() + // { + // activeFreeDriveMod(false); + // ROS_INFO(" Joint interface - Test - Move P "); + // moveP(place_pose); + + // } + + // void moveP(const std::vector &pose) + // { + // geometry_msgs::Pose target_pose; + // Eigen::Quaterniond quaternion_matrix; + + // target_pose.position.x = pose[0]; + // target_pose.position.y = pose[1]; + // target_pose.position.z = pose[2]; + // quaternion_matrix = + // Eigen::AngleAxisd(pose[3], Eigen::Vector3d::UnitZ()) + // * Eigen::AngleAxisd(pose[4], Eigen::Vector3d::UnitY()) + // * Eigen::AngleAxisd(pose[5], Eigen::Vector3d::UnitX()); + // target_pose.orientation.x = quaternion_matrix.x(); + // target_pose.orientation.y = quaternion_matrix.y(); + // target_pose.orientation.z = quaternion_matrix.z(); + // target_pose.orientation.w = quaternion_matrix.w(); + + // move_group->setPoseTarget(target_pose); + // move_group->plan(computed_plan); + + // std_msgs::Empty empty_msg; + // reset_stepper_publisher.publish(empty_msg); + // std::this_thread::sleep_for(std::chrono::milliseconds(50)); + + // move_group->move(); + + // } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "stepper_driver_test"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + JointsInterfaceTest test; + + ros::waitForShutdown(); + + ROS_INFO(" Joint interface - Test - shutdown node"); +} diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt b/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt new file mode 100644 index 000000000..e62e5de34 --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/CMakeLists.txt @@ -0,0 +1,57 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mcp_can_rpi) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED COMPONENTS + roscpp +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES mcp_can_rpi +) + +########### +## Build ## +########### + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(mcp_can_rpi + src/mcp_can_rpi.cpp +) + +add_dependencies(mcp_can_rpi ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE ) + +if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$") + message(STATUS "wiringPi library is required for mcp_can_rpi (ARM processor)") + target_link_libraries(mcp_can_rpi + ${catkin_LIBRARIES} + -lwiringPi -lrt + ) +else() + message(STATUS "wiringPi library not required") + target_link_libraries(mcp_can_rpi + ${catkin_LIBRARIES} + ) +endif() + +############# +## Install ## +############# +install(TARGETS mcp_can_rpi + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/README.md b/niryo_robot_hardware_stack/mcp_can_rpi/README.md new file mode 100644 index 000000000..48800af6e --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/README.md @@ -0,0 +1,14 @@ +# mcp\_can\_rpi + +Raspberry Pi library for MCP2515 module (CAN bus interface) through SPI GPIOs + +Forked from [MCP_CAN](https://github.com/coryjfowler/MCP_CAN_lib) library. + +The MCP2515 module is a SPI-CAN interface. The MCP_CAN library is using the SPI protocol on Arduino to program and use this module. It has been adapted here to work with the Raspberry Pi 4 GPIOs, using the SPI functions of the [wiringPi](http://wiringpi.com/) library. + +--- + +One of the main difference is we don't handle SPI Chip Select PIN. This is already done by the wiringPi library, and +all PINs for SPI are already predefined (spi channel 0 or 1). + +To poll the MCP2515 module (to see if there is any data to read), the _digitalRead_ function of wiringPi is used. diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h new file mode 100644 index 000000000..e866975c3 --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h @@ -0,0 +1,489 @@ +/* + mcp_can_dfs_rpi.h< + This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + --> Below the original license (from MCP_CAN library): + + mcp_can_dfs.h + 2012 Copyright (c) Seeed Technology Inc. All right reserved. + 2017 Copyright (c) Cory J. Fowler All Rights Reserved. + Author:Loovee + Contributor: Cory J. Fowler + 2017-09-25 + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110- + 1301 USA +*/ + +#ifndef MCP_CAN_DFS_RPI_H +#define MCP_CAN_DFS_RPI_H + +#include + +#ifndef INT32U +#define INT32U unsigned long +#endif + +#ifndef INT8U +#define INT8U uint8_t +#endif + +// if print debug information +#define DEBUG_MODE 0 + +/* + * Begin mt + */ +#define TIMEOUTVALUE 50 +#define MCP_SIDH 0 +#define MCP_SIDL 1 +#define MCP_EID8 2 +#define MCP_EID0 3 + +#define MCP_TXB_EXIDE_M 0x08 /* In TXBnSIDL */ +#define MCP_DLC_MASK 0x0F /* 4 LSBits */ +#define MCP_RTR_MASK 0x40 /* (1<<6) Bit 6 */ + +#define MCP_RXB_RX_ANY 0x60 +#define MCP_RXB_RX_EXT 0x40 +#define MCP_RXB_RX_STD 0x20 +#define MCP_RXB_RX_STDEXT 0x00 +#define MCP_RXB_RX_MASK 0x60 +#define MCP_RXB_BUKT_MASK (1<<2) + +/* +** Bits in the TXBnCTRL registers. +*/ +#define MCP_TXB_TXBUFE_M 0x80 +#define MCP_TXB_ABTF_M 0x40 +#define MCP_TXB_MLOA_M 0x20 +#define MCP_TXB_TXERR_M 0x10 +#define MCP_TXB_TXREQ_M 0x08 +#define MCP_TXB_TXIE_M 0x04 +#define MCP_TXB_TXP10_M 0x03 + +#define MCP_TXB_RTR_M 0x40 /* In TXBnDLC */ +#define MCP_RXB_IDE_M 0x08 /* In RXBnSIDL */ +#define MCP_RXB_RTR_M 0x40 /* In RXBnDLC */ + +#define MCP_STAT_RXIF_MASK (0x03) +#define MCP_STAT_RX0IF (1<<0) +#define MCP_STAT_RX1IF (1<<1) + +#define MCP_EFLG_RX1OVR (1<<7) +#define MCP_EFLG_RX0OVR (1<<6) +#define MCP_EFLG_TXBO (1<<5) +#define MCP_EFLG_TXEP (1<<4) +#define MCP_EFLG_RXEP (1<<3) +#define MCP_EFLG_TXWAR (1<<2) +#define MCP_EFLG_RXWAR (1<<1) +#define MCP_EFLG_EWARN (1<<0) +#define MCP_EFLG_ERRORMASK (0xF8) /* 5 MS-Bits */ + + +/* + * Define MCP2515 register addresses + */ +#define MCP_RXF0SIDH 0x00 +#define MCP_RXF0SIDL 0x01 +#define MCP_RXF0EID8 0x02 +#define MCP_RXF0EID0 0x03 +#define MCP_RXF1SIDH 0x04 +#define MCP_RXF1SIDL 0x05 +#define MCP_RXF1EID8 0x06 +#define MCP_RXF1EID0 0x07 +#define MCP_RXF2SIDH 0x08 +#define MCP_RXF2SIDL 0x09 +#define MCP_RXF2EID8 0x0A +#define MCP_RXF2EID0 0x0B +#define MCP_CANSTAT 0x0E +#define MCP_CANCTRL 0x0F +#define MCP_RXF3SIDH 0x10 +#define MCP_RXF3SIDL 0x11 +#define MCP_RXF3EID8 0x12 +#define MCP_RXF3EID0 0x13 +#define MCP_RXF4SIDH 0x14 +#define MCP_RXF4SIDL 0x15 +#define MCP_RXF4EID8 0x16 +#define MCP_RXF4EID0 0x17 +#define MCP_RXF5SIDH 0x18 +#define MCP_RXF5SIDL 0x19 +#define MCP_RXF5EID8 0x1A +#define MCP_RXF5EID0 0x1B +#define MCP_TEC 0x1C +#define MCP_REC 0x1D +#define MCP_RXM0SIDH 0x20 +#define MCP_RXM0SIDL 0x21 +#define MCP_RXM0EID8 0x22 +#define MCP_RXM0EID0 0x23 +#define MCP_RXM1SIDH 0x24 +#define MCP_RXM1SIDL 0x25 +#define MCP_RXM1EID8 0x26 +#define MCP_RXM1EID0 0x27 +#define MCP_CNF3 0x28 +#define MCP_CNF2 0x29 +#define MCP_CNF1 0x2A +#define MCP_CANINTE 0x2B +#define MCP_CANINTF 0x2C +#define MCP_EFLG 0x2D +#define MCP_TXB0CTRL 0x30 +#define MCP_TXB1CTRL 0x40 +#define MCP_TXB2CTRL 0x50 +#define MCP_RXB0CTRL 0x60 +#define MCP_RXB0SIDH 0x61 +#define MCP_RXB1CTRL 0x70 +#define MCP_RXB1SIDH 0x71 + + +#define MCP_TX_INT 0x1C // Enable all transmit interrup ts +#define MCP_TX01_INT 0x0C // Enable TXB0 and TXB1 interru pts +#define MCP_RX_INT 0x03 // Enable receive interrupts +#define MCP_NO_INT 0x00 // Disable all interrupts + +#define MCP_TX01_MASK 0x14 +#define MCP_TX_MASK 0x54 + +/* + * Define SPI Instruction Set + */ +#define MCP_WRITE 0x02 + +#define MCP_READ 0x03 + +#define MCP_BITMOD 0x05 + +#define MCP_LOAD_TX0 0x40 +#define MCP_LOAD_TX1 0x42 +#define MCP_LOAD_TX2 0x44 + +#define MCP_RTS_TX0 0x81 +#define MCP_RTS_TX1 0x82 +#define MCP_RTS_TX2 0x84 +#define MCP_RTS_ALL 0x87 + +#define MCP_READ_RX0 0x90 +#define MCP_READ_RX1 0x94 + +#define MCP_READ_STATUS 0xA0 + +#define MCP_RX_STATUS 0xB0 + +#define MCP_RESET 0xC0 + + +/* + * CANCTRL Register Values + */ +#define MCP_NORMAL 0x00 +#define MCP_SLEEP 0x20 +#define MCP_LOOPBACK 0x40 +#define MCP_LISTENONLY 0x60 +#define MODE_CONFIG 0x80 +#define MODE_POWERUP 0xE0 +#define MODE_MASK 0xE0 +#define ABORT_TX 0x10 +#define MODE_ONESHOT 0x08 +#define CLKOUT_ENABLE 0x04 +#define CLKOUT_DISABLE 0x00 +#define CLKOUT_PS1 0x00 +#define CLKOUT_PS2 0x01 +#define CLKOUT_PS4 0x02 +#define CLKOUT_PS8 0x03 + + +/* + * CNF1 Register Values + */ +#define SJW1 0x00 +#define SJW2 0x40 +#define SJW3 0x80 +#define SJW4 0xC0 + + +/* + * CNF2 Register Values + */ +#define BTLMODE 0x80 +#define SAMPLE_1X 0x00 +#define SAMPLE_3X 0x40 + + +/* + * CNF3 Register Values + */ +#define SOF_ENABLE 0x80 +#define SOF_DISABLE 0x00 +#define WAKFIL_ENABLE 0x40 +#define WAKFIL_DISABLE 0x00 + + +/* + * CANINTF Register Bits + */ +#define MCP_RX0IF 0x01 +#define MCP_RX1IF 0x02 +#define MCP_TX0IF 0x04 +#define MCP_TX1IF 0x08 +#define MCP_TX2IF 0x10 +#define MCP_ERRIF 0x20 +#define MCP_WAKIF 0x40 +#define MCP_MERRF 0x80 + + +/* + * Speed 8M + */ +#define MCP_8MHz_1000kBPS_CFG1 (0x00) +#define MCP_8MHz_1000kBPS_CFG2 (0x80) +#define MCP_8MHz_1000kBPS_CFG3 (0x80) + +#define MCP_8MHz_500kBPS_CFG1 (0x00) +#define MCP_8MHz_500kBPS_CFG2 (0x90) +#define MCP_8MHz_500kBPS_CFG3 (0x82) + +#define MCP_8MHz_250kBPS_CFG1 (0x00) +#define MCP_8MHz_250kBPS_CFG2 (0xB1) +#define MCP_8MHz_250kBPS_CFG3 (0x85) + +#define MCP_8MHz_200kBPS_CFG1 (0x00) +#define MCP_8MHz_200kBPS_CFG2 (0xB4) +#define MCP_8MHz_200kBPS_CFG3 (0x86) + +#define MCP_8MHz_125kBPS_CFG1 (0x01) +#define MCP_8MHz_125kBPS_CFG2 (0xB1) +#define MCP_8MHz_125kBPS_CFG3 (0x85) + +#define MCP_8MHz_100kBPS_CFG1 (0x01) +#define MCP_8MHz_100kBPS_CFG2 (0xB4) +#define MCP_8MHz_100kBPS_CFG3 (0x86) + +#define MCP_8MHz_80kBPS_CFG1 (0x01) +#define MCP_8MHz_80kBPS_CFG2 (0xBF) +#define MCP_8MHz_80kBPS_CFG3 (0x87) + +#define MCP_8MHz_50kBPS_CFG1 (0x03) +#define MCP_8MHz_50kBPS_CFG2 (0xB4) +#define MCP_8MHz_50kBPS_CFG3 (0x86) + +#define MCP_8MHz_40kBPS_CFG1 (0x03) +#define MCP_8MHz_40kBPS_CFG2 (0xBF) +#define MCP_8MHz_40kBPS_CFG3 (0x87) + +#define MCP_8MHz_33k3BPS_CFG1 (0x47) +#define MCP_8MHz_33k3BPS_CFG2 (0xE2) +#define MCP_8MHz_33k3BPS_CFG3 (0x85) + +#define MCP_8MHz_31k25BPS_CFG1 (0x07) +#define MCP_8MHz_31k25BPS_CFG2 (0xA4) +#define MCP_8MHz_31k25BPS_CFG3 (0x84) + +#define MCP_8MHz_20kBPS_CFG1 (0x07) +#define MCP_8MHz_20kBPS_CFG2 (0xBF) +#define MCP_8MHz_20kBPS_CFG3 (0x87) + +#define MCP_8MHz_10kBPS_CFG1 (0x0F) +#define MCP_8MHz_10kBPS_CFG2 (0xBF) +#define MCP_8MHz_10kBPS_CFG3 (0x87) + +#define MCP_8MHz_5kBPS_CFG1 (0x1F) +#define MCP_8MHz_5kBPS_CFG2 (0xBF) +#define MCP_8MHz_5kBPS_CFG3 (0x87) + +/* + * speed 16M + */ +#define MCP_16MHz_1000kBPS_CFG1 (0x00) +#define MCP_16MHz_1000kBPS_CFG2 (0xD0) +#define MCP_16MHz_1000kBPS_CFG3 (0x82) + +#define MCP_16MHz_500kBPS_CFG1 (0x00) +#define MCP_16MHz_500kBPS_CFG2 (0xF0) +#define MCP_16MHz_500kBPS_CFG3 (0x86) + +#define MCP_16MHz_250kBPS_CFG1 (0x41) +#define MCP_16MHz_250kBPS_CFG2 (0xF1) +#define MCP_16MHz_250kBPS_CFG3 (0x85) + +#define MCP_16MHz_200kBPS_CFG1 (0x01) +#define MCP_16MHz_200kBPS_CFG2 (0xFA) +#define MCP_16MHz_200kBPS_CFG3 (0x87) + +#define MCP_16MHz_125kBPS_CFG1 (0x03) +#define MCP_16MHz_125kBPS_CFG2 (0xF0) +#define MCP_16MHz_125kBPS_CFG3 (0x86) + +#define MCP_16MHz_100kBPS_CFG1 (0x03) +#define MCP_16MHz_100kBPS_CFG2 (0xFA) +#define MCP_16MHz_100kBPS_CFG3 (0x87) + +#define MCP_16MHz_80kBPS_CFG1 (0x03) +#define MCP_16MHz_80kBPS_CFG2 (0xFF) +#define MCP_16MHz_80kBPS_CFG3 (0x87) + +#define MCP_16MHz_50kBPS_CFG1 (0x07) +#define MCP_16MHz_50kBPS_CFG2 (0xFA) +#define MCP_16MHz_50kBPS_CFG3 (0x87) + +#define MCP_16MHz_40kBPS_CFG1 (0x07) +#define MCP_16MHz_40kBPS_CFG2 (0xFF) +#define MCP_16MHz_40kBPS_CFG3 (0x87) + +#define MCP_16MHz_33k3BPS_CFG1 (0x4E) +#define MCP_16MHz_33k3BPS_CFG2 (0xF1) +#define MCP_16MHz_33k3BPS_CFG3 (0x85) + +#define MCP_16MHz_20kBPS_CFG1 (0x0F) +#define MCP_16MHz_20kBPS_CFG2 (0xFF) +#define MCP_16MHz_20kBPS_CFG3 (0x87) + +#define MCP_16MHz_10kBPS_CFG1 (0x1F) +#define MCP_16MHz_10kBPS_CFG2 (0xFF) +#define MCP_16MHz_10kBPS_CFG3 (0x87) + +#define MCP_16MHz_5kBPS_CFG1 (0x3F) +#define MCP_16MHz_5kBPS_CFG2 (0xFF) +#define MCP_16MHz_5kBPS_CFG3 (0x87) + +/* + * speed 20M + */ +#define MCP_20MHz_1000kBPS_CFG1 (0x00) +#define MCP_20MHz_1000kBPS_CFG2 (0xD9) +#define MCP_20MHz_1000kBPS_CFG3 (0x82) + +#define MCP_20MHz_500kBPS_CFG1 (0x00) +#define MCP_20MHz_500kBPS_CFG2 (0xFA) +#define MCP_20MHz_500kBPS_CFG3 (0x87) + +#define MCP_20MHz_250kBPS_CFG1 (0x41) +#define MCP_20MHz_250kBPS_CFG2 (0xFB) +#define MCP_20MHz_250kBPS_CFG3 (0x86) + +#define MCP_20MHz_200kBPS_CFG1 (0x01) +#define MCP_20MHz_200kBPS_CFG2 (0xFF) +#define MCP_20MHz_200kBPS_CFG3 (0x87) + +#define MCP_20MHz_125kBPS_CFG1 (0x03) +#define MCP_20MHz_125kBPS_CFG2 (0xFA) +#define MCP_20MHz_125kBPS_CFG3 (0x87) + +#define MCP_20MHz_100kBPS_CFG1 (0x04) +#define MCP_20MHz_100kBPS_CFG2 (0xFA) +#define MCP_20MHz_100kBPS_CFG3 (0x87) + +#define MCP_20MHz_80kBPS_CFG1 (0x04) +#define MCP_20MHz_80kBPS_CFG2 (0xFF) +#define MCP_20MHz_80kBPS_CFG3 (0x87) + +#define MCP_20MHz_50kBPS_CFG1 (0x09) +#define MCP_20MHz_50kBPS_CFG2 (0xFA) +#define MCP_20MHz_50kBPS_CFG3 (0x87) + +#define MCP_20MHz_40kBPS_CFG1 (0x09) +#define MCP_20MHz_40kBPS_CFG2 (0xFF) +#define MCP_20MHz_40kBPS_CFG3 (0x87) + + +#define MCPDEBUG (0) +#define MCPDEBUG_TXBUF (0) +#define MCP_N_TXBUFFERS (3) + +#define MCP_RXBUF_0 (MCP_RXB0SIDH) +#define MCP_RXBUF_1 (MCP_RXB1SIDH) + +//#define MCP2515_SELECT() digitalWrite(MCPCS, LOW) +//#define MCP2515_UNSELECT() digitalWrite(MCPCS, HIGH) + +#define MCP2515_SELECT() // wiringPi already handles CS pin +#define MCP2515_UNSELECT() + +#define MCP2515_OK (0) +#define MCP2515_FAIL (1) +#define MCP_ALLTXBUSY (2) + +#define CANDEBUG 1 + +#define CANUSELOOP 0 + +#define CANSENDTIMEOUT (200) /* milliseconds */ + +/* + * initial value of gCANAutoProcess + */ +#define CANAUTOPROCESS (1) +#define CANAUTOON (1) +#define CANAUTOOFF (0) + +#define CAN_STDID (0) +#define CAN_EXTID (1) + +#define CANDEFAULTIDENT (0x55CC) +#define CANDEFAULTIDENTEXT (CAN_EXTID) + +#define MCP_STDEXT 0 /* Standard and Extended */ +#define MCP_STD 1 /* Standard IDs ONLY */ +#define MCP_EXT 2 /* Extended IDs ONLY */ +#define MCP_ANY 3 /* Disables Masks and Filters */ + +#define MCP_20MHZ 0 +#define MCP_16MHZ 1 +#define MCP_8MHZ 2 + +#define CAN_4K096BPS 0 +#define CAN_5KBPS 1 +#define CAN_10KBPS 2 +#define CAN_20KBPS 3 +#define CAN_31K25BPS 4 +#define CAN_33K3BPS 5 +#define CAN_40KBPS 6 +#define CAN_50KBPS 7 +#define CAN_80KBPS 8 +#define CAN_100KBPS 9 +#define CAN_125KBPS 10 +#define CAN_200KBPS 11 +#define CAN_250KBPS 12 +#define CAN_500KBPS 13 +#define CAN_1000KBPS 14 + +#define CAN_OK (0) +#define CAN_FAILINIT (1) +#define CAN_FAILTX (2) +#define CAN_MSGAVAIL (3) +#define CAN_NOMSG (4) +#define CAN_CTRLERROR (5) +#define CAN_GETTXBFTIMEOUT (6) +#define CAN_SENDMSGTIMEOUT (7) + +#define CAN_SPI_FAILINIT (10) +#define CAN_GPIO_FAILINIT (11) + +#define CAN_MAX_CHAR_IN_MESSAGE (8) + +#define CAN_INVALID_CMD (0xfe) +#define CAN_FAIL (0xff) + +#endif diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h new file mode 100644 index 000000000..0e16f5d42 --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h @@ -0,0 +1,169 @@ +/* + mcp_can_rpi.h + This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + --> Below the original license (from MCP_CAN library): + + mcp_can.h + 2012 Copyright (c) Seeed Technology Inc. All right reserved. + 2017 Copyright (c) Cory J. Fowler All Rights Reserved. + Author:Loovee + Contributor: Cory J. Fowler + 2017-09-25 + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110- + 1301 USA +*/ + + +#ifndef MCP_CAN_RPI_H +#define MCP_CAN_RPI_H + +#if defined __arm__ || defined __aarch64__ +#include +#include +#endif + +// for debug +#include + +#include + +#include "mcp_can_rpi/mcp_can_dfs_rpi.h" +#define MAX_CHAR_IN_MESSAGE 8 + +#define CAN_MODEL_NUMBER 10000 + +class MCP_CAN +{ + private: + + INT8U m_nExtFlg; // Identifier Type + // Extended (29 bit) or Standard (11 bit) + INT32U m_nID; // CAN ID + INT8U m_nDlc; // Data Length Code + INT8U m_nDta[MAX_CHAR_IN_MESSAGE]; // Data array + INT8U m_nRtr; // Remote request flag + INT8U m_nfilhit; // The number of the filter that matched the message + //INT8U MCPCS; (NOT NEEDED, wiringPi already handles CS pin) // Chip Select pin number + INT8U mcpMode; // Mode to return to after configurations are performed. + + int spi_channel; + int spi_baudrate; + INT8U gpio_can_interrupt; + +/********************************************************************************************************* + * mcp2515 driver function + *********************************************************************************************************/ + // private: + private: + + struct timespec delay_spi_can = {0}; + + void spiTransfer(uint8_t byte_number, unsigned char *buf); + + void mcp2515_reset(void); // Soft Reset MCP2515 + + INT8U mcp2515_readRegister(const INT8U address); // Read MCP2515 register + + void mcp2515_readRegisterS(const INT8U address, // Read MCP2515 successive registers + INT8U values[], + const INT8U n); + + void mcp2515_setRegister(const INT8U address, // Set MCP2515 register + const INT8U value); + + void mcp2515_setRegisterS(const INT8U address, // Set MCP2515 successive registers + const INT8U values[], + const INT8U n); + + void mcp2515_initCANBuffers(void); + + void mcp2515_modifyRegister(const INT8U address, // Set specific bit(s) of a register + const INT8U mask, + const INT8U data); + + INT8U mcp2515_readStatus(void); // Read MCP2515 Status + INT8U mcp2515_setCANCTRL_Mode(const INT8U newmode); // Set mode + INT8U mcp2515_configRate(const INT8U canSpeed, // Set baudrate + const INT8U canClock); + + INT8U mcp2515_init(const INT8U canIDMode, // Initialize Controller + const INT8U canSpeed, + const INT8U canClock); + + void mcp2515_write_mf( const INT8U mcp_addr, // Write CAN Mask or Filter + const INT8U ext, + const INT32U id ); + + void mcp2515_write_id( const INT8U mcp_addr, // Write CAN ID + const INT8U ext, + const INT32U id ); + + void mcp2515_read_id( const INT8U mcp_addr, // Read CAN ID + INT8U* ext, + INT32U* id ); + + void mcp2515_write_canMsg( const INT8U buffer_sidh_addr ); // Write CAN message + void mcp2515_read_canMsg( const INT8U buffer_sidh_addr); // Read CAN message + INT8U mcp2515_getNextFreeTXBuf(INT8U *txbuf_n); // Find empty transmit buffer + +/********************************************************************************************************* + * CAN operator function + *********************************************************************************************************/ + + INT8U setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, INT8U *pData); // Set message + INT8U clearMsg(); // Clear all message to zero + INT8U readMsg(); // Read message + INT8U sendMsg(); // Send message + +public: + MCP_CAN(int spi_channel, int spi_baudrate, INT8U gpio_can_interrupt); + INT8U begin(INT8U idmodeset, INT8U speedset, INT8U clockset); // Initilize controller prameters + INT8U init_Mask(INT8U num, INT8U ext, INT32U ulData); // Initilize Mask(s) + INT8U init_Mask(INT8U num, INT32U ulData); // Initilize Mask(s) + INT8U init_Filt(INT8U num, INT8U ext, INT32U ulData); // Initilize Filter(s) + INT8U init_Filt(INT8U num, INT32U ulData); // Initilize Filter(s) + INT8U setMode(INT8U opMode); // Set operational mode + INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); // Send message to transmit buffer + INT8U sendMsgBuf(INT32U id, INT8U len, INT8U *buf); // Send message to transmit buffer + INT8U readMsgBuf(INT32U *id, INT8U *ext, INT8U *len, INT8U *buf); // Read message from receive buffer + INT8U readMsgBuf(INT32U *id, INT8U *len, INT8U *buf); // Read message from receive buffer + INT8U checkReceive(void); // Check for received data + INT8U checkError(void); // Check for errors + INT8U getError(void); // Check for errors + INT8U errorCountRX(void); // Get error count + INT8U errorCountTX(void); // Get error count + INT8U enOneShotTX(void); // Enable one-shot transmission + INT8U disOneShotTX(void); // Disable one-shot transmission + + bool setupInterruptGpio(); + bool setupSpi(); + bool canReadData(); +}; + +#endif diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/package.xml b/niryo_robot_hardware_stack/mcp_can_rpi/package.xml new file mode 100644 index 000000000..b87c3b10a --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/package.xml @@ -0,0 +1,16 @@ + + + mcp_can_rpi + 1.0.0 + RPI library for MCP2515 module (CAN bus interface) through SPI GPIOs + Edouard Renard + Valentin Pitre + + GPLv3 + + catkin + roscpp + + + + diff --git a/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp b/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp new file mode 100644 index 000000000..961d2f3d7 --- /dev/null +++ b/niryo_robot_hardware_stack/mcp_can_rpi/src/mcp_can_rpi.cpp @@ -0,0 +1,1326 @@ +/* + mcp_can_rpi.cpp + This library is an adaptation of MCP_CAN library for Raspberry Pi 4b with wiringPi + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + --> Below the original license (from MCP_CAN library): + + mcp_can.cpp + 2012 Copyright (c) Seeed Technology Inc. All right reserved. + 2017 Copyright (c) Cory J. Fowler All Rights Reserved. + Author:Loovee + Contributor: Cory J. Fowler + 2017-09-25 + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110- + 1301 USA +*/ + +#include "mcp_can_rpi/mcp_can_rpi.h" + +/********************************************************************************************************* +** Function name: spiTransfer +** Descriptions: Performs a spi transfer on Raspberry Pi (using wiringPi) +*********************************************************************************************************/ +void MCP_CAN::spiTransfer(uint8_t byte_number, unsigned char *buf) +{ +#if defined __arm__ || defined __aarch64__ + wiringPiSPIDataRW(spi_channel, buf, byte_number); + nanosleep(&delay_spi_can, (struct timespec *)NULL); +#endif +} + +/********************************************************************************************************* +** Function name: setupInterruptGpio +** Descriptions: Setups interrupt GPIO pin as input on Raspberry Pi (using wiringPi) +*********************************************************************************************************/ +bool MCP_CAN::setupInterruptGpio() +{ +#if defined __arm__ || defined __aarch64__ + int result = wiringPiSetupGpio(); + if (!result) { + #if DEBUG_MODE + printf("Gpio started\n"); + #endif + } + else { + #if DEBUG_MODE + printf("Gpio startup fail\n"); + #endif + return false; + } + + pinMode(gpio_can_interrupt, INPUT); + nanosleep((const struct timespec[]){{0, 500000L}}, NULL); + return true; +#else + #if DEBUG_MODE + printf("Can't use GPIO on non-ARM processor"); + #endif + return false; +#endif +} + +/********************************************************************************************************* +** Function name: setupSpi +** Descriptions: Setups spi communication on Raspberry Pi (using wiringPi) +*********************************************************************************************************/ +bool MCP_CAN::setupSpi() +{ +#if defined __arm__ || defined __aarch64__ + int result_spi = wiringPiSPISetup(spi_channel, spi_baudrate); + #if DEBUG_MODE + printf("Started SPI : %d\n", result_spi); + #endif + if (result_spi < 0) { + return false; + } + nanosleep((const struct timespec[]){{0, 500000L}}, NULL); + return true; +#else + #if DEBUG_MODE + printf("Can't use SPI on non-ARM processor"); + #endif + return false; +#endif +} + +/********************************************************************************************************* +** Function name: canReadData +** Descriptions: Checks GPIO interrupt pin to see if data is available (using wiringPi) +*********************************************************************************************************/ +bool MCP_CAN::canReadData() +{ +#if defined __arm__ || defined __aarch64__ + return !digitalRead(gpio_can_interrupt); +#else + return false; +#endif +} + +/********************************************************************************************************* +** Function name: mcp2515_reset +** Descriptions: Performs a software reset +*********************************************************************************************************/ +void MCP_CAN::mcp2515_reset(void) +{ + unsigned char cmd[1] = { MCP_RESET }; + spiTransfer(1, cmd); + + nanosleep((const struct timespec[]){{0, 10000L}}, NULL); +} + +/********************************************************************************************************* +** Function name: mcp2515_readRegister +** Descriptions: Read data register +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_readRegister(const INT8U address) +{ + INT8U ret; + + unsigned char buf[3] = { MCP_READ, address, 0x00 }; + spiTransfer(3, buf); + ret = buf[2]; + + return ret; +} + +/********************************************************************************************************* +** Function name: mcp2515_readRegisterS +** Descriptions: Reads sucessive data registers +*********************************************************************************************************/ +void MCP_CAN::mcp2515_readRegisterS(const INT8U address, INT8U values[], const INT8U n) +{ + INT8U i; + + int buf_size = 2 + n; + unsigned char buf[buf_size] = { 0x00 }; + buf[0] = MCP_READ; + buf[1] = address; + + spiTransfer(buf_size, buf); + + // mcp2515 has auto-increment of address-pointer + for (i = 0 ; i < n ; ++i) { + values[i] = buf[i+2]; + } +} + +/********************************************************************************************************* +** Function name: mcp2515_setRegister +** Descriptions: Sets data register +*********************************************************************************************************/ +void MCP_CAN::mcp2515_setRegister(const INT8U address, const INT8U value) +{ + unsigned char buf[3] = { MCP_WRITE, address, value }; + spiTransfer(3, buf); +} + +/********************************************************************************************************* +** Function name: mcp2515_setRegisterS +** Descriptions: Sets sucessive data registers +*********************************************************************************************************/ +void MCP_CAN::mcp2515_setRegisterS(const INT8U address, const INT8U values[], const INT8U n) +{ + INT8U i; + + int buf_size = 2 + n; + unsigned char buf[buf_size]; + buf[0] = MCP_WRITE; + buf[1] = address; + for (i = 0; i < n ; ++i) { + buf[i+2] = values[i]; + } + + spiTransfer(buf_size, buf); +} + +/********************************************************************************************************* +** Function name: mcp2515_modifyRegister +** Descriptions: Sets specific bits of a register +*********************************************************************************************************/ +void MCP_CAN::mcp2515_modifyRegister(const INT8U address, const INT8U mask, const INT8U data) +{ + unsigned char buf[4] = { MCP_BITMOD, address, mask, data }; + spiTransfer(4, buf); +} + +/********************************************************************************************************* +** Function name: mcp2515_readStatus +** Descriptions: Reads status register +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_readStatus(void) +{ + INT8U i; + + unsigned char buf[2] = { MCP_READ_STATUS, 0x00 }; + spiTransfer(2, buf); + i = buf[1]; + + return i; +} + +/********************************************************************************************************* +** Function name: setMode +** Descriptions: Sets control mode +*********************************************************************************************************/ +INT8U MCP_CAN::setMode(const INT8U opMode) +{ + mcpMode = opMode; + return mcp2515_setCANCTRL_Mode(mcpMode); +} + +/********************************************************************************************************* +** Function name: mcp2515_setCANCTRL_Mode +** Descriptions: Set control mode +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_setCANCTRL_Mode(const INT8U newmode) +{ + INT8U i; + + mcp2515_modifyRegister(MCP_CANCTRL, MODE_MASK, newmode); + + i = mcp2515_readRegister(MCP_CANCTRL); + i &= MODE_MASK; + + if ( i == newmode ) + return MCP2515_OK; + + return MCP2515_FAIL; +} + +/********************************************************************************************************* +** Function name: mcp2515_configRate +** Descriptions: Set baudrate +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_configRate(const INT8U canSpeed, const INT8U canClock) +{ + INT8U set, cfg1, cfg2, cfg3; + set = 1; + switch (canClock) + { + case (MCP_8MHZ): + switch (canSpeed) + { + case (CAN_5KBPS): // 5KBPS + cfg1 = MCP_8MHz_5kBPS_CFG1; + cfg2 = MCP_8MHz_5kBPS_CFG2; + cfg3 = MCP_8MHz_5kBPS_CFG3; + break; + + case (CAN_10KBPS): // 10KBPS + cfg1 = MCP_8MHz_10kBPS_CFG1; + cfg2 = MCP_8MHz_10kBPS_CFG2; + cfg3 = MCP_8MHz_10kBPS_CFG3; + break; + + case (CAN_20KBPS): // 20KBPS + cfg1 = MCP_8MHz_20kBPS_CFG1; + cfg2 = MCP_8MHz_20kBPS_CFG2; + cfg3 = MCP_8MHz_20kBPS_CFG3; + break; + + case (CAN_31K25BPS): // 31.25KBPS + cfg1 = MCP_8MHz_31k25BPS_CFG1; + cfg2 = MCP_8MHz_31k25BPS_CFG2; + cfg3 = MCP_8MHz_31k25BPS_CFG3; + break; + + case (CAN_33K3BPS): // 33.33KBPS + cfg1 = MCP_8MHz_33k3BPS_CFG1; + cfg2 = MCP_8MHz_33k3BPS_CFG2; + cfg3 = MCP_8MHz_33k3BPS_CFG3; + break; + + case (CAN_40KBPS): // 40Kbps + cfg1 = MCP_8MHz_40kBPS_CFG1; + cfg2 = MCP_8MHz_40kBPS_CFG2; + cfg3 = MCP_8MHz_40kBPS_CFG3; + break; + + case (CAN_50KBPS): // 50Kbps + cfg1 = MCP_8MHz_50kBPS_CFG1; + cfg2 = MCP_8MHz_50kBPS_CFG2; + cfg3 = MCP_8MHz_50kBPS_CFG3; + break; + + case (CAN_80KBPS): // 80Kbps + cfg1 = MCP_8MHz_80kBPS_CFG1; + cfg2 = MCP_8MHz_80kBPS_CFG2; + cfg3 = MCP_8MHz_80kBPS_CFG3; + break; + + case (CAN_100KBPS): // 100Kbps + cfg1 = MCP_8MHz_100kBPS_CFG1; + cfg2 = MCP_8MHz_100kBPS_CFG2; + cfg3 = MCP_8MHz_100kBPS_CFG3; + break; + + case (CAN_125KBPS): // 125Kbps + cfg1 = MCP_8MHz_125kBPS_CFG1; + cfg2 = MCP_8MHz_125kBPS_CFG2; + cfg3 = MCP_8MHz_125kBPS_CFG3; + break; + + case (CAN_200KBPS): // 200Kbps + cfg1 = MCP_8MHz_200kBPS_CFG1; + cfg2 = MCP_8MHz_200kBPS_CFG2; + cfg3 = MCP_8MHz_200kBPS_CFG3; + break; + + case (CAN_250KBPS): // 250Kbps + cfg1 = MCP_8MHz_250kBPS_CFG1; + cfg2 = MCP_8MHz_250kBPS_CFG2; + cfg3 = MCP_8MHz_250kBPS_CFG3; + break; + + case (CAN_500KBPS): // 500Kbps + cfg1 = MCP_8MHz_500kBPS_CFG1; + cfg2 = MCP_8MHz_500kBPS_CFG2; + cfg3 = MCP_8MHz_500kBPS_CFG3; + break; + + case (CAN_1000KBPS): // 1Mbps + cfg1 = MCP_8MHz_1000kBPS_CFG1; + cfg2 = MCP_8MHz_1000kBPS_CFG2; + cfg3 = MCP_8MHz_1000kBPS_CFG3; + break; + + default: + set = 0; + return MCP2515_FAIL; + break; + } + break; + + case (MCP_16MHZ): + switch (canSpeed) + { + case (CAN_5KBPS): // 5Kbps + cfg1 = MCP_16MHz_5kBPS_CFG1; + cfg2 = MCP_16MHz_5kBPS_CFG2; + cfg3 = MCP_16MHz_5kBPS_CFG3; + break; + + case (CAN_10KBPS): // 10Kbps + cfg1 = MCP_16MHz_10kBPS_CFG1; + cfg2 = MCP_16MHz_10kBPS_CFG2; + cfg3 = MCP_16MHz_10kBPS_CFG3; + break; + + case (CAN_20KBPS): // 20Kbps + cfg1 = MCP_16MHz_20kBPS_CFG1; + cfg2 = MCP_16MHz_20kBPS_CFG2; + cfg3 = MCP_16MHz_20kBPS_CFG3; + break; + + case (CAN_33K3BPS): // 20Kbps + cfg1 = MCP_16MHz_33k3BPS_CFG1; + cfg2 = MCP_16MHz_33k3BPS_CFG2; + cfg3 = MCP_16MHz_33k3BPS_CFG3; + break; + + case (CAN_40KBPS): // 40Kbps + cfg1 = MCP_16MHz_40kBPS_CFG1; + cfg2 = MCP_16MHz_40kBPS_CFG2; + cfg3 = MCP_16MHz_40kBPS_CFG3; + break; + + case (CAN_50KBPS): // 50Kbps + cfg2 = MCP_16MHz_50kBPS_CFG2; + cfg3 = MCP_16MHz_50kBPS_CFG3; + break; + + case (CAN_80KBPS): // 80Kbps + cfg1 = MCP_16MHz_80kBPS_CFG1; + cfg2 = MCP_16MHz_80kBPS_CFG2; + cfg3 = MCP_16MHz_80kBPS_CFG3; + break; + + case (CAN_100KBPS): // 100Kbps + cfg1 = MCP_16MHz_100kBPS_CFG1; + cfg2 = MCP_16MHz_100kBPS_CFG2; + cfg3 = MCP_16MHz_100kBPS_CFG3; + break; + + case (CAN_125KBPS): // 125Kbps + cfg1 = MCP_16MHz_125kBPS_CFG1; + cfg2 = MCP_16MHz_125kBPS_CFG2; + cfg3 = MCP_16MHz_125kBPS_CFG3; + break; + + case (CAN_200KBPS): // 200Kbps + cfg1 = MCP_16MHz_200kBPS_CFG1; + cfg2 = MCP_16MHz_200kBPS_CFG2; + cfg3 = MCP_16MHz_200kBPS_CFG3; + break; + + case (CAN_250KBPS): // 250Kbps + cfg1 = MCP_16MHz_250kBPS_CFG1; + cfg2 = MCP_16MHz_250kBPS_CFG2; + cfg3 = MCP_16MHz_250kBPS_CFG3; + break; + + case (CAN_500KBPS): // 500Kbps + cfg1 = MCP_16MHz_500kBPS_CFG1; + cfg2 = MCP_16MHz_500kBPS_CFG2; + cfg3 = MCP_16MHz_500kBPS_CFG3; + break; + + case (CAN_1000KBPS): // 1Mbps + cfg1 = MCP_16MHz_1000kBPS_CFG1; + cfg2 = MCP_16MHz_1000kBPS_CFG2; + cfg3 = MCP_16MHz_1000kBPS_CFG3; + break; + + default: + set = 0; + return MCP2515_FAIL; + break; + } + break; + + case (MCP_20MHZ): + switch (canSpeed) + { + case (CAN_40KBPS): // 40Kbps + cfg1 = MCP_20MHz_40kBPS_CFG1; + cfg2 = MCP_20MHz_40kBPS_CFG2; + cfg3 = MCP_20MHz_40kBPS_CFG3; + break; + + case (CAN_50KBPS): // 50Kbps + cfg1 = MCP_20MHz_50kBPS_CFG1; + cfg2 = MCP_20MHz_50kBPS_CFG2; + cfg3 = MCP_20MHz_50kBPS_CFG3; + break; + + case (CAN_80KBPS): // 80Kbps + cfg1 = MCP_20MHz_80kBPS_CFG1; + cfg2 = MCP_20MHz_80kBPS_CFG2; + cfg3 = MCP_20MHz_80kBPS_CFG3; + break; + + case (CAN_100KBPS): // 100Kbps + cfg1 = MCP_20MHz_100kBPS_CFG1; + cfg2 = MCP_20MHz_100kBPS_CFG2; + cfg3 = MCP_20MHz_100kBPS_CFG3; + break; + + case (CAN_125KBPS): // 125Kbps + cfg1 = MCP_20MHz_125kBPS_CFG1; + cfg2 = MCP_20MHz_125kBPS_CFG2; + cfg3 = MCP_20MHz_125kBPS_CFG3; + break; + + case (CAN_200KBPS): // 200Kbps + cfg1 = MCP_20MHz_200kBPS_CFG1; + cfg2 = MCP_20MHz_200kBPS_CFG2; + cfg3 = MCP_20MHz_200kBPS_CFG3; + break; + + case (CAN_250KBPS): // 250Kbps + cfg1 = MCP_20MHz_250kBPS_CFG1; + cfg2 = MCP_20MHz_250kBPS_CFG2; + cfg3 = MCP_20MHz_250kBPS_CFG3; + break; + + case (CAN_500KBPS): // 500Kbps + cfg1 = MCP_20MHz_500kBPS_CFG1; + cfg2 = MCP_20MHz_500kBPS_CFG2; + cfg3 = MCP_20MHz_500kBPS_CFG3; + break; + + case (CAN_1000KBPS): // 1Mbps + cfg1 = MCP_20MHz_1000kBPS_CFG1; + cfg2 = MCP_20MHz_1000kBPS_CFG2; + cfg3 = MCP_20MHz_1000kBPS_CFG3; + break; + + default: + set = 0; + return MCP2515_FAIL; + break; + } + break; + + default: + set = 0; + return MCP2515_FAIL; + break; + } + + if (set) { + mcp2515_setRegister(MCP_CNF1, cfg1); + mcp2515_setRegister(MCP_CNF2, cfg2); + mcp2515_setRegister(MCP_CNF3, cfg3); + return MCP2515_OK; + } + + return MCP2515_FAIL; +} + +/********************************************************************************************************* +** Function name: mcp2515_initCANBuffers +** Descriptions: Initialize Buffers, Masks, and Filters +*********************************************************************************************************/ +void MCP_CAN::mcp2515_initCANBuffers(void) +{ + INT8U i, a1, a2, a3; + + INT8U std = 0; + INT8U ext = 1; + INT32U ulMask = 0x00, ulFilt = 0x00; + + + mcp2515_write_mf(MCP_RXM0SIDH, ext, ulMask); /*Set both masks to 0 */ + mcp2515_write_mf(MCP_RXM1SIDH, ext, ulMask); /*Mask register ignores ext bit */ + + /* Set all filters to 0 */ + mcp2515_write_mf(MCP_RXF0SIDH, ext, ulFilt); /* RXB0: extended */ + mcp2515_write_mf(MCP_RXF1SIDH, std, ulFilt); /* RXB1: standard */ + mcp2515_write_mf(MCP_RXF2SIDH, ext, ulFilt); /* RXB2: extended */ + mcp2515_write_mf(MCP_RXF3SIDH, std, ulFilt); /* RXB3: standard */ + mcp2515_write_mf(MCP_RXF4SIDH, ext, ulFilt); + mcp2515_write_mf(MCP_RXF5SIDH, std, ulFilt); + + /* Clear, deactivate the three */ + /* transmit buffers */ + /* TXBnCTRL -> TXBnD7 */ + a1 = MCP_TXB0CTRL; + a2 = MCP_TXB1CTRL; + a3 = MCP_TXB2CTRL; + for (i = 0; i < 14; i++) { /* in-buffer loop */ + mcp2515_setRegister(a1, 0); + mcp2515_setRegister(a2, 0); + mcp2515_setRegister(a3, 0); + a1++; + a2++; + a3++; + } + mcp2515_setRegister(MCP_RXB0CTRL, 0); + mcp2515_setRegister(MCP_RXB1CTRL, 0); +} + +/********************************************************************************************************* +** Function name: mcp2515_init +** Descriptions: Initialize the controller +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_init(const INT8U canIDMode, const INT8U canSpeed, const INT8U canClock) +{ + + INT8U res; + + mcp2515_reset(); + + mcpMode = MCP_LOOPBACK; + + res = mcp2515_setCANCTRL_Mode(MODE_CONFIG); + if(res > 0) + { +#if DEBUG_MODE + printf("Entering Configuration Mode Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Entering Configuration Mode Successful!\r\n"); +#endif + + // Set Baudrate + if(mcp2515_configRate(canSpeed, canClock)) + { +#if DEBUG_MODE + printf("Setting Baudrate Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Setting Baudrate Successful!\r\n"); +#endif + + if ( res == MCP2515_OK ) { + + /* init canbuffers */ + mcp2515_initCANBuffers(); + + /* interrupt mode */ + mcp2515_setRegister(MCP_CANINTE, MCP_RX0IF | MCP_RX1IF); + + switch(canIDMode) + { + case (MCP_ANY): + mcp2515_modifyRegister(MCP_RXB0CTRL, + MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, + MCP_RXB_RX_ANY | MCP_RXB_BUKT_MASK); + mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK, + MCP_RXB_RX_ANY); + break; +/* The followingn two functions of the MCP2515 do not work, there is a bug in the silicon. + case (MCP_STD): + mcp2515_modifyRegister(MCP_RXB0CTRL, + MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, + MCP_RXB_RX_STD | MCP_RXB_BUKT_MASK ); + mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK, + MCP_RXB_RX_STD); + break; + case (MCP_EXT): + mcp2515_modifyRegister(MCP_RXB0CTRL, + MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, + MCP_RXB_RX_EXT | MCP_RXB_BUKT_MASK ); + mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK, + MCP_RXB_RX_EXT); + break; +*/ + case (MCP_STDEXT): + mcp2515_modifyRegister(MCP_RXB0CTRL, + MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, + MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK ); + mcp2515_modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK, + MCP_RXB_RX_STDEXT); + break; + + default: +#if DEBUG_MODE + printf("`Setting ID Mode Failure...\r\n"); +#endif + return MCP2515_FAIL; + break; +} + + + res = mcp2515_setCANCTRL_Mode(mcpMode); + if(res) + { +#if DEBUG_MODE + printf("Returning to Previous Mode Failure...\r\n"); +#endif + return res; + } + + } + return res; + +} + +/********************************************************************************************************* +** Function name: mcp2515_write_id +** Descriptions: Write CAN ID +*********************************************************************************************************/ +void MCP_CAN::mcp2515_write_id( const INT8U mcp_addr, const INT8U ext, const INT32U id ) +{ + uint16_t canid; + INT8U tbufdata[4]; + + canid = (uint16_t)(id & 0x0FFFF); + + if ( ext == 1) + { + tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF); + tbufdata[MCP_EID8] = (INT8U) (canid >> 8); + canid = (uint16_t)(id >> 16); + tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03); + tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3); + tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M; + tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 ); + } + else + { + tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 ); + tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07 ) << 5); + tbufdata[MCP_EID0] = 0; + tbufdata[MCP_EID8] = 0; + } + + mcp2515_setRegisterS( mcp_addr, tbufdata, 4 ); +} + +/********************************************************************************************************* +** Function name: mcp2515_write_mf +** Descriptions: Write Masks and Filters +*********************************************************************************************************/ +void MCP_CAN::mcp2515_write_mf( const INT8U mcp_addr, const INT8U ext, const INT32U id ) +{ + uint16_t canid; + INT8U tbufdata[4]; + + canid = (uint16_t)(id & 0x0FFFF); + + if ( ext == 1) + { + tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF); + tbufdata[MCP_EID8] = (INT8U) (canid >> 8); + canid = (uint16_t)(id >> 16); + tbufdata[MCP_SIDL] = (INT8U) (canid & 0x03); + tbufdata[MCP_SIDL] += (INT8U) ((canid & 0x1C) << 3); + tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M; + tbufdata[MCP_SIDH] = (INT8U) (canid >> 5 ); + } + else + { + tbufdata[MCP_EID0] = (INT8U) (canid & 0xFF); + tbufdata[MCP_EID8] = (INT8U) (canid >> 8); + canid = (uint16_t)(id >> 16); + tbufdata[MCP_SIDL] = (INT8U) ((canid & 0x07) << 5); + tbufdata[MCP_SIDH] = (INT8U) (canid >> 3 ); + } + + mcp2515_setRegisterS( mcp_addr, tbufdata, 4 ); +} + +/********************************************************************************************************* +** Function name: mcp2515_read_id +** Descriptions: Read CAN ID +*********************************************************************************************************/ +void MCP_CAN::mcp2515_read_id( const INT8U mcp_addr, INT8U* ext, INT32U* id ) +{ + INT8U tbufdata[4]; + + *ext = 0; + *id = 0; + + mcp2515_readRegisterS( mcp_addr, tbufdata, 4 ); + + *id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5); + + if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) == MCP_TXB_EXIDE_M ) + { + /* extended id */ + *id = (*id<<2) + (tbufdata[MCP_SIDL] & 0x03); + *id = (*id<<8) + tbufdata[MCP_EID8]; + *id = (*id<<8) + tbufdata[MCP_EID0]; + *ext = 1; + } +} + +/********************************************************************************************************* +** Function name: mcp2515_write_canMsg +** Descriptions: Write message +*********************************************************************************************************/ +void MCP_CAN::mcp2515_write_canMsg( const INT8U buffer_sidh_addr) +{ + INT8U mcp_addr; + mcp_addr = buffer_sidh_addr; + mcp2515_setRegisterS(mcp_addr+5, m_nDta, m_nDlc ); /* write data bytes */ + + if ( m_nRtr == 1) /* if RTR set bit in byte */ + m_nDlc |= MCP_RTR_MASK; + + mcp2515_setRegister((mcp_addr+4), m_nDlc ); /* write the RTR and DLC */ + mcp2515_write_id(mcp_addr, m_nExtFlg, m_nID ); /* write CAN id */ + +} + +/********************************************************************************************************* +** Function name: mcp2515_read_canMsg +** Descriptions: Read message +*********************************************************************************************************/ +void MCP_CAN::mcp2515_read_canMsg( const INT8U buffer_sidh_addr) /* read can msg */ +{ + INT8U mcp_addr, ctrl; + + mcp_addr = buffer_sidh_addr; + + mcp2515_read_id( mcp_addr, &m_nExtFlg,&m_nID ); + + ctrl = mcp2515_readRegister( mcp_addr-1 ); + m_nDlc = mcp2515_readRegister( mcp_addr+4 ); + + if (ctrl & 0x08) + m_nRtr = 1; + else + m_nRtr = 0; + + m_nDlc &= MCP_DLC_MASK; + mcp2515_readRegisterS( mcp_addr+5, &(m_nDta[0]), m_nDlc ); +} + +/********************************************************************************************************* +** Function name: mcp2515_getNextFreeTXBuf +** Descriptions: Send message +*********************************************************************************************************/ +INT8U MCP_CAN::mcp2515_getNextFreeTXBuf(INT8U *txbuf_n) /* get Next free txbuf */ +{ + INT8U res, i, ctrlval; + INT8U ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL }; + + res = MCP_ALLTXBUSY; + *txbuf_n = 0x00; + + /* check all 3 TX-Buffers */ + for (i=0; ispi_channel = spi_channel; + this->spi_baudrate = spi_baudrate; + this->gpio_can_interrupt = gpio_can_interrupt; + + delay_spi_can.tv_sec = 0; + delay_spi_can.tv_nsec = 5000L; // wait 5 microseconds between 2 spi transfers +} + +/********************************************************************************************************* +** Function name: begin +** Descriptions: Public function to declare controller initialization parameters. +*********************************************************************************************************/ +INT8U MCP_CAN::begin(INT8U idmodeset, INT8U speedset, INT8U clockset) +{ + INT8U res; + + res = mcp2515_init(idmodeset, speedset, clockset); + if (res == MCP2515_OK) + return CAN_OK; + + return CAN_FAILINIT; +} + +/********************************************************************************************************* +** Function name: init_Mask +** Descriptions: Public function to set mask(s). +*********************************************************************************************************/ +INT8U MCP_CAN::init_Mask(INT8U num, INT8U ext, INT32U ulData) +{ + INT8U res = MCP2515_OK; +#if DEBUG_MODE + printf("Starting to Set Mask!\r\n"); +#endif + res = mcp2515_setCANCTRL_Mode(MODE_CONFIG); + if(res > 0){ +#if DEBUG_MODE + printf("Entering Configuration Mode Failure...\r\n"); +#endif + return res; +} + + if (num == 0){ + mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData); + + } + else if(num == 1){ + mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData); + } + else res = MCP2515_FAIL; + + res = mcp2515_setCANCTRL_Mode(mcpMode); + if(res > 0){ +#if DEBUG_MODE + printf("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Setting Mask Successful!\r\n"); +#endif + return res; +} + +/********************************************************************************************************* +** Function name: init_Mask +** Descriptions: Public function to set mask(s). +*********************************************************************************************************/ +INT8U MCP_CAN::init_Mask(INT8U num, INT32U ulData) +{ + INT8U res = MCP2515_OK; + INT8U ext = 0; +#if DEBUG_MODE + printf("Starting to Set Mask!\r\n"); +#endif + res = mcp2515_setCANCTRL_Mode(MODE_CONFIG); + if(res > 0){ +#if DEBUG_MODE + printf("Entering Configuration Mode Failure...\r\n"); +#endif + return res; +} + + if((num & 0x80000000) == 0x80000000) + ext = 1; + + if (num == 0){ + mcp2515_write_mf(MCP_RXM0SIDH, ext, ulData); + + } + else if(num == 1){ + mcp2515_write_mf(MCP_RXM1SIDH, ext, ulData); + } + else res = MCP2515_FAIL; + + res = mcp2515_setCANCTRL_Mode(mcpMode); + if(res > 0){ +#if DEBUG_MODE + printf("Entering Previous Mode Failure...\r\nSetting Mask Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Setting Mask Successful!\r\n"); +#endif + return res; +} + +/********************************************************************************************************* +** Function name: init_Filt +** Descriptions: Public function to set filter(s). +*********************************************************************************************************/ +INT8U MCP_CAN::init_Filt(INT8U num, INT8U ext, INT32U ulData) +{ + INT8U res = MCP2515_OK; +#if DEBUG_MODE + printf("Starting to Set Filter!\r\n"); +#endif + res = mcp2515_setCANCTRL_Mode(MODE_CONFIG); + if(res > 0) + { +#if DEBUG_MODE + printf("Enter Configuration Mode Failure...\r\n"); +#endif + return res; + } + + switch( num ) + { + case 0: + mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData); + break; + + case 1: + mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData); + break; + + case 2: + mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData); + break; + + case 3: + mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData); + break; + + case 4: + mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData); + break; + + case 5: + mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData); + break; + + default: + res = MCP2515_FAIL; + } + + res = mcp2515_setCANCTRL_Mode(mcpMode); + if(res > 0) + { +#if DEBUG_MODE + printf("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Setting Filter Successfull!\r\n"); +#endif + + return res; +} + +/********************************************************************************************************* +** Function name: init_Filt +** Descriptions: Public function to set filter(s). +*********************************************************************************************************/ +INT8U MCP_CAN::init_Filt(INT8U num, INT32U ulData) +{ + INT8U res = MCP2515_OK; + INT8U ext = 0; + +#if DEBUG_MODE + printf("Starting to Set Filter!\r\n"); +#endif + res = mcp2515_setCANCTRL_Mode(MODE_CONFIG); + if(res > 0) + { +#if DEBUG_MODE + printf("Enter Configuration Mode Failure...\r\n"); +#endif + return res; + } + + if((num & 0x80000000) == 0x80000000) + ext = 1; + + switch( num ) + { + case 0: + mcp2515_write_mf(MCP_RXF0SIDH, ext, ulData); + break; + + case 1: + mcp2515_write_mf(MCP_RXF1SIDH, ext, ulData); + break; + + case 2: + mcp2515_write_mf(MCP_RXF2SIDH, ext, ulData); + break; + + case 3: + mcp2515_write_mf(MCP_RXF3SIDH, ext, ulData); + break; + + case 4: + mcp2515_write_mf(MCP_RXF4SIDH, ext, ulData); + break; + + case 5: + mcp2515_write_mf(MCP_RXF5SIDH, ext, ulData); + break; + + default: + res = MCP2515_FAIL; + } + + res = mcp2515_setCANCTRL_Mode(mcpMode); + if(res > 0) + { +#if DEBUG_MODE + printf("Entering Previous Mode Failure...\r\nSetting Filter Failure...\r\n"); +#endif + return res; + } +#if DEBUG_MODE + printf("Setting Filter Successfull!\r\n"); +#endif + + return res; +} + +/********************************************************************************************************* +** Function name: setMsg +** Descriptions: Set can message, such as dlc, id, dta[] and so on +*********************************************************************************************************/ +INT8U MCP_CAN::setMsg(INT32U id, INT8U rtr, INT8U ext, INT8U len, INT8U *pData) +{ + int i = 0; + m_nID = id; + m_nRtr = rtr; + m_nExtFlg = ext; + m_nDlc = len; + for(i = 0; i. +*/ + +#ifndef DXL_TOOLS_H +#define DXL_TOOLS_H + +#include "dynamixel_sdk/dynamixel_sdk.h" +#include +#include + +class DxlTools { + + protected: + dynamixel::PortHandler* portHandler; + dynamixel::PacketHandler* packetHandler; + + public: + DxlTools() {} + DxlTools(dynamixel::PortHandler* portHandler, dynamixel::PacketHandler* packetHandler); + + int setupDxlBus(int baudrate); + void broadcastPing(); + void ping(int id); + void setRegister(int id, int reg_address, int value, int size); + + void closePort(); + +}; + +#endif diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/package.xml b/niryo_robot_hardware_stack/niryo_robot_debug/package.xml new file mode 100644 index 000000000..294b8cac9 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_debug/package.xml @@ -0,0 +1,27 @@ + + + niryo_robot_debug + 3.0.0 + Ned's debug tools + Edouard Renard + Valentin Pitre + GPLv3 + + catkin + roscpp + rospy + std_msgs + niryo_robot_msgs + dynamixel_sdk + mcp_can_rpi + + roscpp + rospy + std_msgs + niryo_robot_msgs + dynamixel_sdk + mcp_can_rpi + + + + diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py b/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py new file mode 100755 index 000000000..66beebc10 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_debug/scripts/send_custom_dxl_value.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python + +# send_custom_dxl_value.py +# Copyright (C) 2018 Niryo +# All rights reserved. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +import rospy +import argparse + +from dynamixel_driver.srv import SendCustomDxlValue + +if __name__ == '__main__': + rospy.init_node("send_custom_dxl_value") + + # 1. Parse args + parser = argparse.ArgumentParser(description='Send custom value to a Dynamixel motor during Ned runtime') + + parser.add_argument('--type', type=int, required=True, help='Motor type (3 for XL-320, 2 for XL-430)') + parser.add_argument('--id', type=int, required=True, help='Motor ID') + parser.add_argument('--address', type=int, required=True, help='Register address') + parser.add_argument('--value', type=int, required=True, help='Value to send to the motor') + parser.add_argument('--size', type=int, required=True, help='Size(bytes) of the value to send (1,2 or 4)') + + args = parser.parse_args() + + # 2. Call ROS Service + service_name = "/niryo_robot/dynamixel_driver/send_custom_dxl_value" + + try: + rospy.wait_for_service(service_name, 1.0) + except rospy.ROSException as e: + rospy.logwarn(e) + rospy.logwarn("Check that Ned ROS stack is running") + exit() + + try: + send_cmd = rospy.ServiceProxy(service_name, SendCustomDxlValue) + response = send_cmd(args.type, args.id, args.value, args.address, args.size) + rospy.loginfo(response.message) + except rospy.ServiceException as e: + rospy.logwarn(e) + exit() diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp new file mode 100644 index 000000000..b005958b1 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_debug.cpp @@ -0,0 +1,134 @@ +/* + dxl_debug.cpp + Copyright (C) 2018 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include +#include "dynamixel_sdk/dynamixel_sdk.h" +#include "niryo_robot_debug/dxl_tools.h" +#include "boost/program_options.hpp" +#include +#include +#include + +#define PROTOCOL_VERSION 2.0 + +// params: +// - baud_rate (optional) +// - serial port (optional) +// - motor ID + +// available actions: +// - scan +// - ping specific ID +// - set register + +namespace po = boost::program_options; + +#ifdef __arm + #define DEFAULT_PORT "/dev/serial0" +#elif __aarch64__ + #define DEFAULT_PORT "/dev/ttyAMA0" +#else + #define DEFAULT_PORT "" +#endif + +int main (int argc, char **argv) +{ + ros::init(argc, argv, "dxl_debug_tools"); + + try { + // Get args + po::options_description description("Options"); + description.add_options() + ("help,h", "Print help message") + ("baudrate,b", po::value()->default_value(1000000), "Baud rate") + ("port,p", po::value()->default_value(DEFAULT_PORT), "Set port") + ("id,i", po::value()->default_value(0), "Dxl motor ID") + ("scan", "Scan all Dxl motors on the bus") + ("ping", "ping specific ID") + ("set-register", po::value>(), "Set a value to a register (args: reg_addr, value, size)"); + + po::positional_options_description p; + p.add("set-register", -1); + po::variables_map vars; + po::store(po::command_line_parser(argc, argv).options(description).positional(p).run(), vars); + po::notify(vars); + + // Display usage if no args or --help + if (argc == 1 || vars.count("help")) { + std::cout << description << "\n"; + return 0; + } + + int baudrate = vars["baudrate"].as(); + std::string serial_port = vars["port"].as(); + int id = vars["id"].as(); + + std::cout << "Using baudrate: " << baudrate << ", port: " << serial_port << "\n"; + std::cout << "Dxl ID: " << id << "\n"; + + // Setup Dxl communication + dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(serial_port.c_str()); + dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION); + + DxlTools dxlTools(portHandler, packetHandler); + + if (dxlTools.setupDxlBus(baudrate) == -1) { + return -1; + } + + // Execute action from args + if (vars.count("scan")) { + printf("--> SCAN Dxl bus\n"); + dxlTools.broadcastPing(); + } + else if (vars.count("ping")) { + if (id == 0) { + printf("Ping: you need to give an ID! (--id)\n"); + } + else { + printf("--> PING Motor (ID: %d)\n", id); + dxlTools.ping(id); + } + } + else if (vars.count("set-register")) { + std::vector params = vars["set-register"].as>(); + if (params.size() != 3) { + printf("ERROR: set-register needs 3 arguments (reg_addr, value, size)\n"); + } + else { + printf("--> SET REGISTER for Motor (ID:%d)\n", id); + printf("Register address: %d, Value: %d, Size (bytes): %d\n", + params.at(0), params.at(1), params.at(2)); + dxlTools.setRegister(id, params.at(0), params.at(1), params.at(2)); + } + } + else { + std::cout << description << "\n"; + } + + // close port before exit + dxlTools.closePort(); + return 0; + } + catch(po::error& e) + { + std::cout << e.what() << "\n"; + return 0; + } +} diff --git a/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp new file mode 100644 index 000000000..883495792 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_debug/src/dxl_tools.cpp @@ -0,0 +1,114 @@ +/* + dxl_tools.cpp + Copyright (C) 2018 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "niryo_robot_debug/dxl_tools.h" + +DxlTools::DxlTools(dynamixel::PortHandler* portHandler, dynamixel::PacketHandler* packetHandler) +{ + this->portHandler = portHandler; + this->packetHandler = packetHandler; +} + +int DxlTools::setupDxlBus(int baudrate) +{ + if (!portHandler->setupGpio()) { + printf("ERROR: Failed to setup direction GPIO pin for Dynamixel half-duplex serial\n"); + return -1; + } + if (!portHandler->openPort()) { + printf("Error: Failed to open Uart port for Dynamixel bus\n"); + return -1; + } + if (!portHandler->setBaudRate(baudrate)) { + printf("Error: Failed to set baudrate for Dynamixel bus\n"); + return -1; + } + + printf("Dxl Bus successfully setup\n"); + return 1; +} + +void DxlTools::broadcastPing() +{ + int dxl_comm_result = COMM_TX_FAIL; + std::vector id_list; + + dxl_comm_result = packetHandler->broadcastPing(portHandler, id_list); + if (dxl_comm_result != COMM_SUCCESS) { + printf("Failed to scan Dynamixel bus: %d\n", dxl_comm_result); + return; + } + + printf("Detected Dxl motor IDs:\n"); + for (int i = 0; i < id_list.size(); i++) { + printf("- %d\n", id_list.at(i)); + } +} + +void DxlTools::ping(int id) +{ + int dxl_comm_result = COMM_TX_FAIL; + uint8_t dxl_error = 0; + uint16_t dxl_model_number; + + dxl_comm_result = packetHandler->ping(portHandler, (uint8_t)id, &dxl_model_number, &dxl_error); + if (dxl_comm_result != COMM_SUCCESS) { + printf("Ping failed: %d\n", dxl_comm_result); + } + else if (dxl_error != 0) { + printf("Ping OK for ID: %d, but an error flag is set on the motor: %d\n", id, (int)dxl_error); + } + else { + printf("Ping succeeded for ID: %d\n", id); + } +} + +void DxlTools::setRegister(int id, int reg_address, int value, int size) +{ + int dxl_comm_result = COMM_TX_FAIL; + + if (size == 1) { + dxl_comm_result = packetHandler->write1ByteTxOnly(portHandler, (uint8_t) id, + (uint32_t)reg_address, (uint8_t)value); + } + else if (size == 2) { + dxl_comm_result = packetHandler->write2ByteTxOnly(portHandler, (uint8_t) id, + (uint32_t)reg_address, (uint16_t)value); + } + else if (size == 4) { + dxl_comm_result = packetHandler->write4ByteTxOnly(portHandler, (uint8_t) id, + (uint32_t)reg_address, (uint32_t)value); + } + else { + printf("ERROR: Size param must be 1, 2 or 4 bytes\n"); + return; + } + + if (dxl_comm_result != COMM_SUCCESS) { + printf("Failed to set register: %d\n", dxl_comm_result); + } + else { + printf("Successfully sent register command\n"); + } +} + +void DxlTools::closePort() +{ + portHandler->closePort(); +} diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt new file mode 100644 index 000000000..f10e58676 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_hardware_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + tools_interface + joints_interface + conveyor_interface + cpu_interface + fake_interface + message_generation + niryo_robot_msgs +) + +find_package(Boost REQUIRED COMPONENTS system) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp + tools_interface + joints_interface + conveyor_interface + cpu_interface + fake_interface + message_runtime + niryo_robot_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/hardware_interface.cpp +) + +add_executable(${PROJECT_NAME}_node + src/hardware_interface_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} conveyor_interface_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} niryo_robot_msgs_generate_messages_cpp) diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml new file mode 100644 index 000000000..5312edd86 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/config/default.yaml @@ -0,0 +1,3 @@ +publish_hw_status_frequency: 2.0 +publish_software_version_frequency: 2.0 +publish_learning_mode_frequency: 2.0 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp new file mode 100644 index 000000000..0bd57820f --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/include/niryo_robot_hardware_interface/hardware_interface.hpp @@ -0,0 +1,94 @@ +/* + hardware_interface.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef HARDWARE_INTERFACE_HPP +#define HARDWARE_INTERFACE_HPP + +#include +#include + +#include "joints_interface/joints_interface_core.hpp" +#include "tools_interface/tools_interface_core.hpp" +#include "conveyor_interface/conveyor_interface_core.hpp" +#include "cpu_interface/cpu_interface_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" +#include "stepper_driver/stepper_driver_core.hpp" +#include "fake_interface/fake_interface_core.hpp" +#include "dynamixel_driver/dxl_enum.hpp" + +#include "niryo_robot_msgs/Trigger.h" +#include "niryo_robot_msgs/SetBool.h" + +#include "niryo_robot_msgs/HardwareStatus.h" +#include "niryo_robot_msgs/SoftwareVersion.h" +#include "niryo_robot_msgs/CommandStatus.h" + +namespace NiryoRobotHardwareInterface +{ + class HardwareInterface + { + public: + HardwareInterface(ros::NodeHandle &nh); + + private: + ros::NodeHandle &_nh; + + bool _simulation_mode; + bool _gazebo; + bool _can_enabled; + bool _dxl_enabled; + + ros::Publisher _hardware_status_publisher; + ros::Publisher _software_version_publisher; + + double _publish_hw_status_frequency; + double _publish_software_version_frequency; + + std::string _rpi_image_version; + std::string _ros_niryo_robot_version; + + void initNodes(); + void initPublishers(); + void initParams(); + + void _publishHardwareStatus(); + void _publishSoftwareVersion(); + + bool _callbackLaunchMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + ros::ServiceServer _motors_report_service; + + bool _callbackStopMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + ros::ServiceServer _stop_motors_report_service; + + bool _callbackRebootMotors(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res); + ros::ServiceServer _reboot_motors_service; + + boost::shared_ptr _dynamixel_driver; + boost::shared_ptr _stepper_driver; + boost::shared_ptr _cpu_interface; + boost::shared_ptr _conveyor_interface; + boost::shared_ptr _tools_interface; + boost::shared_ptr _joints_interface; + boost::shared_ptr _fake_interface; + + boost::shared_ptr _publish_hardware_status_thread; + boost::shared_ptr _publish_software_version_thread; + }; +} // namespace NiryoRobotHardwareInterface +#endif diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch new file mode 100644 index 000000000..b02c9d7fa --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/controllers.launch @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch new file mode 100644 index 000000000..e53d08f7c --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/launch/niryo_robot_hardware_interface.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml new file mode 100644 index 000000000..a5a3999c6 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/package.xml @@ -0,0 +1,32 @@ + + + niryo_robot_hardware_interface + 0.0.0 + The hardware_interface package + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + tools_interface + joints_interface + conveyor_interface + cpu_interface + fake_interface + message_generation + niryo_robot_msgs + + roscpp + tools_interface + joints_interface + conveyor_interface + cpu_interface + fake_interface + message_runtime + niryo_robot_msgs + + diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp new file mode 100644 index 000000000..f302b0390 --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface.cpp @@ -0,0 +1,382 @@ +#include "niryo_robot_hardware_interface/hardware_interface.hpp" +#include "dynamixel_driver/dxl_enum.hpp" + +namespace NiryoRobotHardwareInterface +{ + HardwareInterface::HardwareInterface(ros::NodeHandle &nh) : _nh(nh) + { + initParams(); + initNodes(); + initPublishers(); + } + + bool HardwareInterface::_callbackStopMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) + { + if (!_simulation_mode) + { + ROS_WARN("Hardware Interface - Stop Motor Report"); + _stepper_driver->activeDebugMode(false); + _dynamixel_driver->activeDebugMode(false); + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = ""; + return true; + } + + } + + bool HardwareInterface::_callbackLaunchMotorsReport(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) + { + if (!_simulation_mode) + { + ROS_WARN("Hardware Interface - Start Motors Report"); + _stepper_driver->activeDebugMode(true); + _dynamixel_driver->activeDebugMode(true); + int stepper_status = _stepper_driver->launchMotorsReport(); + int dxl_status = _dynamixel_driver->launchMotorsReport(); + _stepper_driver->activeDebugMode(false); + _dynamixel_driver->activeDebugMode(false); + ROS_WARN("Hardware Interface - Motors report ended"); + if ((stepper_status == niryo_robot_msgs::CommandStatus::SUCCESS) and (dxl_status == niryo_robot_msgs::CommandStatus::SUCCESS)) + { + res.status = niryo_robot_msgs::CommandStatus::SUCCESS; + res.message = "Hardware interface seems working properly"; + } + else + { + res.status = niryo_robot_msgs::CommandStatus::FAILURE; + res.message = "Steppers status: "; + res.message += (stepper_status == niryo_robot_msgs::CommandStatus::SUCCESS) ? "Ok" : "Error"; + res.message += ", Dxl status: "; + res.message += (dxl_status == niryo_robot_msgs::CommandStatus::SUCCESS) ? "Ok" : "Error"; + } + } + return true; + } + + bool HardwareInterface::_callbackRebootMotors(niryo_robot_msgs::Trigger::Request &req, niryo_robot_msgs::Trigger::Response &res) + { + if (!_simulation_mode) + { + res.status = _dynamixel_driver->rebootMotors(); + if (res.status != COMM_SUCCESS) + { + res.message = "Reboot motors Problems"; + return true; + } + res.message = "Reboot motors done"; + + _joints_interface->sendMotorsParams(); + int resp_learning_mode_status; + std::string resp_learning_mode_message = ""; + _joints_interface->activateLearningMode(false, resp_learning_mode_status, resp_learning_mode_message); + _joints_interface->activateLearningMode(true, resp_learning_mode_status, resp_learning_mode_message); + } + return true; + } + + void HardwareInterface::initNodes() + { + ROS_DEBUG("Hardware Interface - Init Nodes"); + if (!_simulation_mode) + { + + if (!_dxl_enabled) + { + ROS_WARN("Hardware Interface - DXL communication is disabled for debug purposes"); + } + else + { + ROS_DEBUG("Hardware Interface - Start Dynamixel Driver Node"); + _dynamixel_driver.reset(new DynamixelDriver::DynamixelDriverCore()); + ros::Duration(0.25).sleep(); + } + + if (!_can_enabled) + { + ROS_DEBUG("Hardware Interface - CAN communication is disabled for debug purposes"); + } + else + { + ROS_DEBUG("Hardware Interface - Start Stepper Driver Node"); + _stepper_driver.reset(new StepperDriver::StepperDriverCore()); + ros::Duration(0.25).sleep(); + } + + if (_can_enabled && _dxl_enabled) + { + ROS_DEBUG("Hardware Interface - Start Joints Interface Node"); + _joints_interface.reset(new JointsInterfaceCore(_dynamixel_driver, _stepper_driver)); + ros::Duration(0.25).sleep(); + + ROS_DEBUG("Hardware Interface - Start End Effector Interface Node"); + _tools_interface.reset(new ToolsInterfaceCore(_dynamixel_driver)); + ros::Duration(0.25).sleep(); + + ROS_DEBUG("Hardware Interface - Start Tools Interface Node"); + _conveyor_interface.reset(new ConveyorInterfaceCore(_stepper_driver)); + ros::Duration(0.25).sleep(); + } + else + { + ROS_WARN("Hardware Interface - CAN or DXL communication is disabled. Interfaces will not start"); + } + + ROS_DEBUG("Hardware Interface - Start CPU Interface Node"); + _cpu_interface.reset(new CpuInterfaceCore()); + ros::Duration(0.25).sleep(); + } + else + { + ROS_DEBUG("Hardware Interface - Start Fake Interface Node"); + _fake_interface.reset(new FakeInterfaceCore()); + } + } + + void HardwareInterface::initPublishers() + { + ROS_DEBUG("Hardware Interface - Init Publisher"); + _hardware_status_publisher = _nh.advertise("niryo_robot_hardware_interface/hardware_status", 10); + _publish_hardware_status_thread.reset(new std::thread(boost::bind(&HardwareInterface::_publishHardwareStatus, this))); + + _software_version_publisher = _nh.advertise("niryo_robot_hardware_interface/software_version", 10); + _publish_software_version_thread.reset(new std::thread(boost::bind(&HardwareInterface::_publishSoftwareVersion, this))); + + _motors_report_service = _nh.advertiseService("/niryo_robot_hardware_interface/launch_motors_report", &HardwareInterface::_callbackLaunchMotorsReport, this); + _stop_motors_report_service = _nh.advertiseService("/niryo_robot_hardware_interface/stop_motors_report", &HardwareInterface::_callbackStopMotorsReport, this); + _reboot_motors_service = _nh.advertiseService("/niryo_robot_hardware_interface/reboot_motors", &HardwareInterface::_callbackRebootMotors, this); + } + + void HardwareInterface::initParams() + { + bool debug_mode = false; + _nh.getParam("/niryo_robot_hardware_interface/debug", debug_mode); + if (debug_mode) + { + if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug)) + { + ros::console::notifyLoggerLevelsChanged(); + } + } + + ROS_DEBUG("Hardware Interface - Init Params"); + ros::param::get("~publish_hw_status_frequency", _publish_hw_status_frequency); + ros::param::get("~publish_software_version_frequency", _publish_software_version_frequency); + + ros::param::get("/niryo_robot/info/image_version", _rpi_image_version); + ros::param::get("/niryo_robot/info/ros_version", _ros_niryo_robot_version); + + ros::param::get("~simulation_mode", _simulation_mode); + ros::param::get("~gazebo", _gazebo); + + ros::param::get("~can_enabled", _can_enabled); + ros::param::get("~dxl_enabled", _dxl_enabled); + + + _rpi_image_version.erase(_rpi_image_version.find_last_not_of(" \n\r\t") + 1); + _ros_niryo_robot_version.erase(_ros_niryo_robot_version.find_last_not_of(" \n\r\t") + 1); + + ROS_DEBUG("Hardware Interface - publish_hw_status_frequency : %f", _publish_hw_status_frequency); + ROS_DEBUG("Hardware Interface - publish_software_version_frequency : %f", _publish_software_version_frequency); + + ROS_DEBUG("Hardware Interface - can_enabled : %s", _can_enabled ? "true" : "false"); + ROS_DEBUG("Hardware Interface - dxl_enabled : %s", _dxl_enabled ? "true" : "false"); + } + + void HardwareInterface::_publishHardwareStatus() + { + ros::Rate publish_hardware_status_rate = ros::Rate(_publish_hw_status_frequency); + while (ros::ok()) + { + std::vector temperatures; + std::vector voltages; + std::vector hw_errors; + std::vector hw_errors_msg; + + dynamixel_driver::DxlArrayMotorHardwareStatus dxl_motor_state; + stepper_driver::StepperArrayMotorHardwareStatus stepper_motor_state; + + niryo_robot_msgs::BusState dxl_bus_state; + niryo_robot_msgs::BusState can_bus_state; + + std::vector joints_state; + + int cpu_temperature; + std::string error_message; + + boost::shared_ptr need_calibration(new bool()); + boost::shared_ptr calibration_in_progress(new bool()); + + std::vector motor_names; + std::vector motor_types; + + niryo_robot_msgs::HardwareStatus msg; + msg.header.stamp = ros::Time::now(); + + if (!_simulation_mode) + { + if (_dxl_enabled) + { + dxl_motor_state = _dynamixel_driver->getHwStatus(); + dxl_bus_state = _dynamixel_driver->getDxlBusState(); + } + if (_can_enabled) + { + stepper_motor_state = _stepper_driver->getHwStatus(); + can_bus_state = _stepper_driver->getCanBusState(); + } + if (_can_enabled && _dxl_enabled) + { + joints_state = _joints_interface->getJointsState(); + _joints_interface->getCalibrationState(need_calibration, calibration_in_progress); + } + + cpu_temperature = _cpu_interface->getCpuTemperature(); + } + else + { + dxl_motor_state = _fake_interface->getDxlHwStatus(); + stepper_motor_state = _fake_interface->getStepperHwStatus(); + + dxl_bus_state = _fake_interface->getDxlBusState(); + can_bus_state = _fake_interface->getCanBusState(); + + cpu_temperature = _fake_interface->getCpuTemperature(); + + _fake_interface->getCalibrationState(need_calibration, calibration_in_progress); + } + + msg.rpi_temperature = cpu_temperature; + msg.hardware_version = 1; + + msg.connection_up = (dxl_bus_state.connection_status && can_bus_state.connection_status); + + error_message = ""; + error_message += can_bus_state.error; + if (dxl_bus_state.error != "") + { + error_message += "\n"; + } + error_message += dxl_bus_state.error; + msg.error_message = error_message; + + msg.calibration_needed = *need_calibration.get(); + msg.calibration_in_progress = *calibration_in_progress.get(); + + motor_names.clear(); + motor_types.clear(); + + for (int i = 0; i < stepper_motor_state.motors_hw_status.size(); i++) + { + temperatures.push_back(stepper_motor_state.motors_hw_status.at(i).temperature); + voltages.push_back(stepper_motor_state.motors_hw_status.at(i).voltage); + hw_errors.push_back(stepper_motor_state.motors_hw_status.at(i).error); + hw_errors_msg.push_back(""); + motor_types.push_back("Niryo Stepper"); + std::string joint_name = ""; + if (!_simulation_mode) + joint_name = _joints_interface->jointIdToJointName(stepper_motor_state.motors_hw_status.at(i).motor_identity.motor_id, (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER); + else + joint_name = _fake_interface->jointIdToJointName(stepper_motor_state.motors_hw_status.at(i).motor_identity.motor_id, (uint8_t)StepperDriver::StepperMotorType::MOTOR_TYPE_STEPPER); + + joint_name = joint_name == "" ? ("Stepper " + std::to_string(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id)) : joint_name; + motor_names.push_back(joint_name); + } + for (int i = 0; i < dxl_motor_state.motors_hw_status.size(); i++) + { + temperatures.push_back(dxl_motor_state.motors_hw_status.at(i).temperature); + voltages.push_back(dxl_motor_state.motors_hw_status.at(i).voltage); + hw_errors.push_back(dxl_motor_state.motors_hw_status.at(i).error); + hw_errors_msg.push_back(dxl_motor_state.motors_hw_status.at(i).error_msg); + + if (dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL430) + { + motor_types.push_back("DXL XL-430"); + } + else if (dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type == (uint8_t)DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320) + { + motor_types.push_back("DXL XL-320"); + } + else + { + motor_types.push_back("DXL UNKOWN"); + } + std::string joint_name = ""; + if (!_simulation_mode) + joint_name = _joints_interface->jointIdToJointName(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id, dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type); + else + joint_name = _fake_interface->jointIdToJointName(dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_id, dxl_motor_state.motors_hw_status.at(i).motor_identity.motor_type); + + joint_name = joint_name == "" ? "Tool" : joint_name; + motor_names.push_back(joint_name); + } + + msg.motor_names = motor_names; + msg.motor_types = motor_types; + + msg.temperatures = temperatures; + msg.voltages = voltages; + msg.hardware_errors = hw_errors; + msg.hardware_errors_message = hw_errors_msg; + + _hardware_status_publisher.publish(msg); + + publish_hardware_status_rate.sleep(); + } + } + + void HardwareInterface::_publishSoftwareVersion() + { + ros::Rate publish_software_version_rate = ros::Rate(_publish_software_version_frequency); + while (ros::ok()) + { + + stepper_driver::StepperArrayMotorHardwareStatus stepper_motor_state; + std::vector motor_names; + std::vector firmware_versions; + std::vector joints_state; + + if (!_simulation_mode) + { + if (_can_enabled) + { + stepper_motor_state = _stepper_driver->getHwStatus(); + } + if (_can_enabled && _dxl_enabled) + { + joints_state = _joints_interface->getJointsState(); + } + + for (int i = 0; i < joints_state.size(); i++) + { + motor_names.push_back(joints_state.at(i).getName()); + } + } + else + { + stepper_motor_state = _fake_interface->getStepperHwStatus(); + + motor_names.push_back("joint_1"); + motor_names.push_back("joint_2"); + motor_names.push_back("joint_3"); + motor_names.push_back("joint_4"); + motor_names.push_back("joint_5"); + motor_names.push_back("joint_6"); + } + + for (int i = 0; i < stepper_motor_state.motors_hw_status.size(); i++) + { + firmware_versions.push_back(stepper_motor_state.motors_hw_status.at(i).firmware_version); + } + + niryo_robot_msgs::SoftwareVersion msg; + msg.motor_names = motor_names; + msg.stepper_firmware_versions = firmware_versions; + msg.rpi_image_version = _rpi_image_version; + msg.ros_niryo_robot_version = _ros_niryo_robot_version; + + _software_version_publisher.publish(msg); + publish_software_version_rate.sleep(); + } + } + +} // namespace NiryoRobotHardwareInterface diff --git a/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp new file mode 100644 index 000000000..23151ec3e --- /dev/null +++ b/niryo_robot_hardware_stack/niryo_robot_hardware_interface/src/hardware_interface_node.cpp @@ -0,0 +1,17 @@ +#include +#include "niryo_robot_hardware_interface/hardware_interface.hpp" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "hardware_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + NiryoRobotHardwareInterface::HardwareInterface nd(nh); + ros::waitForShutdown(); + + ROS_INFO("Hardware Interface - Shutdown node"); +} diff --git a/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt b/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt new file mode 100644 index 000000000..c545c3b93 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/CMakeLists.txt @@ -0,0 +1,120 @@ +cmake_minimum_required(VERSION 2.8.3) +project(stepper_driver) +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + mcp_can_rpi + niryo_robot_msgs + message_generation +) + +find_package(Boost REQUIRED COMPONENTS system) + +add_message_files( + FILES + StepperArrayMotorHardwareStatus.msg + StepperMotorCommand.msg + StepperMotorHardwareStatus.msg +) + +add_service_files( + DIRECTORY + srv + FILES + StepperCmd.srv +) + +generate_messages( + DEPENDENCIES + std_msgs + niryo_robot_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + ${PROJECT_NAME}_core + CATKIN_DEPENDS + roscpp + mcp_can_rpi + niryo_robot_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/stepper_motor_state.cpp + src/stepper_motor_cmd.cpp + src/conveyor_state.cpp +) + +add_library(${PROJECT_NAME}_core + src/stepper_driver_core.cpp + src/stepper_driver.cpp +) + +add_executable(${PROJECT_NAME}_node + src/stepper_driver_node.cpp +) + +add_executable(${PROJECT_NAME}_test + test/stepper_driver_test.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) +# +# wiringPi should be installed only on a Raspberry Pi board +# + +EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE ) + +if (${ARCHITECTURE} MATCHES "^(arm.*|aarch64.*|arm64.*)$") + message(STATUS "wiringPi library is required - arm processor") + target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + -lwiringPi -lrt) +else() + message(STATUS "wiringPi library not required") + target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ) +endif() + +target_link_libraries(${PROJECT_NAME}_core + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME}_core + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_test + ${PROJECT_NAME}_core + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME}_core + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} stepper_driver_generate_messages_cpp) diff --git a/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml b/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml new file mode 100644 index 000000000..e1b936651 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/config/can_bus.yaml @@ -0,0 +1,4 @@ +can_bus: + spi_channel: 0 + spi_baudrate: 1000000 + gpio_can_interrupt: 25 diff --git a/niryo_robot_hardware_stack/stepper_driver/config/default.yaml b/niryo_robot_hardware_stack/stepper_driver/config/default.yaml new file mode 100644 index 000000000..83c19b950 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/config/default.yaml @@ -0,0 +1,3 @@ +can_hardware_control_loop_frequency: 1500.0 +can_hw_write_frequency: 50.0 +can_hw_check_connection_frequency: 3.0 \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml b/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml new file mode 100644 index 000000000..3298c3a43 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/config/motors_config.yaml @@ -0,0 +1,2 @@ +motors_params: + stepper_motor_id_list: [1,2,3] \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp new file mode 100644 index 000000000..e3d69c2b4 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/conveyor_state.hpp @@ -0,0 +1,56 @@ +/* + conveyor_state.h + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef CONVEYOR_STATE_H +#define CONVEYOR_STATE_H + +#include + +namespace StepperDriver +{ + class ConveyorState { + + public: + + ConveyorState(uint8_t id); + + uint8_t getId(); + void setId(uint8_t motor_id); + + bool getState(); + void setState(bool state); + + int16_t getSpeed(); + void setSpeed(int16_t speed); + + int8_t getDirection(); + void setDirection(int8_t direction); + + bool operator==(const ConveyorState& other); + + private: + + uint8_t _id; + bool _state; + int16_t _speed; + int8_t _direction; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp new file mode 100644 index 000000000..0f2b83132 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver.hpp @@ -0,0 +1,207 @@ +/* + StepperDriver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef STEPPER_DRIVER_HPP +#define STEPPER_DRIVER_HPP + +#include +#include +#include +#include +#include +#include +#include "mcp_can_rpi/mcp_can_rpi.h" +#include "stepper_driver/stepper_motor_state.hpp" +#include "stepper_driver/stepper_motor_cmd.hpp" +#include "stepper_driver/StepperMotorCommand.h" +#include "stepper_driver/StepperCmd.h" +#include "stepper_driver/conveyor_state.hpp" + +#define CAN_CMD_POSITION 0x03 +#define CAN_CMD_TORQUE 0x04 +#define CAN_CMD_MODE 0x07 +#define CAN_CMD_MICRO_STEPS 0x13 +#define CAN_CMD_OFFSET 0x14 +#define CAN_CMD_CALIBRATE 0x15 +#define CAN_CMD_SYNCHRONIZE 0x16 +#define CAN_CMD_MAX_EFFORT 0x17 +#define CAN_CMD_MOVE_REL 0x18 +#define CAN_CMD_RESET 0x19 // not yet implemented + +enum class e_CanStepperCalibrationStatus { + CAN_STEPPERS_CALIBRATION_UNINITIALIZED = 0, + CAN_STEPPERS_CALIBRATION_OK = 1, + CAN_STEPPERS_CALIBRATION_TIMEOUT = 2, + CAN_STEPPERS_CALIBRATION_BAD_PARAM = 3, + CAN_STEPPERS_CALIBRATION_FAIL = 4, + CAN_STEPPERS_CALIBRATION_WAITING_USER_INPUT = 5, + CAN_STEPPERS_CALIBRATION_IN_PROGRESS = 6, +}; + +#define CAN_STEPPERS_CALIBRATION_MODE_AUTO 1 +#define CAN_STEPPERS_CALIBRATION_MODE_MANUAL 2 + +#define CAN_STEPPERS_WRITE_OFFSET_FAIL -3 + +#define CAN_DATA_POSITION 0x03 +#define CAN_DATA_DIAGNOSTICS 0x08 +#define CAN_DATA_CALIBRATION_RESULT 0x09 +#define CAN_DATA_FIRMWARE_VERSION 0x10 +#define CAN_DATA_CONVEYOR_STATE 0x07 + +#define STEPPER_CONTROL_MODE_RELAX 0 +#define STEPPER_CONTROL_MODE_STANDARD 1 +#define STEPPER_CONTROL_MODE_PID_POS 2 +#define STEPPER_CONTROL_MODE_TORQUE 3 + +#define STEPPER_CONVEYOR_OFF 20 +#define STEPPER_CONVEYOR_ON 21 +#define CAN_UPDATE_CONVEYOR_ID 23 +#define STEPPER_CONTROL_MODE_PID_POS 2 +#define STEPPER_CONTROL_MODE_TORQUE 3 + +#define MESSAGE_POSITION_LENGTH 4 +#define MESSAGE_DIAGNOSTICS_LENGTH 4 +#define MESSAGE_FIRMWARE_LENGTH 4 + +#define CAN_MODEL_NUMBER 10000 + +#define CAN_SCAN_OK 0 +#define CAN_SCAN_TIMEOUT -10003 +#define TIME_TO_WAIT_IF_BUSY 0.0005 + +#define STEPPER_MOTOR_TIMEOUT_VALUE 1.0f // s + +namespace StepperDriver +{ + struct CalibrationStepperData + { + INT32U rxId; + INT8U len; + std::array rxBuf; + }; + + struct CalibrationStepperCmdStatus + { + StepperMotorCmd cmd; + ros::Time cmd_time; + }; + + class StepperDriver + { + public: + + StepperDriver(); + ~StepperDriver(); + + bool setupInterruptGpio(); + bool setupSpi(); + INT8U init(); + + bool isConnectionOk() const; + + void updateMotorList(); + void addMotor(uint8_t motor_id); + void removeMotor(uint8_t motor_id); + + void addConveyor(uint8_t conveyor_id); + void removeConveyor(uint8_t conveyor_id); + std::vector& getConveyorsState(); + + std::vector& getMotorsState(); + void getBusState(bool& connection_status, std::vector& motor_list, std::string& error); + + void readMotorsState(); + void clearCalibrationTab(); + e_CanStepperCalibrationStatus getCalibrationResult(uint8_t id, boost::shared_ptr &result); + + void executeJointTrajectoryCmd(std::vector &cmd); + std::vector &getJointTrajectoryState(); + int32_t getStepperPose(int32_t motor_id); + int readCommand(StepperMotorCmd cmd); + + bool canReadData(); + INT8U readMsgBuf(INT32U *id, INT8U *len, std::array &buf); + + void scanAndCheck(); + + INT8U sendPositionCommand(int id, int cmd); + INT8U sendRelativeMoveCommand(int id, int steps, int delay); + INT8U sendTorqueOnCommand(int id, int torque_on); + INT8U sendPositionOffsetCommand(int id, int cmd, int absolute_steps_at_offset_position); + INT8U sendCalibrationCommand(int i, int offset, int delay, int direction, int timeout); + INT8U sendSynchronizePositionCommand(int id, bool begin_traj); + INT8U sendMicroStepsCommand(int id, int micro_steps); + INT8U sendMaxEffortCommand(int id, int effort); + + INT8U sendConveyoOnCommand(int id, bool conveyor_on, int conveyor_speed, int8_t direction); + INT8U sendUpdateConveyorId(uint8_t old_id, uint8_t new_id); + + INT8U sendCanMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf); + + std::string getErrorMessage(); + bool scanMotorId(int motor_to_find); + + std::vector getConnectedMotors(); + void setCalibrationInProgress(bool in_progress); + + private: + + ros::NodeHandle _nh; + std::vector _arm_id_list; + std::vector _motor_id_list; + + std::vector _conveyor_list; + + std::vector _motor_list; + std::vector _all_motor_connected; + std::vector _calibration_motor_list; + std::map _motor_calibration_map; + std::map _motor_calibration_map_cmd; + + boost::shared_ptr mcp_can; + std::thread _calibration_thread; + std::thread _stepper_timeout_thread; + std::vector _calibration_readed_datas; + + void readCalibrationStates(); + bool checkMessageLength(const INT8U &message_length, int message_type); + bool checkMotorsId(int motor_id); + void fillMotorPosition(int motor_id, const INT8U &len, const std::array &data); + void fillMotorDiagnostics(int motor_id, const INT8U &len, const std::array &data); + void fillMotorFirmware(int motor_id, const INT8U &len, const std::array &data); + void fillConveyorState(int motor_id, const std::array &data); + void interpreteCalibrationCommand(); + + void _verifyMotorTimeoutLoop(); + void _refreshMotorTimeout(); + + bool _is_can_connection_ok; + bool _calibration_in_progress; + + bool _debug_mode; + + std::string _debug_error_message; + + std::vector _stepper_states; + e_CanStepperCalibrationStatus _calibration_result; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp new file mode 100644 index 000000000..aa8e3e36a --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_driver_core.hpp @@ -0,0 +1,114 @@ +/* + dxl_driver.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef STEPPER_DRIVER_CORE_HPP +#define STEPPER_DRIVER_CORE_HPP + +#include +#include +#include +#include +#include +#include + +#include "stepper_driver/stepper_driver.hpp" +#include "stepper_driver/StepperArrayMotorHardwareStatus.h" +#include "niryo_robot_msgs/BusState.h" +#include "niryo_robot_msgs/CommandStatus.h" +#include + +namespace StepperDriver +{ + class StepperDriverCore + { + public: + + StepperDriverCore(); + + void init(); + + void initParameters(); + + void startControlLoop(); + void resetHardwareControlLoopRates(); + void controlLoop(); + + stepper_driver::StepperArrayMotorHardwareStatus getHwStatus(); + niryo_robot_msgs::BusState getCanBusState(); + + std::vector& getStepperStates(); + + void setStepperCommands(StepperMotorCmd &cmd); + + void setTrajectoryControllerCommands(std::vector &cmd); + std::vector& getTrajectoryControllerStates(); + + int setConveyor(uint8_t motor_id); + void unsetConveyor(uint8_t motor_id); + void setConveyorCommands(StepperMotorCmd &cmd); + std::vector &getConveyorStates(); + + void clearCalibrationTab(); + bool getCalibrationState(); + e_CanStepperCalibrationStatus getCalibrationResult(uint8_t id, boost::shared_ptr &calibration_result); + void startCalibration(bool enable); + + void activeDebugMode(bool mode); + int motorReport(int motor_id); + int launchMotorsReport(); + + bool scanMotorId(int motor_to_find); + + bool isConnectionOk() const; + + private: + + ros::NodeHandle _nh; + + bool _control_loop_flag; + bool _calibration_in_progress; + bool _debug_flag; + + std::mutex _control_loop_mutex; + + boost::shared_ptr _control_loop_thread; + + std::vector _joint_trajectory_controller_cmd; + std::shared_ptr _stepper_cmd; + std::shared_ptr _conveyor_cmd; + + double _control_loop_frequency; + double _write_frequency; + double _check_connection_frequency; + + double _time_hw_last_write; + double _time_hw_last_check_connection; + + boost::shared_ptr _stepper; + + std::vector _calibration_thread_list; + + void _executeCommand(); + + ros::Publisher cmd_pub; + + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp new file mode 100644 index 000000000..82a7b851f --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_enum.hpp @@ -0,0 +1,31 @@ +#ifndef STEPPER_ENUM_HPP +#define STEPPER_ENUM_HPP + +namespace StepperDriver +{ + enum class StepperCommandType + { + CMD_TYPE_NONE=0, + CMD_TYPE_POSITION=1, + CMD_TYPE_VELOCITY=2, + CMD_TYPE_EFFORT=3, + CMD_TYPE_TORQUE=4, + CMD_TYPE_SYNCHRONIZE=5, + CMD_TYPE_RELATIVE_MOVE=6, + CMD_TYPE_MAX_EFFORT=7, + CMD_TYPE_MICRO_STEPS=8, + CMD_TYPE_POSITION_OFFSET=9, + CMD_TYPE_CALIBRATION=10, + CMD_TYPE_CONVEYOR=11, + CMD_TYPE_UPDATE_CONVEYOR=12, + CMD_TYPE_LEARNING_MODE=13, + }; + + enum class StepperMotorType + { + MOTOR_TYPE_STEPPER=1 + }; + +} + +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp new file mode 100644 index 000000000..0585d7672 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_cmd.hpp @@ -0,0 +1,53 @@ +/* + stepper_motor_cmd.hpp + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef STEPPER_MOTOR_CMD_H +#define STEPPER_MOTOR_CMD_H + +#include +#include +#include "stepper_driver/stepper_enum.hpp" + +namespace StepperDriver +{ + class StepperMotorCmd { + + public: + + StepperMotorCmd( ); + StepperMotorCmd(StepperCommandType type, std::vector motor_id, std::vector params); + + StepperCommandType getType(); + void setType(StepperCommandType type); + + std::vector& getMotorsId(); + void setMotorsId(std::vector motor_id); + + std::vector& getParams(); + void setParams(std::vector params); + + private: + + StepperCommandType _type = StepperCommandType::CMD_TYPE_NONE; + std::vector _motor_id_list; + std::vector _param_list; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp new file mode 100644 index 000000000..7a1db474e --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/include/stepper_driver/stepper_motor_state.hpp @@ -0,0 +1,69 @@ +/* + stepper_motor_state.h + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef STEPPER_MOTOR_STATE_H +#define STEPPER_MOTOR_STATE_H + +#include +#include "stepper_driver/stepper_enum.hpp" + +namespace StepperDriver +{ + class StepperMotorState { + + public: + + StepperMotorState(uint8_t id); + + uint8_t getId() const; + void setId(uint8_t motor_id); + + int32_t getPositionState() const; + void setPositionState(int32_t pos); + + int32_t getTemperatureState() const; + void setTemperatureState(int32_t temp); + + int32_t getHardwareErrorState() const; + void setHardwareError(int32_t hw_error); + + double getLastTimeRead() const; + void setLastTimeRead(double last_time); + + int getHwFailCounter() const; + void setHwFailCounter(double fail_counter); + + std::string getFirmwareVersion() const; + void setFirmwareVersion(std::string& firmware_version); + + bool operator==(const StepperMotorState& other); + + private: + + uint8_t _id; + int32_t _state_pos=0; + int32_t _state_temperature=0; + int32_t _hw_error=0; + double _last_time_read = 0; + double _hw_fail_counter; + std::string _firmware_version; + }; +} + +#endif diff --git a/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch b/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch new file mode 100644 index 000000000..035a5edd8 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/launch/stepper_driver.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/launch/test.launch b/niryo_robot_hardware_stack/stepper_driver/launch/test.launch new file mode 100644 index 000000000..1e7ff9f58 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/launch/test.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg new file mode 100644 index 000000000..4a20acfce --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +stepper_driver/StepperMotorHardwareStatus[] motors_hw_status \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg new file mode 100644 index 000000000..7e3813cf1 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg @@ -0,0 +1,8 @@ +uint8 cmd_type +uint8 CMD_TYPE_POSITION=1 +uint8 CMD_TYPE_VELOCITY=2 +uint8 CMD_TYPE_EFFORT=3 +uint8 CMD_TYPE_TORQUE=4 + +uint8[] motors_id +int32[] params \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg new file mode 100644 index 000000000..9001c1638 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg @@ -0,0 +1,6 @@ +niryo_robot_msgs/MotorHeader motor_identity + +string firmware_version +int32 temperature +int32 voltage +int32 error diff --git a/niryo_robot_hardware_stack/stepper_driver/package.xml b/niryo_robot_hardware_stack/stepper_driver/package.xml new file mode 100644 index 000000000..da7fcf980 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/package.xml @@ -0,0 +1,25 @@ + + + stepper_driver + 0.0.0 + The stepper_driver package provides an interface bewteen high level ROS packages and stepper motors + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + mcp_can_rpi + niryo_robot_msgs + message_generation + + roscpp + mcp_can_rpi + niryo_robot_msgs + + + + diff --git a/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp b/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp new file mode 100644 index 000000000..affa6602e --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/conveyor_state.cpp @@ -0,0 +1,75 @@ +/* + conveyor_state.cpp + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "stepper_driver/conveyor_state.hpp" + +namespace StepperDriver +{ + bool ConveyorState::operator==(const ConveyorState& m) + { + return(this->_id == m._id); + } + + ConveyorState::ConveyorState(uint8_t id) + : _id(id) + { + + } + + uint8_t ConveyorState::getId() + { + return _id; + } + + void ConveyorState::setId(uint8_t motor_id) + { + _id = motor_id; + } + + bool ConveyorState::getState() + { + return _state; + } + + void ConveyorState::setState(bool state) + { + _state = state; + } + + int16_t ConveyorState::getSpeed() + { + return _speed; + } + + void ConveyorState::setSpeed(int16_t speed) + { + _speed = speed; + } + + int8_t ConveyorState::getDirection() + { + return _direction; + } + + void ConveyorState::setDirection(int8_t direction) + { + _direction = direction; + } + +} diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp new file mode 100644 index 000000000..e70524f62 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver.cpp @@ -0,0 +1,941 @@ +/* + stepper_driver.cpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "stepper_driver/stepper_driver.hpp" + +namespace StepperDriver +{ + StepperDriver::StepperDriver() : _calibration_result(e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_UNINITIALIZED), _calibration_in_progress(false), _stepper_timeout_thread(boost::bind(&StepperDriver::_verifyMotorTimeoutLoop, this)) + { + _nh.getParam("/niryo_robot_hardware_interface/debug", _debug_mode); + if (_debug_mode) + { + if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug)) + { + ros::console::notifyLoggerLevelsChanged(); + } + } + + int spi_channel, spi_baudrate, gpio_can_interrupt; + + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/spi_channel", spi_channel); + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/spi_baudrate", spi_baudrate); + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_bus/gpio_can_interrupt", gpio_can_interrupt); + + if (_nh.hasParam("/niryo_robot_hardware_interface/stepper_driver/motors_params/stepper_motor_id_list")) + { + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/motors_params/stepper_motor_id_list", _motor_id_list); + } + else + { + _nh.getParam("/niryo_robot_hardware_interface/motors_params/stepper_motor_id_list", _motor_id_list); + } + + _conveyor_list.clear(); + _arm_id_list.clear(); + _arm_id_list = _motor_id_list; + ROS_DEBUG("Stepper Driver - Can bus parameters: spi_channel : %d", spi_channel); + ROS_DEBUG("Stepper Driver - Can bus parameters: spi_baudrate : %d", spi_baudrate); + ROS_DEBUG("Stepper Driver - Can bus parameters: spi_baudrate : %d", gpio_can_interrupt); + + _is_can_connection_ok = false; + _debug_error_message = ""; + + mcp_can.reset(new MCP_CAN(spi_channel, spi_baudrate, gpio_can_interrupt)); + _calibration_motor_list.clear(); + setupInterruptGpio(); + setupSpi(); + init(); + updateMotorList(); + + _stepper_states.clear(); + _stepper_states.push_back(0); + _stepper_states.push_back(0); + _stepper_states.push_back(0); + } + + StepperDriver::~StepperDriver() + { + if (_stepper_timeout_thread.joinable()) + { + _stepper_timeout_thread.join(); + } + } + + bool StepperDriver::setupInterruptGpio() + { + if (!mcp_can->setupInterruptGpio()) + { + ROS_WARN("Stepper Driver - Failed to start gpio"); + _debug_error_message = "Failed to start gpio"; + return CAN_GPIO_FAILINIT; + } + return CAN_OK; + } + + bool StepperDriver::setupSpi() + { + if (!mcp_can->setupSpi()) + { + ROS_WARN("Stepper Driver - Failed to start spi"); + _debug_error_message = "Failed to start spi"; + return CAN_SPI_FAILINIT; + } + return CAN_OK; + } + + INT8U StepperDriver::init() + { + // no mask or filter used, receive all messages from CAN bus + // messages with ids != motor_id will be sent to another ROS interface + // so we can use many CAN devices with this only driver + int result = mcp_can->begin(MCP_ANY, CAN_1000KBPS, MCP_16MHZ); + ROS_DEBUG("Stepper Driver - Result begin can : %d", result); + + if (result != CAN_OK) + { + ROS_ERROR("Stepper Driver - Failed to init MCP2515 (CAN bus)"); + _debug_error_message = "Failed to init MCP2515 (CAN bus)"; + return result; + } + + // set mode to normal + mcp_can->setMode(MCP_NORMAL); + _is_can_connection_ok = false; + ros::Duration(0.05).sleep(); + return result; + } + + bool StepperDriver::isConnectionOk() const + { + return _is_can_connection_ok; + } + + void StepperDriver::addMotor(uint8_t motor_id) + { + ROS_DEBUG("Stepper Driver - Add motor id: %d", motor_id); + _motor_id_list.push_back(motor_id); + updateMotorList(); + } + + void StepperDriver::removeMotor(uint8_t motor_id) + { + ROS_DEBUG("Stepper Driver - Remove motor id: %d", motor_id); + for (int i = 0; i < _motor_id_list.size(); i++) + { + if (_motor_id_list.at(i) == motor_id) + { + _motor_id_list.erase(_motor_id_list.begin() + i); + break; + } + } + updateMotorList(); + } + + void StepperDriver::updateMotorList() + { + _motor_list.clear(); + for (int i = 0; i < _motor_id_list.size(); i++) + { + StepperMotorState m(_motor_id_list.at(i)); + ROS_DEBUG("Stepper Driver - Push back id %d", _motor_id_list.at(i)); + _motor_list.push_back(m); + } + + std::string motor_string_list = "["; + for (int i = 0; i < _motor_id_list.size(); i++) + { + if (i != 0) + motor_string_list += ", "; + motor_string_list += std::to_string(_motor_id_list.at(i)); + } + motor_string_list += "]"; + ROS_INFO("Stepper Driver - Motor list: %s ", motor_string_list.c_str()); + } + + void StepperDriver::addConveyor(uint8_t conveyor_id) + { + ConveyorState c(conveyor_id); + c.setDirection(-1); + c.setSpeed(0); + c.setState(false); + _conveyor_list.push_back(c); + } + void StepperDriver::removeConveyor(uint8_t conveyor_id) + { + for (int i = 0; i < _conveyor_list.size(); i++) + { + if (_conveyor_list.at(i).getId() == conveyor_id) + { + _conveyor_list.erase(_conveyor_list.begin() + i); + } + } + } + + std::vector &StepperDriver::getMotorsState() + { + return _motor_list; + } + + void StepperDriver::getBusState(bool &connection_status, std::vector &motor_list, std::string &error) + { + error = _debug_error_message; + motor_list = _all_motor_connected; + connection_status = isConnectionOk(); + } + + void StepperDriver::executeJointTrajectoryCmd(std::vector &cmd) + { + int result; + for (int i = 0; i < _arm_id_list.size(); i++) + { + result = sendPositionCommand(_arm_id_list.at(i), cmd.at(i)); + if (result != CAN_OK) + { + ROS_WARN("Stepper Driver - send positions to motor id %d failed", _arm_id_list.at(i)); + } + } + } + + int32_t StepperDriver::getStepperPose(int32_t motor_id) + { + for (std::vector::iterator motor_it = _motor_list.begin(); motor_it != _motor_list.end(); motor_it++) + { + if (motor_it->getId() == motor_id) + { + return motor_it->getPositionState(); + } + } + ROS_WARN("Stepper Driver - Get positionsfrom motor id %d failed because doesn't exist", motor_id); + return -1; + } + + std::vector &StepperDriver::getJointTrajectoryState() + { + return _stepper_states; + } + + int StepperDriver::readCommand(StepperMotorCmd cmd) + { + int result = CAN_INVALID_CMD; + ROS_DEBUG("Stepper Driver - Received stepper cmd with type %d", int(cmd.getType())); + + std::string ids_string = ""; + for (int i = 0; i < cmd.getMotorsId().size(); i++) + ids_string += std::to_string(cmd.getMotorsId().at(i)) + " "; + ROS_DEBUG("Stepper Driver - Received stepper cmd with ids %s", ids_string.c_str()); + + std::string params_string = ""; + for (int i = 0; i < cmd.getParams().size(); i++) + params_string += std::to_string(cmd.getParams().at(i)) + " "; + ROS_DEBUG("Stepper Driver - Received stepper cmd with params %s", params_string.c_str()); + + if (cmd.getType() == StepperCommandType::CMD_TYPE_POSITION) + { + if (cmd.getMotorsId().size() <= cmd.getParams().size()) + { + for (int i = 0; i < cmd.getMotorsId().size(); i++) + { + result = sendPositionCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_TORQUE) + { + if (cmd.getMotorsId().size() <= cmd.getParams().size()) + { + for (int i = 0; i < cmd.getMotorsId().size(); i++) + { + result = sendTorqueOnCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_SYNCHRONIZE) + { + if (cmd.getMotorsId().size() <= cmd.getParams().size()) + { + for (int i = 0; i < cmd.getMotorsId().size(); i++) + { + result = sendSynchronizePositionCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_RELATIVE_MOVE) + { + + if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 2) + { + result = sendRelativeMoveCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1)); + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_MAX_EFFORT) + { + if (cmd.getMotorsId().size() <= cmd.getParams().size()) + { + for (int i = 0; i < cmd.getMotorsId().size(); i++) + { + result = sendMaxEffortCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_MICRO_STEPS) + { + if (cmd.getMotorsId().size() <= cmd.getParams().size()) + { + for (int i = 0; i < cmd.getMotorsId().size(); i++) + { + result = sendMicroStepsCommand(cmd.getMotorsId().at(i), cmd.getParams().at(i)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_CALIBRATION) + { + if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 4) + { + _calibration_motor_list.push_back(cmd.getMotorsId().at(0)); + _motor_calibration_map[cmd.getMotorsId().at(0)] = 0; + _motor_calibration_map_cmd[cmd.getMotorsId().at(0)] = {cmd, ros::Time::now()}; + result = sendCalibrationCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2), cmd.getParams().at(3)); + if (result == CAN_OK && _calibration_result != e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS) + { + // Join the previous calibration thread (otherwise we cannot reassign the thread) + if (_calibration_thread.joinable()) + _calibration_thread.join(); + _calibration_thread = std::thread(boost::bind(&StepperDriver::readCalibrationStates, this)); + } + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_POSITION_OFFSET) + { + if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 2) + { + result = sendPositionOffsetCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1)); + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_CONVEYOR) + { + if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 3) + { + result = sendConveyoOnCommand(cmd.getMotorsId().at(0), cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2)); + } + } + else if (cmd.getType() == StepperCommandType::CMD_TYPE_UPDATE_CONVEYOR) + { + if (cmd.getMotorsId().size() > 0 && cmd.getParams().size() >= 1) + { + result = sendUpdateConveyorId(cmd.getMotorsId().at(0), cmd.getParams().at(0)); + if (result == CAN_OK) + { + removeConveyor(cmd.getMotorsId().at(0)); + addConveyor(cmd.getParams().at(0)); + } + } + } + ROS_DEBUG("Stepper Driver - Received stepper cmd finished"); + return result; + } + + bool StepperDriver::canReadData() + { + return mcp_can->canReadData(); + } + + INT8U StepperDriver::readMsgBuf(INT32U *id, INT8U *len, std::array &buf) + { + int hw_fail_counter_read = 0; + INT8U status; + + while (hw_fail_counter_read < 10) + { + status = mcp_can->readMsgBuf(id, len, buf.data()); + if (status == CAN_OK) + { + break; + } + else + { + _is_can_connection_ok = false; + ROS_WARN_THROTTLE(2, "Stepper Driver - Reading Stepper message on CAN Bus failed"); + } + } + return status; + } + + void StepperDriver::scanAndCheck() + { + double time_begin_scan = ros::Time::now().toSec(); + double min_time_to_wait = 0.25; + double timeout = 0.5; + + _all_motor_connected.clear(); + + std::vector motors_unfound(_motor_id_list.begin(), _motor_id_list.end()); + while ((motors_unfound.size() != 0) || (ros::Time::now().toSec() - time_begin_scan < min_time_to_wait)) + { + ros::Duration(0.001).sleep(); // check at 1000 Hz + if (canReadData()) + { + INT32U rxId; + INT8U len; + std::array rxBuf; + readMsgBuf(&rxId, &len, rxBuf); + int motor_id = rxId & 0x0F; + + auto it = std::find(motors_unfound.begin(), motors_unfound.end(), motor_id); + if (it != motors_unfound.end()) + { + _all_motor_connected.push_back(*it); + motors_unfound.erase(it); + } + } + + if (ros::Time::now().toSec() - time_begin_scan > timeout) + { + ROS_ERROR_THROTTLE(2, "Stepper Driver - CAN scan Timeout"); + _debug_error_message = "CAN bus scan failed : motors "; + for (int i = 0; i < motors_unfound.size(); i++) + { + _debug_error_message += std::to_string(motors_unfound.at(i)); + _debug_error_message += ", "; + } + _debug_error_message += "are not connected"; + _is_can_connection_ok = false; + ROS_ERROR_THROTTLE(2, "Stepper Driver - %s", _debug_error_message.c_str()); + } + } + + this->_refreshMotorTimeout(); + + _is_can_connection_ok = true; + _debug_error_message = ""; + } + + void StepperDriver::readMotorsState() + { + if (canReadData()) + { + INT32U rxId; + INT8U len; + std::array rxBuf; + readMsgBuf(&rxId, &len, rxBuf); + int motor_id = rxId & 0x0F; + bool motor_known; + + motor_known = checkMotorsId(motor_id); + if (!motor_known) + { + return; + } + + if (len < 1) + { + ROS_ERROR_THROTTLE(1, "Stepper Driver - Received can frame with empty data"); + return; + } + + int control_byte = rxBuf[0]; + + if (control_byte == CAN_DATA_POSITION) + { + fillMotorPosition(motor_id, len, rxBuf); + } + + else if (control_byte == CAN_DATA_DIAGNOSTICS) + { + fillMotorDiagnostics(motor_id, len, rxBuf); + } + + else if (control_byte == CAN_DATA_FIRMWARE_VERSION) + { + fillMotorFirmware(motor_id, len, rxBuf); + } + + else if (control_byte == CAN_DATA_CONVEYOR_STATE) + { + fillConveyorState(motor_id, rxBuf); + } + } + } + + void StepperDriver::fillMotorPosition(int motor_id, const INT8U &len, const std::array &data) + { + if (!checkMessageLength(len, MESSAGE_POSITION_LENGTH)) + { + ROS_ERROR("Stepper Driver - Position can frame should contain 4 data bytes"); + return; + } + + int32_t pos = (data[1] << 16) + (data[2] << 8) + data[3]; + if (pos & (1 << 15)) + { + pos = -1 * ((~pos + 1) & 0xFFFF); + } + if (motor_id == 1) + { + _stepper_states[0] = pos; + } + else if (motor_id == 2) + { + _stepper_states[1] = pos; + } + else if (motor_id == 3) + { + _stepper_states[2] = pos; + } + for (int i = 0; i < _motor_list.size(); i++) + { + if (motor_id == _motor_list.at(i).getId()) + { + _motor_list.at(i).setPositionState(pos); + break; + } + } + return; + } + + void StepperDriver::fillMotorDiagnostics(int motor_id, const INT8U &len, const std::array &data) + { + if (!checkMessageLength(len, MESSAGE_DIAGNOSTICS_LENGTH)) + { + ROS_ERROR("Stepper Driver - Diagnostic can frame should contain 4 data bytes"); + } + + int driver_temp_raw = (data[2] << 8) + data[3]; + double a = -0.00316; + double b = -12.924; + double c = 2367.7; + double v_temp = driver_temp_raw * 3.3 / 1024.0 * 1000.0; + int driver_temp = int((-b - std::sqrt(b * b - 4 * a * (c - v_temp))) / (2 * a) + 30); + + // fill data + for (int i = 0; i < _motor_list.size(); i++) + { + if (motor_id == _motor_list.at(i).getId()) + { + _motor_list.at(i).setTemperatureState(driver_temp); + break; + } + } + } + + void StepperDriver::fillMotorFirmware(int motor_id, const INT8U &len, const std::array &data) + { + if (!checkMessageLength(len, MESSAGE_FIRMWARE_LENGTH)) + { + ROS_ERROR("Stepper Driver - Firmware version frame should contain 4 data bytes"); + } + + int v_major = data[1]; + int v_minor = data[2]; + int v_patch = data[3]; + std::string version = ""; + version += std::to_string(v_major); + version += "."; + version += std::to_string(v_minor); + version += "."; + version += std::to_string(v_patch); + + // fill data + for (int i = 0; i < _motor_list.size(); i++) + { + if (motor_id == _motor_list.at(i).getId()) + { + _motor_list.at(i).setFirmwareVersion(version); + break; + } + } + } + + void StepperDriver::fillConveyorState(int motor_id, const std::array &data) + { + bool state = data[1]; + int16_t speed = data[2]; + int8_t direction = data[3]; + + for (int i = 0; i < _conveyor_list.size(); i++) + { + if (_conveyor_list.at(i).getId() == motor_id) + { + _conveyor_list.at(i).setDirection(direction); + _conveyor_list.at(i).setSpeed(speed); + _conveyor_list.at(i).setState(state); + break; + } + } + } + + void StepperDriver::_verifyMotorTimeoutLoop() + { + while (this->_nh.ok()) + { + // Only check when motors seems connected and not in calibration (not state received) + if (this->_is_can_connection_ok && !this->_calibration_in_progress) + { + for (const StepperMotorState &motor : this->_motor_list) + { + const double &last_time_read = motor.getLastTimeRead(); + if (last_time_read > 0) + { + double sec_elapsed = ros::Time::now().toSec() - last_time_read; + if (sec_elapsed > STEPPER_MOTOR_TIMEOUT_VALUE) + { + // If it's the first motor that seems disconnected + if (this->_is_can_connection_ok) + { + this->_debug_error_message = "Disconnected stepper motor(s): " + std::to_string(motor.getId()); + } + // If an another motor seems already disconnected + else + { + this->_debug_error_message += ", " + std::to_string(motor.getId()); + } + this->_is_can_connection_ok = false; + } + } + } + } + ros::Duration(0.1).sleep(); + } + } + + void StepperDriver::_refreshMotorTimeout() + { + // Refresh time read value for timeout thread + for (StepperMotorState &motor_stepper_state : _motor_list) + { + motor_stepper_state.setLastTimeRead(-1); + } + } + + std::vector &StepperDriver::getConveyorsState() + { + return _conveyor_list; + } + + bool StepperDriver::checkMotorsId(int motor_id) + { + bool motor_found = false; + for (int i = 0; i < _motor_list.size(); i++) + { + if (motor_id == _motor_list.at(i).getId()) + { + _motor_list.at(i).setLastTimeRead(ros::Time::now().toSec()); + motor_found = true; + break; + } + } + for (int i = 0; i < _conveyor_list.size(); i++) + { + if (motor_id == _conveyor_list.at(i).getId()) + { + motor_found = true; + break; + } + } + if (!motor_found) + { + // ROS_WARN("Received can frame with unknow id : %d", motor_id); + _debug_error_message = "Unknow connected motor : "; + _debug_error_message += std::to_string(motor_id); + } + return motor_found; + } + + bool StepperDriver::checkMessageLength(const INT8U &message_length, int message_type) + { + if (message_length != message_type) + { + return false; + } + return true; + } + + INT8U StepperDriver::sendPositionCommand(int id, int cmd) + { + uint8_t data[4] = {CAN_CMD_POSITION, (uint8_t)((cmd >> 16) & 0xFF), + (uint8_t)((cmd >> 8) & 0xFF), (uint8_t)(cmd & 0XFF)}; + return sendCanMsgBuf(id, 0, 4, data); + } + + INT8U StepperDriver::sendRelativeMoveCommand(int id, int steps, int delay) + { + uint8_t data[7] = {CAN_CMD_MOVE_REL, + (uint8_t)((steps >> 16) & 0xFF), (uint8_t)((steps >> 8) & 0xFF), (uint8_t)(steps & 0XFF), + (uint8_t)((delay >> 16) & 0xFF), (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0XFF)}; + return sendCanMsgBuf(id, 0, 7, data); + } + + INT8U StepperDriver::sendTorqueOnCommand(int id, int torque_on) + { + uint8_t data[2] = {0}; + data[0] = CAN_CMD_MODE; + data[1] = (torque_on) ? STEPPER_CONTROL_MODE_STANDARD : STEPPER_CONTROL_MODE_RELAX; + return sendCanMsgBuf(id, 0, 2, data); + } + + INT8U StepperDriver::sendPositionOffsetCommand(int id, int cmd, int absolute_steps_at_offset_position) + { + uint8_t data[6] = {CAN_CMD_OFFSET, (uint8_t)((cmd >> 16) & 0xFF), + (uint8_t)((cmd >> 8) & 0xFF), (uint8_t)(cmd & 0XFF), + (uint8_t)((absolute_steps_at_offset_position >> 8) & 0xFF), (uint8_t)(absolute_steps_at_offset_position & 0xFF)}; + return sendCanMsgBuf(id, 0, 6, data); + } + + INT8U StepperDriver::sendSynchronizePositionCommand(int id, bool begin_traj) + { + uint8_t data[2] = {CAN_CMD_SYNCHRONIZE, (uint8_t)begin_traj}; + return sendCanMsgBuf(id, 0, 2, data); + } + + INT8U StepperDriver::sendMicroStepsCommand(int id, int micro_steps) + { + uint8_t data[2] = {CAN_CMD_MICRO_STEPS, (uint8_t)micro_steps}; + return sendCanMsgBuf(id, 0, 2, data); + } + + INT8U StepperDriver::sendMaxEffortCommand(int id, int effort) + { + uint8_t data[2] = {CAN_CMD_MAX_EFFORT, (uint8_t)effort}; + return sendCanMsgBuf(id, 0, 2, data); + } + + std::string StepperDriver::getErrorMessage() + { + return _debug_error_message; + } + + INT8U StepperDriver::sendCalibrationCommand(int id, int offset, int delay, int direction, int timeout) + { + direction = (direction > 0 ) ? 1 : 0; + + uint8_t data[8] = {CAN_CMD_CALIBRATE, (uint8_t)((offset >> 16) & 0xFF), + (uint8_t)((offset >> 8) & 0xFF), (uint8_t)(offset & 0XFF), + (uint8_t)((delay >> 8) & 0xFF), (uint8_t)(delay & 0xFF), + (uint8_t)direction, (uint8_t)timeout}; + return sendCanMsgBuf(id, 0, 8, data); + } + + e_CanStepperCalibrationStatus StepperDriver::getCalibrationResult(uint8_t id, boost::shared_ptr &result) + { + (*result) = _motor_calibration_map[id]; + return _calibration_result; + } + + void StepperDriver::clearCalibrationTab() + { + _motor_calibration_map.clear(); + } + + void StepperDriver::setCalibrationInProgress(bool in_progress) + { + this->_calibration_in_progress = in_progress; + this->_refreshMotorTimeout(); + } + + void StepperDriver::readCalibrationStates() + { + _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_IN_PROGRESS; + double time_thread_begin = ros::Time::now().toSec(); + + int calibration_timeout; + _nh.getParam("/niryo_robot_hardware_interface/calibration_timeout", calibration_timeout); + std::thread reading_data_thread(boost::bind(&StepperDriver::interpreteCalibrationCommand, this)); + while (_calibration_motor_list.size() != 0) + { + if (canReadData()) + { + INT32U rxId; + INT8U len; + std::array rxBuf; + + readMsgBuf(&rxId, &len, rxBuf); + CalibrationStepperData calib_data = {rxId, len, rxBuf}; + _calibration_readed_datas.push_back(calib_data); + } + else if (ros::Time::now().toSec() - time_thread_begin > calibration_timeout) + { + ROS_ERROR("Stepper Driver - Calibration timeout after: %lf s", ros::Time::now().toSec() - time_thread_begin); + for (int i = 0; i < _calibration_motor_list.size(); i++) + { + ROS_ERROR("Stepper Driver - Motor %d timeout: may be disconnected", _calibration_motor_list.at(i)); + } + _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_TIMEOUT; + _calibration_motor_list.clear(); + reading_data_thread.join(); + return; + } + } + _calibration_motor_list.clear(); + reading_data_thread.join(); + _calibration_result = e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_OK; + ROS_DEBUG("Stepper Driver - Calibration thread ended with success"); + } + + void StepperDriver::interpreteCalibrationCommand() + { + while(_calibration_motor_list.size() > 0) + { + if (_calibration_readed_datas.size() > 0) + { + +// std::string data_str = ""; +// for(int byte_nb=0; byte_nb<_calibration_readed_datas[0].len; byte_nb++ ) +// { +// data_str+= " " + std::to_string((int)_calibration_readed_datas[0].rxBuf[byte_nb]); +// } +// ROS_WARN("motor calib: %d, %d, %s", (int)(_calibration_readed_datas[0].rxId & 0x0F), _calibration_readed_datas[0].len, data_str.c_str()); + + if (_calibration_readed_datas[0].len == 4) + { + INT32U rxId = _calibration_readed_datas[0].rxId ; + std::array rxBuf = _calibration_readed_datas[0].rxBuf; + + int motor_id = rxId & 0x0F; + for (int i = 0; i < _calibration_motor_list.size(); i++) + { + if (_calibration_motor_list.at(i) == motor_id) + { + // 3. Check control byte + int control_byte = rxBuf[0]; + if (control_byte == CAN_DATA_CALIBRATION_RESULT) + { // only check this frame + int result = rxBuf[1]; + e_CanStepperCalibrationStatus can_enum_result = static_cast(result); + if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_TIMEOUT) + { + ROS_ERROR("Stepper Driver - Motor %d had calibration timeout", motor_id); + _calibration_result = can_enum_result; + return; + } + else if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_BAD_PARAM) + { + ROS_ERROR("Stepper Driver - Bad params given to motor %d", motor_id); + _calibration_result = can_enum_result; + return; + } + else if (can_enum_result == e_CanStepperCalibrationStatus::CAN_STEPPERS_CALIBRATION_OK) + { + ROS_INFO("Stepper Driver - Motor %d calibration OK", motor_id); + int steps_at_offset_pos = (rxBuf[2] << 8) + rxBuf[3]; + ROS_INFO("Stepper Driver - Motor %d - Absolute steps at offset position : %d", motor_id, steps_at_offset_pos); + _motor_calibration_map[motor_id] = (int32_t)steps_at_offset_pos; + _calibration_motor_list.erase(std::remove(_calibration_motor_list.begin(), _calibration_motor_list.end(), motor_id), _calibration_motor_list.end()); + // keep torque ON for axis 1 + if (motor_id == 1) + { + sendTorqueOnCommand(1, true); + } + } + } + else if ((ros::Time::now() - _motor_calibration_map_cmd[motor_id].cmd_time).toSec() > 0.5) + { + StepperMotorCmd cmd = _motor_calibration_map_cmd[motor_id].cmd; + _motor_calibration_map_cmd[motor_id].cmd_time = ros::Time::now(); + sendCalibrationCommand(motor_id, cmd.getParams().at(0), cmd.getParams().at(1), cmd.getParams().at(2), cmd.getParams().at(3)); + } + } + } + } + _calibration_readed_datas.erase(_calibration_readed_datas.begin()); + } + } + } + + bool StepperDriver::scanMotorId(int motor_to_find) + { + double time_begin_scan = ros::Time::now().toSec(); + double min_time_to_wait = 0.25; + double timeout = 0.5; + bool motor_found = false; + + while (!motor_found || (ros::Time::now().toSec() - time_begin_scan < min_time_to_wait)) + { + ros::Duration(0.001).sleep(); // check at 1000 Hz + if (canReadData()) + { + INT32U rxId; + INT8U len; + std::array rxBuf; + readMsgBuf(&rxId, &len, rxBuf); + int motor_id = rxId & 0x0F; + if (motor_id == motor_to_find) + { + motor_found = true; + } + } + if (ros::Time::now().toSec() - time_begin_scan > timeout) + { + ROS_ERROR("Stepper Driver - Motor with id %d not found", motor_to_find); + return motor_found; + } + } + return motor_found; + } + + INT8U StepperDriver::sendConveyoOnCommand(int id, bool conveyor_on, int conveyor_speed, int8_t direction) + { + ROS_DEBUG("Stepper Driver - Send conveyor id %d enabled (%d) at speed %d on direction %d", + id, static_cast(conveyor_on), conveyor_speed, direction); + uint8_t data[3] = {0}; + data[0] = CAN_CMD_MODE; + if (conveyor_on) + { + data[1] = STEPPER_CONVEYOR_ON; + } + else + { + data[1] = STEPPER_CONVEYOR_OFF; + } + data[2] = conveyor_speed; + data[3] = direction; + + return sendCanMsgBuf(id, 0, 4, data); + } + + INT8U StepperDriver::sendUpdateConveyorId(uint8_t old_id, uint8_t new_id) + { + ROS_DEBUG("Stepper Driver - Send update conveyor id from %d to %d", old_id, new_id); + uint8_t data[3] = {0}; + data[0] = CAN_CMD_MODE; + data[1] = CAN_UPDATE_CONVEYOR_ID; + data[2] = new_id; + return sendCanMsgBuf(old_id, 0, 3, data); + } + + INT8U StepperDriver::sendCanMsgBuf(INT32U id, INT8U ext, INT8U len, INT8U *buf) + { + INT8U status; + int hw_fail_counter_send = 0; + while (hw_fail_counter_send < 10) + { + status = mcp_can->sendMsgBuf(id, ext, len, buf); + if (status == CAN_OK) + { + break; + } + else + { + _is_can_connection_ok = false; + ROS_WARN_THROTTLE(0.5, "Stepper Driver - Sending Stepper message on CAN Bus failed"); + } + } + return status; + } + +} // namespace StepperDriver diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp new file mode 100644 index 000000000..948274fe4 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_core.cpp @@ -0,0 +1,400 @@ +#include "stepper_driver/stepper_driver_core.hpp" + +namespace StepperDriver +{ + StepperDriverCore::StepperDriverCore() + { + init(); + } + + void StepperDriverCore::init() + { + _control_loop_flag = false; + _calibration_in_progress = false; + _debug_flag = false; + _joint_trajectory_controller_cmd.clear(); + _stepper_cmd.reset(new StepperMotorCmd()); + _conveyor_cmd.reset(new StepperMotorCmd()); + initParameters(); + _stepper.reset(new StepperDriver()); + startControlLoop(); + + cmd_pub = _nh.advertise("stepper_cmd", 1000); + } + + void StepperDriverCore::initParameters() + { + // if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) { + // ros::console::notifyLoggerLevelsChanged(); + // } + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hardware_control_loop_frequency", _control_loop_frequency); + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hw_write_frequency", _write_frequency); + _nh.getParam("/niryo_robot_hardware_interface/stepper_driver/can_hw_check_connection_frequency", _check_connection_frequency); + + ROS_DEBUG("Stepper Driver Core - can_hardware_control_loop_frequency : %f", _control_loop_frequency); + ROS_DEBUG("Stepper Driver Core - can_hardware_write_frequency : %f", _write_frequency); + ROS_DEBUG("Stepper Driver Core - can_hardware_check_connection_frequency : %f", _check_connection_frequency); + } + + void StepperDriverCore::startControlLoop() + { + resetHardwareControlLoopRates(); + if (!_control_loop_thread) + { + ROS_DEBUG("Stepper Driver Core - Start control loop thread"); + _control_loop_flag = true; + _control_loop_thread.reset(new std::thread(boost::bind(&StepperDriverCore::controlLoop, this))); + } + } + + void StepperDriverCore::resetHardwareControlLoopRates() + { + ROS_DEBUG_THROTTLE(1,"Stepper Driver Core - Reset control loop rates"); + double now = ros::Time::now().toSec(); + _time_hw_last_write = now; + _time_hw_last_check_connection = now; + } + + void StepperDriverCore::activeDebugMode(bool mode) + { + ROS_INFO("Stepper Driver Core - Activate debug mode for dynamixel driver core: %d", mode); + _debug_flag = mode; + + if (!mode) + { + std::lock_guard lck(_control_loop_mutex); + _stepper->sendTorqueOnCommand(2, 0); + ros::Duration(0.2).sleep(); + _stepper->sendTorqueOnCommand(3, 0); + } + } + + int StepperDriverCore::motorReport(int motor_id) + { + int response = niryo_robot_msgs::CommandStatus::SUCCESS; + if (_debug_flag) + { + bool motor_found; + std::lock_guard lck(_control_loop_mutex); + ros::Duration(0.1).sleep(); + + motor_found = _stepper->scanMotorId(motor_id); + if (!motor_found) + { + ROS_ERROR("Stepper Driver Core - Stepper Motor %d not found", motor_id); + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + else + { + ROS_INFO("Stepper Driver Core - Stepper Motor %d found", motor_id); + } + return response; + } + ROS_ERROR("Stepper Driver Core - Debug mode not enabled"); + return response; + } + + int StepperDriverCore::launchMotorsReport() + { + int response = niryo_robot_msgs::CommandStatus::SUCCESS; + if (_debug_flag) + { + ROS_INFO("Stepper Driver Core - Debug - Start Stepper Motor Report"); + ros::Duration(0.5).sleep(); + for (int motor_id = 1; motor_id < 4; motor_id++) + { + ROS_INFO("Stepper Driver Core - Debug - Motor %d report start :", motor_id); + if (motorReport(motor_id) != niryo_robot_msgs::CommandStatus::SUCCESS) + { + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + } + + if (!_debug_flag) + { + ROS_INFO("Stepper Driver Core - Debug - Debug motor aborted"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + + for (int motor_id = 1; motor_id < 4; motor_id++) + { + ROS_INFO("Stepper Driver Core - Debug - Send torque on command on motor %d", motor_id); + + { + std::lock_guard lck(_control_loop_mutex); + _stepper->sendTorqueOnCommand(motor_id, 1); + } + ros::Duration(0.2).sleep(); + + int direction = (motor_id == 2)? -1 : 1; + int old_position = _stepper->getStepperPose(motor_id); + ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, old_position); + + { + std::lock_guard lck(_control_loop_mutex); + ROS_INFO("Stepper Driver Core - Debug - Send move command on motor %d", motor_id); + _stepper->sendRelativeMoveCommand(motor_id, -1000*direction, 1500); + ros::Duration(0.2).sleep(); + } + ros::Duration(3).sleep(); + + int new_position = _stepper->getStepperPose(motor_id); + ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, new_position); + if (std::abs(new_position - old_position) < 250) + { + ROS_WARN("Stepper Driver Core - Debug - Pose error on motor %d", motor_id); + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + { + std::lock_guard lck(_control_loop_mutex); + + ROS_INFO("Stepper Driver Core - Debug - Send move command on motor %d", motor_id); + _stepper->sendRelativeMoveCommand(motor_id, 1000*direction, 1000); + ros::Duration(0.2).sleep(); + } + ros::Duration(3).sleep(); + + int new_position2 = _stepper->getStepperPose(motor_id); + ROS_INFO("Stepper Driver Core - Debug - Get pose on motor %d: %d", motor_id, new_position2); + if (std::abs(new_position2 - new_position) < 250) + { + ROS_WARN("Stepper Driver Core - Debug - Pose error on motor %d", motor_id); + response = niryo_robot_msgs::CommandStatus::FAILURE; + } + + { + std::lock_guard lck(_control_loop_mutex); + ROS_INFO("Stepper Driver Core - Debug - Send torque off command on motor %d", motor_id); + _stepper->sendTorqueOnCommand(motor_id, 0); + ros::Duration(0.2).sleep(); + } + if (!_debug_flag) + { + ROS_INFO("Stepper Driver Core - Debug - Debug motor aborted"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + } + return response; + } + ROS_ERROR("Stepper Driver Core - Debug - Debug mode not enabled"); + return niryo_robot_msgs::CommandStatus::ABORTED; + } + + void StepperDriverCore::setStepperCommands(StepperMotorCmd &cmd) + { + _stepper_cmd.reset(new StepperMotorCmd(cmd)); + } + + void StepperDriverCore::setTrajectoryControllerCommands(std::vector &cmd) + { + _joint_trajectory_controller_cmd = cmd; + } + + std::vector &StepperDriverCore::getTrajectoryControllerStates() + { + return _stepper->getJointTrajectoryState(); + } + + int StepperDriverCore::setConveyor(uint8_t motor_id) + { + bool motor_found = false; + std::lock_guard lck(_control_loop_mutex); + int result; + + ros::Duration(0.1).sleep(); + motor_found = _stepper->scanMotorId(6); + ros::Duration(0.1).sleep(); + if (!motor_found) + { + ROS_WARN("Stepper Driver Core - No conveyor found"); + result = niryo_robot_msgs::CommandStatus::NO_CONVEYOR_FOUND; + } + else + { + result = _stepper->sendUpdateConveyorId(6, motor_id); + if (result != CAN_OK) + { + result = niryo_robot_msgs::CommandStatus::CAN_WRITE_ERROR; + } + else + { + result = niryo_robot_msgs::CommandStatus::SUCCESS; + } + + ros::Duration(0.1).sleep(); + _stepper->addConveyor(motor_id); + } + + return result; + } + + void StepperDriverCore::unsetConveyor(uint8_t motor_id) + { + std::lock_guard lck(_control_loop_mutex); + _stepper->sendUpdateConveyorId(motor_id, 6); + ros::Duration(0.1).sleep(); + _stepper->removeConveyor(motor_id); + } + + void StepperDriverCore::setConveyorCommands(StepperMotorCmd &cmd) + { + _conveyor_cmd.reset(new StepperMotorCmd(cmd)); + } + + std::vector &StepperDriverCore::getConveyorStates() + { + return _stepper->getConveyorsState(); + } + + std::vector &StepperDriverCore::getStepperStates() + { + return _stepper->getMotorsState(); + } + + void StepperDriverCore::startCalibration(bool enable) + { + _calibration_in_progress = enable; + _stepper->setCalibrationInProgress(enable); + } + + bool StepperDriverCore::getCalibrationState() + { + return _calibration_in_progress; + } + + void StepperDriverCore::clearCalibrationTab() + { + _stepper->clearCalibrationTab(); + } + + e_CanStepperCalibrationStatus StepperDriverCore::getCalibrationResult(uint8_t id, boost::shared_ptr &calibration_result) + { + return _stepper->getCalibrationResult(id, calibration_result); + } + + stepper_driver::StepperArrayMotorHardwareStatus StepperDriverCore::getHwStatus() + { + stepper_driver::StepperMotorHardwareStatus data; + stepper_driver::StepperArrayMotorHardwareStatus hw_state; + + std::vector motor_states = _stepper->getMotorsState(); + + for (int i = 0; i < motor_states.size(); i++) + { + data.motor_identity.motor_id = motor_states.at(i).getId(); + data.motor_identity.motor_type = (uint8_t)StepperMotorType::MOTOR_TYPE_STEPPER; + data.temperature = motor_states.at(i).getTemperatureState(); + data.error = motor_states.at(i).getHardwareErrorState(); + data.firmware_version = motor_states.at(i).getFirmwareVersion(); + hw_state.motors_hw_status.push_back(data); + } + return hw_state; + } + + niryo_robot_msgs::BusState StepperDriverCore::getCanBusState() + { + niryo_robot_msgs::BusState can_bust_state; + + std::string error; + bool connection; + std::vector motor_id; + _stepper->getBusState(connection, motor_id, error); + can_bust_state.connection_status = connection; + can_bust_state.motor_id_connected = motor_id; + can_bust_state.error = error; + return can_bust_state; + } + + void StepperDriverCore::_executeCommand() + { + std_msgs::Int64MultiArray cmd; + if (_joint_trajectory_controller_cmd.size() != 0) + { + _stepper->executeJointTrajectoryCmd(_joint_trajectory_controller_cmd); + cmd.data.push_back(_joint_trajectory_controller_cmd[0]); + cmd.data.push_back(_joint_trajectory_controller_cmd[1]); + cmd.data.push_back(_joint_trajectory_controller_cmd[2]); + cmd_pub.publish(cmd); + // _stepper->readCommand(*_controller_cmd.get()); + _joint_trajectory_controller_cmd.clear(); + } + if (_stepper_cmd.get() != nullptr) + { + _stepper->readCommand(*_stepper_cmd.get()); + _stepper_cmd.reset(); + } + if (_conveyor_cmd.get() != nullptr) + { + _stepper->readCommand(*_conveyor_cmd.get()); + _conveyor_cmd.reset(); + } + } + + void StepperDriverCore::controlLoop() + { + ros::Rate control_loop_rate = ros::Rate(_control_loop_frequency); + resetHardwareControlLoopRates(); + while (ros::ok()) + { + if (!_stepper->isConnectionOk()) + { + ROS_WARN("Stepper Driver Core - Stepper connection error"); + ros::Duration(0.1).sleep(); + + while (!_stepper->isConnectionOk()) + { // wait for connection to be up + ROS_INFO("Stepper Driver Core - Scan to find stepper motors"); + { + std::lock_guard lck(_control_loop_mutex); + _stepper->scanAndCheck(); + } + ros::Duration(0.1).sleep(); + } + ROS_INFO("Stepper Driver Core - Stepper Can bus ok"); + } + if (_control_loop_flag) + { + { + std::lock_guard lck(_control_loop_mutex); + if (!_calibration_in_progress) + { + _stepper->readMotorsState(); + } + + if (ros::Time::now().toSec() - _time_hw_last_write > 1.0 / _write_frequency) + { + _time_hw_last_write += 1.0 / _write_frequency; + _executeCommand(); + } + + /*if (ros::Time::now().toSec() - _time_hw_last_check_connection > 1.0/_check_connection_frequency) + { + _time_hw_last_check_connection += 1.0/_check_connection_frequency; + if(!_calibration_in_progress) + { + _stepper->scanAndCheck(); + } + }*/ + } + + control_loop_rate.sleep(); + } + else + { + ros::Duration(TIME_TO_WAIT_IF_BUSY).sleep(); + resetHardwareControlLoopRates(); + } + } + } + + bool StepperDriverCore::scanMotorId(int motor_to_find) + { + std::lock_guard lck(_control_loop_mutex); + return _stepper->scanMotorId(motor_to_find); + } + + bool StepperDriverCore::isConnectionOk() const + { + return _stepper->isConnectionOk(); + } +} // namespace StepperDriver diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp new file mode 100644 index 000000000..78e578406 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_driver_node.cpp @@ -0,0 +1,13 @@ +#include +#include "stepper_driver/stepper_driver_core.hpp" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "stepper_driver_node"); + ros::NodeHandle nodeHandle("~"); + + StepperDriver::StepperDriverCore stepper_node(); + + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp new file mode 100644 index 000000000..da9b83e76 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_cmd.cpp @@ -0,0 +1,64 @@ +/* + stepper_motor_cmd.cpp + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "stepper_driver/stepper_motor_cmd.hpp" + +namespace StepperDriver +{ + StepperMotorCmd::StepperMotorCmd() + { + + } + + StepperMotorCmd::StepperMotorCmd(StepperCommandType type, std::vector motor_id, std::vector params) + : _type(type), _motor_id_list(motor_id), _param_list(params) + { + + } + + StepperCommandType StepperMotorCmd::getType() + { + return _type; + } + + void StepperMotorCmd::setType(StepperCommandType type) + { + _type = type; + } + + std::vector& StepperMotorCmd::getMotorsId() + { + return _motor_id_list; + } + void StepperMotorCmd::setMotorsId(std::vector motor_id) + { + _motor_id_list = motor_id; + } + + std::vector& StepperMotorCmd::getParams() + { + return _param_list; + } + + void StepperMotorCmd::setParams(std::vector params) + { + _param_list = params; + } + +} diff --git a/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp new file mode 100644 index 000000000..9dcee38fe --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/src/stepper_motor_state.cpp @@ -0,0 +1,104 @@ +/* + stepper_motor_state.cpp + Copyright (C) 2017 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include "stepper_driver/stepper_motor_state.hpp" + +namespace StepperDriver +{ + bool StepperMotorState::operator==(const StepperMotorState& m) + { + return(this->_id == m._id); + } + + StepperMotorState::StepperMotorState(uint8_t id) + : _id(id) + { + + } + + uint8_t StepperMotorState::getId() const + { + return _id; + } + + void StepperMotorState::setId(uint8_t motor_id) + { + _id = motor_id; + } + + int32_t StepperMotorState::getPositionState() const + { + return _state_pos; + } + + void StepperMotorState::setPositionState(int32_t pos) + { + _state_pos = pos; + } + + int32_t StepperMotorState::getTemperatureState() const + { + return _state_temperature; + } + + void StepperMotorState::setTemperatureState(int32_t temp) + { + _state_temperature = temp; + } + + int32_t StepperMotorState::getHardwareErrorState() const + { + return _hw_error; + } + + void StepperMotorState::setHardwareError(int32_t hw_error) + { + _hw_error = hw_error; + } + + double StepperMotorState::getLastTimeRead() const + { + return _last_time_read; + } + + void StepperMotorState::setLastTimeRead(double last_time) + { + _last_time_read = last_time; + } + + int StepperMotorState::getHwFailCounter() const + { + return _hw_fail_counter; + } + + void StepperMotorState::setHwFailCounter(double fail_counter) + { + _hw_fail_counter = fail_counter; + } + + std::string StepperMotorState::getFirmwareVersion() const + { + return _firmware_version; + } + + void StepperMotorState::setFirmwareVersion(std::string& firmware_version) + { + _firmware_version = firmware_version; + } +} diff --git a/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv b/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv new file mode 100644 index 000000000..90d7072a7 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/srv/StepperCmd.srv @@ -0,0 +1,12 @@ +uint8 cmd_type +uint8 CMD_TYPE_SYNCHRONIZE=5 +uint8 CMD_TYPE_RELATIVE_MOVE=6 +uint8 CMD_TYPE_MAX_EFFORT=7 +uint8 CMD_TYPE_MICRO_STEPS=8 +uint8 CMD_TYPE_POSITION_OFFSET=9 +uint8 CMD_TYPE_CALIBRATION=10 + +uint8[] motors_id +int32[] params +--- +bool result \ No newline at end of file diff --git a/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp b/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp new file mode 100644 index 000000000..f65a19d59 --- /dev/null +++ b/niryo_robot_hardware_stack/stepper_driver/test/stepper_driver_test.cpp @@ -0,0 +1,152 @@ +#include +#include +#include +#include +#include +#include +#include + +#include + +class StepperDriverTest { + + private: + ros::NodeHandle nh; + + boost::shared_ptr _stepper; + + std::vector home_pose{32, 512 , 2322}; + std::vector pose_1{-833, 3046, 3476}; + std::vector id{1,2,3}; + + public: + StepperDriverTest() + { + + ros::NodeHandle nodeHandle("~"); + + _stepper.reset(new StepperDriver::StepperDriverCore()); + + ros::Duration(2).sleep(); + StepperDriver::StepperMotorCmd cmd_torque; + cmd_torque.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + cmd_torque.setMotorsId(id); + cmd_torque.setParams(std::vector {false, false, false}); + _stepper->setStepperCommands(cmd_torque); + ros::Duration(2).sleep(); + // TestServiceActiveTorque(); + // TestPublishPoseCmd(); + + // TestReceiveState(); + GetState(); + } + + void TestServiceActiveTorque() + { + ROS_INFO("active all arm motors"); + StepperDriver::StepperMotorCmd cmd; + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + cmd.setMotorsId(id); + cmd.setParams(std::vector {true, true, true}); + _stepper->setStepperCommands(cmd); + ros::Duration(5).sleep(); + cmd.setParams(std::vector {false, false, false}); + _stepper->setStepperCommands(cmd); + ros::Duration(5).sleep(); + + } + + void TestPublishPoseCmd() + { + ROS_INFO("move all arm motors"); + StepperDriver::StepperMotorCmd cmd; + + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + cmd.setMotorsId(id); + cmd.setParams(std::vector {true, true, true}); + _stepper->setStepperCommands(cmd); + ros::Duration(1).sleep(); + + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_POSITION); + cmd.setParams(home_pose); + _stepper->setStepperCommands(cmd); + ros::Duration(5).sleep(); + + cmd.setParams(pose_1); + _stepper->setStepperCommands(cmd); + ros::Duration(5).sleep(); + + cmd.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + cmd.setParams(std::vector {false, false, false}); + _stepper->setStepperCommands(cmd); + ros::Duration(1).sleep(); + } + + void GetState() + { + int freq = 100; + ros::Rate control_loop_rate = ros::Rate(freq); + std::vector stepper_motor_state; + while(ros::ok()) + { + + for(int i = 0 ; i < 1000 ; i++) + { + stepper_motor_state = _stepper->getTrajectoryControllerStates(); + std::cout << stepper_motor_state[0] << " " << stepper_motor_state[1] << " " << stepper_motor_state[2] << std::endl; + control_loop_rate.sleep(); + } + } + } + + void TestReceiveState() + { + StepperDriver::StepperMotorCmd cmd_torque; + + cmd_torque.setType(StepperDriver::StepperCommandType::CMD_TYPE_TORQUE); + cmd_torque.setMotorsId(std::vector {1}); + cmd_torque.setParams(std::vector {true}); + _stepper->setStepperCommands(cmd_torque); + ros::Duration(1).sleep(); + + int freq = 100; + ros::Rate control_loop_rate = ros::Rate(freq); + // setTrajectoryControllerCommands(std::vector &cmd) + std::vector cmd = {2620, 0, 0}; + std::vector cmd_send = {0, 0, 0}; + int p = 1.5; + std::vector stepper_motor_state; + stepper_motor_state = _stepper->getTrajectoryControllerStates(); + int32_t error = cmd[0] - stepper_motor_state[0]; + while (error > 20 || error < -20) + { + stepper_motor_state = _stepper->getTrajectoryControllerStates(); + error = (cmd[0] - stepper_motor_state[0])*p; + cmd_send[0] = cmd[0] + error; + cmd_send[1] = stepper_motor_state[1]; + cmd_send[2] = stepper_motor_state[2]; + _stepper->setTrajectoryControllerCommands(cmd_send); + control_loop_rate.sleep(); + } + cmd_torque.setParams(std::vector {false}); + _stepper->setStepperCommands(cmd_torque); + ros::Duration(1).sleep(); + } + +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "stepper_driver_test"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + + ros::NodeHandle nh; + + StepperDriverTest test; + + ros::waitForShutdown(); + + ROS_INFO("shutdown node"); +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt b/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt new file mode 100644 index 000000000..96f319afb --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/CMakeLists.txt @@ -0,0 +1,84 @@ +cmake_minimum_required(VERSION 2.8.3) +project(tools_interface) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + std_msgs + dynamixel_driver + message_generation +) + +find_package(Boost REQUIRED COMPONENTS system) + +add_service_files( + DIRECTORY + srv + FILES + CloseGripper.srv + OpenGripper.srv + PingDxlTool.srv + PullAirVacuumPump.srv + PushAirVacuumPump.srv +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + roscpp + std_msgs + dynamixel_driver +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/tools_interface_core.cpp + src/tool_state.cpp +) + +add_executable(${PROJECT_NAME}_node + src/tools_interface_node.cpp +) + +add_dependencies(${PROJECT_NAME}_node + ${catkin_EXPORTED_TARGETS} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +add_dependencies(${PROJECT_NAME} tools_interface_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} dynamixel_driver_generate_messages_cpp) \ No newline at end of file diff --git a/niryo_robot_hardware_stack/tools_interface/config/default.yaml b/niryo_robot_hardware_stack/tools_interface/config/default.yaml new file mode 100644 index 000000000..ef4ee5247 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/config/default.yaml @@ -0,0 +1,4 @@ +check_tool_connection_frequency: 2.0 +tools_params: + id_list: [11,12,13,14,31] + motor_type_list: ["xl320","xl320","xl320","xl320","xl320"] diff --git a/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp new file mode 100644 index 000000000..69e0343ee --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tool_state.hpp @@ -0,0 +1,56 @@ +/* + tool_state.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef END_EFFECTOR_STATE_HPP +#define END_EFFECTOR_STATE_HPP + +#include +#include + +#include "dynamixel_driver/dxl_enum.hpp" + +class ToolState +{ + public: + ToolState(uint8_t id, std::string name, DynamixelDriver::DxlMotorType type); + + void setId(uint8_t id); + uint8_t getId(); + + void setName(std::string name); + std::string& getName(); + + void setType(DynamixelDriver::DxlMotorType type); + DynamixelDriver::DxlMotorType getType(); + + bool isConnected(); + + void setPosition(double position); + double getPosition(); + + private: + + uint8_t _id; + DynamixelDriver::DxlMotorType _type; + std::string _name; + + bool _connected; + double _position; +}; +#endif diff --git a/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp new file mode 100644 index 000000000..356059864 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/include/tools_interface/tools_interface_core.hpp @@ -0,0 +1,79 @@ +/* + tools_interface_core.hpp + Copyright (C) 2020 Niryo + All rights reserved. + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef TOOLS_INTERFACE_CORE_HPP +#define TOOLS_INTERFACE_CORE_HPP + +#include + +#include +#include + +#include "tools_interface/tool_state.hpp" + +#include "tools_interface/PingDxlTool.h" +#include "tools_interface/OpenGripper.h" +#include "tools_interface/CloseGripper.h" +#include "tools_interface/PullAirVacuumPump.h" +#include "tools_interface/PushAirVacuumPump.h" + +#include "dynamixel_driver/dxl_driver_core.hpp" + +#include "std_msgs/Int32.h" + +class ToolsInterfaceCore +{ + public: + + ToolsInterfaceCore(boost::shared_ptr &dynamixel); + + void initParams(); + void initServices(); + + void pubToolId(int id); + + private: + ros::NodeHandle _nh; + boost::shared_ptr &_dynamixel; + boost::shared_ptr _tool; + std::mutex _tool_mutex; + + void _checkToolConnection(); + boost::shared_ptr _check_tool_connection_thread; + double _check_tool_connection_frequency; + + ros::ServiceServer _ping_and_set_dxl_tool_server; + ros::ServiceServer _open_gripper_server; + ros::ServiceServer _close_gripper_server; + ros::ServiceServer _pull_air_vacuum_pump_server; + ros::ServiceServer _push_air_vacuum_pump_server; + + ros::Publisher _current_tools_id_publisher; + + std::vector _tool_id_list; + + bool _callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res); + + bool _callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res); + bool _callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res); + + bool _callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res); + bool _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res); +}; +#endif \ No newline at end of file diff --git a/niryo_robot_hardware_stack/tools_interface/package.xml b/niryo_robot_hardware_stack/tools_interface/package.xml new file mode 100644 index 000000000..39e3881a6 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/package.xml @@ -0,0 +1,24 @@ + + + tools_interface + 0.0.0 + The tools_interface package + Etienne Rey-Coquais + Edouard Renard + Etienne Rey-Coquais + + GPLv3 + + catkin + + roscpp + std_msgs + dynamixel_driver + message_generation + + roscpp + std_msgs + dynamixel_driver + message_runtime + + diff --git a/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp b/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp new file mode 100644 index 000000000..15017b368 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/src/tool_state.cpp @@ -0,0 +1,48 @@ +#include "tools_interface/tool_state.hpp" + +ToolState::ToolState(uint8_t id, std::string name, DynamixelDriver::DxlMotorType type) + : _id(id), _name(name), _type(type) +{ + _connected = true; + _position = 0.0; +} + +void ToolState::setId(uint8_t id) +{ + _id = id; +} + +uint8_t ToolState::getId() +{ + return _id; +} + +void ToolState::setType(DynamixelDriver::DxlMotorType type) +{ + _type = type; +} + +DynamixelDriver::DxlMotorType ToolState::getType() +{ + return _type; +} + +std::string& ToolState::getName() +{ + return _name; +} + +void ToolState::setName(std::string name) +{ + _name = name; +} + +void ToolState::setPosition(double position) +{ + _position = position; +} + +double ToolState::getPosition() +{ + return _position; +} \ No newline at end of file diff --git a/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp new file mode 100644 index 000000000..315fdaab4 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_core.cpp @@ -0,0 +1,325 @@ +#include "tools_interface/tools_interface_core.hpp" + +ToolsInterfaceCore::ToolsInterfaceCore(boost::shared_ptr &dynamixel): + _dynamixel(dynamixel) +{ + initParams(); + initServices(); + _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)); + _check_tool_connection_thread.reset(new std::thread(boost::bind(&ToolsInterfaceCore::_checkToolConnection, this))); + + pubToolId(0); +} + +void ToolsInterfaceCore::initServices() +{ + _ping_and_set_dxl_tool_server = _nh.advertiseService("niryo_robot/tools/ping_and_set_dxl_tool", &ToolsInterfaceCore::_callbackPingAndSetDxlTool, this); + _open_gripper_server = _nh.advertiseService("niryo_robot/tools/open_gripper", &ToolsInterfaceCore::_callbackOpenGripper, this); + _close_gripper_server = _nh.advertiseService("niryo_robot/tools/close_gripper", &ToolsInterfaceCore::_callbackCloseGripper, this); + _pull_air_vacuum_pump_server = _nh.advertiseService("niryo_robot/tools/pull_air_vacuum_pump", &ToolsInterfaceCore::_callbackPullAirVacuumPump, this); + _push_air_vacuum_pump_server = _nh.advertiseService("niryo_robot/tools/push_air_vacuum_pump", &ToolsInterfaceCore::_callbackPushAirVacuumPump, this); + + _current_tools_id_publisher = _nh.advertise("/niryo_robot_hardware/tools/current_id", 1, true); +} + +void ToolsInterfaceCore::initParams() +{ + std::vector id_list; + _tool_id_list.clear(); + _nh.getParam("/niryo_robot_hardware_interface/tools_interface/tools_params/id_list",id_list); + _nh.getParam("/niryo_robot_hardware_interface/tools_interface/check_tool_connection_frequency",_check_tool_connection_frequency); + + std::string available_tools_list = "["; + for(int i = 0 ; i < id_list.size() ; i++) + { + _tool_id_list.push_back(id_list[i]); + if (i != 0) available_tools_list += ", "; + available_tools_list += std::to_string(id_list[i]); + } + available_tools_list += "]"; + + ROS_INFO("Tools Interface - List of tool ids : %s", available_tools_list.c_str()); +} + +void ToolsInterfaceCore::pubToolId(int id) +{ + std_msgs::Int32 msg; + msg.data = id; + _current_tools_id_publisher.publish(msg); +} + +bool ToolsInterfaceCore::_callbackPingAndSetDxlTool(tools_interface::PingDxlTool::Request &req, tools_interface::PingDxlTool::Response &res) +{ + std::lock_guard lck(_tool_mutex); + // Unequipped tool + if(_tool->getId() != 0) + { + _dynamixel->unsetEndEffector(_tool->getId(), _tool->getType()); + res.state = TOOL_STATE_PING_OK; + res.id = 0; + } + + // Search new tool + std::vector motor_list; + motor_list = _dynamixel->scanTools(); + bool tool_found = false; + uint8_t tool_id; + for(int i = 0; i < _tool_id_list.size(); i++) + { + std::vector::iterator motor = std::find(motor_list.begin(), motor_list.end(), _tool_id_list[i]); + if(motor != motor_list.end()) + { + tool_id = _tool_id_list[i]; + tool_found = true; + break; + } + } + if(tool_found) + { + _tool.reset(new ToolState(tool_id, "auto", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)); + + // Try 3 times + int tries = 0; + bool tool_set = false; + while (!tool_set && tries<3) + { + tries++; + ros::Duration(0.05).sleep(); + res.state = _dynamixel->setEndEffector(_tool->getId(), _tool->getType()); + + if (res.state != niryo_robot_msgs::CommandStatus::SUCCESS) continue; + + pubToolId(tool_id); + + tool_set = true; + res.id = tool_id; + ros::Duration(0.05).sleep(); + _dynamixel->update_leds(); + ROS_INFO("Tools Interface - Set End Effector return : %d", res.state); + } + } + else + { + _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)); + pubToolId(0); + + ros::Duration(0.05).sleep(); + res.state = TOOL_STATE_PING_OK; + res.id = 0; + } + + return true; +} + +bool ToolsInterfaceCore::_callbackOpenGripper(tools_interface::OpenGripper::Request &req, tools_interface::OpenGripper::Response &res) +{ + std::lock_guard lck(_tool_mutex); + if( req.id != _tool->getId() ) + { + return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID; + } + DynamixelDriver::SingleMotorCmd cmd; + std::vector list_cmd; + cmd.setId(_tool->getId()); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY); + cmd.setParam(req.open_speed); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION); + cmd.setParam(req.open_position); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(1023); + list_cmd.push_back(cmd); + + _dynamixel->setEndEffectorCommands(list_cmd); + list_cmd.clear(); + + double dxl_speed = (double)req.open_speed * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1 + double dxl_steps_to_do = abs((double)req.open_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position + double seconds_to_wait = dxl_steps_to_do / dxl_speed; // sec + ros::Duration(seconds_to_wait + 0.25).sleep(); + + // set hold torque + cmd.setId(_tool->getId()); + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(req.open_hold_torque); + list_cmd.push_back(cmd); + _dynamixel->setEndEffectorCommands(list_cmd); + + res.state = GRIPPER_STATE_OPEN; + + return true; +} + +bool ToolsInterfaceCore::_callbackCloseGripper(tools_interface::CloseGripper::Request &req, tools_interface::CloseGripper::Response &res) +{ + std::lock_guard lck(_tool_mutex); + if( req.id != _tool->getId() ) + { + return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID; + } + + DynamixelDriver::SingleMotorCmd cmd; + std::vector list_cmd; + cmd.setId(_tool->getId()); + + int position_command = ( req.close_position < 50) ? 0 : req.close_position - 50; + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY); + cmd.setParam(req.close_speed); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION); + cmd.setParam(position_command); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(req.close_max_torque); + list_cmd.push_back(cmd); + + _dynamixel->setEndEffectorCommands(list_cmd); + list_cmd.clear(); + + // calculate close duration + double dxl_speed = (double)req.close_speed *(double) XL320_STEPS_FOR_1_SPEED; // position . sec-1 + double dxl_steps_to_do = abs((double)req.close_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position + double seconds_to_wait = dxl_steps_to_do / dxl_speed; // sec + ros::Duration(seconds_to_wait + 0.25).sleep(); + + // set hold torque + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(req.close_hold_torque); + list_cmd.push_back(cmd); + _dynamixel->setEndEffectorCommands(list_cmd); + + res.state = GRIPPER_STATE_CLOSE; + + return true; +} + +bool ToolsInterfaceCore::_callbackPullAirVacuumPump(tools_interface::PullAirVacuumPump::Request &req, tools_interface::PullAirVacuumPump::Response &res) +{ + std::lock_guard lck(_tool_mutex); + // check gripper id, in case no ping has been done before, or wrong id given + if( req.id != _tool->getId() ) + { + return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID; + } + + int pull_air_velocity = 1023; + + // set vacuum pump pos, vel and torque + DynamixelDriver::SingleMotorCmd cmd; + std::vector list_cmd; + cmd.setId(_tool->getId()); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY); + cmd.setParam(pull_air_velocity); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION); + cmd.setParam(req.pull_air_position); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(1023); + list_cmd.push_back(cmd); + + _dynamixel->setEndEffectorCommands(list_cmd); + list_cmd.clear(); + + // calculate pull air duration + double dxl_speed = (double)pull_air_velocity * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1 + double dxl_steps_to_do = abs((double)req.pull_air_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position + double seconds_to_wait = dxl_steps_to_do / dxl_speed; // sec + + ros::Duration(seconds_to_wait + 0.25).sleep(); + + // set hold torque + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(req.pull_air_hold_torque); + list_cmd.push_back(cmd); + _dynamixel->setEndEffectorCommands(list_cmd); + + res.state = VACUUM_PUMP_STATE_PULLED; + + return true; +} + +bool ToolsInterfaceCore:: _callbackPushAirVacuumPump(tools_interface::PushAirVacuumPump::Request &req, tools_interface::PushAirVacuumPump::Response &res) +{ + std::lock_guard lck(_tool_mutex); + // check gripper id, in case no ping has been done before, or wrong id given + if( req.id != _tool->getId() ) + { + return niryo_robot_msgs::CommandStatus::TOOL_ID_INVALID; + } + + int push_air_velocity = 1023; + + // set vacuum pump pos, vel and torque + DynamixelDriver::SingleMotorCmd cmd; + std::vector list_cmd; + cmd.setId(_tool->getId()); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_VELOCITY); + cmd.setParam(push_air_velocity); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_POSITION); + cmd.setParam(req.push_air_position); + list_cmd.push_back(cmd); + + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(1023); + list_cmd.push_back(cmd); + + _dynamixel->setEndEffectorCommands(list_cmd); + list_cmd.clear(); + + // calculate push air duration + double dxl_speed = (double)push_air_velocity * (double)XL320_STEPS_FOR_1_SPEED; // position . sec-1 + double dxl_steps_to_do = abs((double)req.push_air_position - (double)_dynamixel->getEndEffectorState(_tool->getId(), _tool->getType())); // position + double seconds_to_wait = dxl_steps_to_do / dxl_speed; // sec + + ros::Duration(seconds_to_wait + 0.25).sleep(); + + // set torque to 0 + cmd.setType(DynamixelDriver::DxlCommandType::CMD_TYPE_EFFORT); + cmd.setParam(0); + list_cmd.push_back(cmd); + _dynamixel->setEndEffectorCommands(list_cmd); + + res.state = VACUUM_PUMP_STATE_PUSHED; + + return true; +} + +void ToolsInterfaceCore::_checkToolConnection() +{ + ros::Rate check_connection = ros::Rate(_check_tool_connection_frequency); + std_msgs::Int32 msg; + while (ros::ok()) + { + { + std::lock_guard lck(_tool_mutex); + std::vector motor_list; + motor_list = _dynamixel->getRemovedMotorList(); + for(int i = 0 ; i < motor_list.size(); i++) + { + if(_tool->getId() == motor_list.at(i)) + { + ROS_INFO("Tools Interface - Unset Current Tools"); + _dynamixel->unsetEndEffector(_tool->getId(), _tool->getType()); + _tool.reset(new ToolState(0, "No tool", DynamixelDriver::DxlMotorType::MOTOR_TYPE_XL320)); + msg.data = 0; + _current_tools_id_publisher.publish(msg); + } + } + } + check_connection.sleep(); + } +} diff --git a/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp new file mode 100644 index 000000000..2cc6949b7 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/src/tools_interface_node.cpp @@ -0,0 +1,24 @@ +#include +#include "tools_interface/tools_interface_core.hpp" +#include "dynamixel_driver/dxl_driver_core.hpp" + +boost::shared_ptr tool; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "tools_interface_node"); + + ros::AsyncSpinner spinner(4); + spinner.start(); + ros::NodeHandle nh; + + boost::shared_ptr dynamixel(new DynamixelDriver::DynamixelDriverCore()); + ros::Duration(1).sleep(); + tool.reset(new ToolsInterfaceCore(dynamixel)); + ros::Duration(1).sleep(); + //testVacuumPump(nh); + // testGripper2(nh); + ros::waitForShutdown(); + + ROS_INFO("Tools Interface - Shutdown node"); +} diff --git a/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv b/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv new file mode 100644 index 000000000..7e6bffdc4 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv @@ -0,0 +1,9 @@ + +uint8 id + +int16 close_position +int16 close_speed +int16 close_hold_torque +int16 close_max_torque +--- +uint8 state diff --git a/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv b/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv new file mode 100644 index 000000000..664ca913f --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv @@ -0,0 +1,8 @@ + +uint8 id + +int16 open_position +int16 open_speed +int16 open_hold_torque +--- +uint8 state diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv b/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv new file mode 100644 index 000000000..2a52c784a --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv @@ -0,0 +1,3 @@ +--- +int32 state +uint8 id diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv b/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv new file mode 100644 index 000000000..dd87dac84 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv @@ -0,0 +1,6 @@ +uint8 id + +int16 pull_air_position +int16 pull_air_hold_torque +--- +uint8 state diff --git a/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv b/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv new file mode 100644 index 000000000..cc945ac68 --- /dev/null +++ b/niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv @@ -0,0 +1,5 @@ +uint8 id + +int16 push_air_position +--- +uint8 state diff --git a/niryo_robot_iot/CMakeLists.txt b/niryo_robot_iot/CMakeLists.txt new file mode 100644 index 000000000..7ee5d49a7 --- /dev/null +++ b/niryo_robot_iot/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_iot) + +find_package(catkin REQUIRED COMPONENTS + rospy + message_generation +) + +add_service_files( + DIRECTORY srv + FILES + GetSerial.srv + MqttPublish.srv +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_iot/config/aws_const.yaml b/niryo_robot_iot/config/aws_const.yaml new file mode 100644 index 000000000..15effa270 --- /dev/null +++ b/niryo_robot_iot/config/aws_const.yaml @@ -0,0 +1,11 @@ +aws_endpoint: "a6k20qx3hahii-ats.iot.eu-west-3.amazonaws.com" +aws_port: 8883 + +ca_name: "AmazonRootCA1.pem" +cert_suffix: "-certificate.pem.crt" +key_suffix: "-private.pem.key" + +private_bucket: 's3-niryo-private' +public_bucket: 's3-niryo-public' + +s3_programs_dir: 'programs' \ No newline at end of file diff --git a/niryo_robot_iot/config/iot_params.yaml b/niryo_robot_iot/config/iot_params.yaml new file mode 100644 index 000000000..71599af6a --- /dev/null +++ b/niryo_robot_iot/config/iot_params.yaml @@ -0,0 +1 @@ +still_alive_publish_duration: 60 diff --git a/niryo_robot_iot/launch/mqtt_client.launch b/niryo_robot_iot/launch/mqtt_client.launch new file mode 100644 index 000000000..2d10ccba4 --- /dev/null +++ b/niryo_robot_iot/launch/mqtt_client.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/niryo_robot_iot/launch/robot_iot.launch b/niryo_robot_iot/launch/robot_iot.launch new file mode 100644 index 000000000..f443e9707 --- /dev/null +++ b/niryo_robot_iot/launch/robot_iot.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/niryo_robot_iot/launch/serial_number.launch b/niryo_robot_iot/launch/serial_number.launch new file mode 100644 index 000000000..dd8191221 --- /dev/null +++ b/niryo_robot_iot/launch/serial_number.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/niryo_robot_iot/package.xml b/niryo_robot_iot/package.xml new file mode 100644 index 000000000..679d1ca6b --- /dev/null +++ b/niryo_robot_iot/package.xml @@ -0,0 +1,21 @@ + + niryo_robot_iot + 3.0.0 + The niryo_robot_iot package + + Justin Mottier + Justin Mottier + Corentin Ducatez + GPLv3 + + catkin + + rospy + + + + python-paho-mqtt-pip + python-pexpect + python-boto3 + + diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttClient.py b/niryo_robot_iot/scripts/mqtt_client/MqttClient.py new file mode 100644 index 000000000..422b6c692 --- /dev/null +++ b/niryo_robot_iot/scripts/mqtt_client/MqttClient.py @@ -0,0 +1,57 @@ +import ssl +import threading +import paho.mqtt.client as mqtt + + +class MqttClient: + def __init__(self, serial, ca_file, cert_file, key_file): + client_id = "client_{}".format(serial) + self.__client = mqtt.Client(client_id=client_id, clean_session=False) + self.__client.tls_set( + ca_certs=ca_file, + certfile=cert_file, + keyfile=key_file, + cert_reqs=ssl.CERT_REQUIRED, + tls_version=ssl.PROTOCOL_TLSv1_2, + ciphers=None + ) + + # - Callbacks-wise functions + + def set_callbacks(self, connect_callback, disconnect_callback, message_callback): + self.__client.on_connect = connect_callback + self.__client.on_disconnect = disconnect_callback + self.__client.on_message = message_callback + + def add_topic_callback(self, topic, callback_function): + self.__client.message_callback_add( + topic, + lambda client, userdata, message: + threading.Thread(target=callback_function, args=(client, userdata, message)).start() + ) + + # - Connection / Disconnection + + def connect(self, endpoint, port): + self.__client.connect(host=endpoint, port=port) + + def disconnect(self): + self.__client.disconnect() + + def subscribe_all(self, topics): + self.__client.subscribe(map(lambda x: (x, 1), topics)) + + def unsubscribe_all(self, topics): + self.__client.unsubscribe(topics.keys()) + + # - Loop + def loop_start(self): + self.__client.loop_start() + + def loop_stop(self): + self.__client.loop_stop() + + # Getter + @property + def client(self): + return self.__client diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py b/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py new file mode 100644 index 000000000..d35348390 --- /dev/null +++ b/niryo_robot_iot/scripts/mqtt_client/MqttPublisher.py @@ -0,0 +1,76 @@ +import rospy + +import subprocess + +import re +import uuid +import json + +from niryo_robot_programs_manager.srv import GetProgramList, GetProgramListRequest +from niryo_robot_programs_manager.msg import ProgramLanguage + + +class MqttPublisher: + + def __init__(self, client, serial, user_id): + self.client = client + self.__serial = serial + self.__topics_prefix = 'topic/{}'.format(serial) + self.__user_id = user_id + + def __prepare_payload(self, payload): + payload.update({ + 'user_id': self.__user_id, + 'serial': self.__serial + }) + return json.dumps(payload) + + def __publish(self, topic, payload=None): + rospy.logdebug('MQTT Publisher - Publishing on {}'.format(topic)) + if payload is None: + payload = {} + if len(payload) >= 130000: + rospy.logwarn('MQTT Publisher - Error : payload overflown') + return + self.client.publish(topic, self.__prepare_payload(payload), 1) + + def __topic_builder(self, topic): + return '{}/{}'.format(self.__topics_prefix, topic) + + def send_programs_list(self): + program_list = rospy.ServiceProxy('/niryo_robot_programs_manager/get_program_list', GetProgramList) + + programs = {} + req = GetProgramListRequest() + + req.language.used = ProgramLanguage.PYTHON2 + programs['python2'] = program_list(req).programs_names + + req.language.used = ProgramLanguage.PYTHON3 + programs['python3'] = program_list(req).programs_names + + req.language.used = ProgramLanguage.BLOCKLY + programs['blockly'] = program_list(req).programs_names + + self.__publish(self.__topic_builder('programs_manager/get_program_list'), programs) + + def ping_still_alive(self): + try: + ip = subprocess.check_output(['curl', '-s', 'https://api.ipify.org']) + except subprocess.CalledProcessError: + ip = '0.0.0.0' + + if not re.match(r'^([0-2]?[0-9]{1,2}\.){3}[0-2]?[0-9]{1,2}$', ip): + ip = '0.0.0.0' + + self.__publish( + self.__topic_builder('still_alive'), + { + 'ip': ip, + } + ) + + def send_ping(self, seq=None): + if seq is None: + seq = uuid.uuid1() + self.__publish(self.__topic_builder('ping'), {'id': seq}) diff --git a/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py b/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py new file mode 100755 index 000000000..862a9b5f1 --- /dev/null +++ b/niryo_robot_iot/scripts/mqtt_client/MqttSubscriber.py @@ -0,0 +1,172 @@ +import rospy + +import os +import json +from S3Client import S3Client + +# Message +from niryo_robot_programs_manager.msg import ProgramLanguage + +# Services +from niryo_robot_msgs.srv import SetBool, Trigger +from niryo_robot_programs_manager.srv import ExecuteProgram, ExecuteProgramRequest + + +class MqttSubscriber: + + def __init__(self, s3_credentials_location, s3_bucket, robot_programs_dir, aws_programs_dir, user_id): + self.__s3_credentials_location = s3_credentials_location + self.__s3_client = S3Client(s3_bucket, s3_credentials_location, robot_programs_dir, aws_programs_dir, user_id) + + @staticmethod + def __integrity_check(topic, raw_json, keys): + try: + values = json.loads(raw_json) + except ValueError: + rospy.logerr("MQTT Subscriber - Topic {}: unable to parse the JSON".format(topic)) + return {} + + rospy.logdebug("MQTT Subscriber - Integrity check for topic {}:".format(topic)) + is_good = True + for key, value in values.iteritems(): + if key not in keys: + is_good = False + rospy.logerr('\t{}: {} -> not an accepted key'.format(key, value)) + else: + rospy.logdebug('\t{}: {}'.format(key, value)) + if not is_good: + return {} + + if len(keys) != len(values): + rospy.logerr("Error: {} parameters expected, {} provided".format(len(keys), len(values))) + rospy.logerr("\tExpected: {}".format(', '.join(keys))) + rospy.logerr("\tProvided: {}".format(', '.join(values))) + return {} + + return values + + @staticmethod + def __call_ros_service(topic_name, service_type, success_message, req=None): + rospy.wait_for_service(topic_name) + service_function = rospy.ServiceProxy(topic_name, service_type) + res = service_function(req) if req is not None else service_function() + if res.status < 0: + rospy.logwarn(res.message) + else: + rospy.logdebug(success_message) + return res.status + + def set_learning_mode(self, _client, _userdata, message): + ros_service = '/niryo_robot/activate_learning_mode' + values = self.__integrity_check(message.topic, message.payload, ['value']) + if not values: + rospy.logerr("MQTT Subscriber - Aborting call to the ROS service {}".format(ros_service)) + return + + req = values["value"] in ['true', 'True', '1'] + + self.__call_ros_service( + topic_name=ros_service, + service_type=SetBool, + success_message='Learning mode successfully set to {}'.format(values['value']), + req=req + ) + + def execute_program(self, _client, _userdata, message): + ros_service = '/niryo_robot_programs_manager/execute_program' + values = self.__integrity_check(message.topic, message.payload, ['name', 'language']) + if not values: + rospy.logerr("MQTT Subscriber - Aborting call to the ROS service {}".format(ros_service)) + return + + req = ExecuteProgramRequest() + req.execute_from_string = False + req.name = values['name'].encode("ascii", "ignore") + req.language = ProgramLanguage() + req.language.used = values['language'] + + self.__call_ros_service( + topic_name=ros_service, + service_type=ExecuteProgram, + success_message='Program successfully started', + req=req + ) + + def stop_program(self, _client, _userdata, message): + self.__integrity_check(message.topic, message.payload, []) + self.__call_ros_service( + topic_name='/niryo_robot_programs_manager/stop_program', + service_type=Trigger, + success_message='Program stopped' + ) + + def upload_program_to_aws(self, _client, _userdata, message): + rospy.logdebug('MQTT Subscriber - Uploading to AWS') + values = self.__integrity_check(message.topic, message.payload, ['name', 'type', 'language']) + if not values: + rospy.logerr('MQTT Subscriber - Upload prog to AWS - Incorrect values given') + return False + + try: + result = self.__s3_client.upload_program(values['language'], values['name']) + except KeyError: + rospy.logerr('MQTT Subscriber - Upload prog to AWS - Invalid language given') + return False + if result: + rospy.loginfo('MQTT Subscriber - Uploaded {} successfully'.format(values['name'])) + + def download_program_from_aws(self, _client, _userdata, message): + rospy.loginfo('MQTT Subscriber - Downloading from AWS') + values = self.__integrity_check(message.topic, message.payload, ['name', 'type', 'language']) + if not values: + rospy.logerr('MQTT Subscriber - Download prog from AWS - Incorrect values given') + return False + + try: + result = self.__s3_client.download_program(values['language'], values['name']) + except KeyError: + rospy.logerr('MQTT Subscriber - Download prog from AWS - Invalid language given') + return False + if result: + rospy.loginfo('MQTT Subscriber - Downloaded {} successfully'.format(values['name'])) + + def get_aws_credentials(self, _client, _userdata, message): + values = self.__integrity_check(message.topic, message.payload, + ['access_key', 'secret_key', 'user_id', 'port_ssh']) + if not values: + rospy.logerr('MQTT Subscriber - Get AWS Credentials - Incorrect values given') + return False + + try: + f = open(os.path.join(os.path.expanduser(self.__s3_credentials_location), "s3"), 'w+') + except IOError: + rospy.logerr("MQTT Subscriber - Error while trying to open the file AWS credentials") + return False + + f.write("[default]\naws_access_key_id = {}\naws_secret_access_key = {}\nregion = eu-west-3\n".format( + values['access_key'], values['secret_key'])) + f.close() + + try: + f = open(os.path.join(os.path.expanduser(self.__s3_credentials_location), "user_id"), 'w+') + except IOError: + rospy.logerr("MQTT Subscriber - Error while trying to open the file used_id") + return False + f.write(values['user_id']) + f.close() + + rospy.loginfo('MQTT Subscriber - Successfully fetched the AWS credentials') + + def receive_pong(self, _client, _userdata, message): + values = self.__integrity_check(message.topic, message.payload, ['id']) + if not values: + rospy.logerr('MQTT Subscriber - Pong - Incorrect values given') + return False + + try: + open('/tmp/ping_{}'.format(values['id']), 'w').close() + except IOError: + rospy.logerr('MQTT Subscriber - Pong - Unable to create the file') + return False + + return True diff --git a/niryo_robot_iot/scripts/mqtt_client/S3Client.py b/niryo_robot_iot/scripts/mqtt_client/S3Client.py new file mode 100644 index 000000000..c15715e2a --- /dev/null +++ b/niryo_robot_iot/scripts/mqtt_client/S3Client.py @@ -0,0 +1,51 @@ +import os +import boto3 + +from niryo_robot_programs_manager.msg import ProgramLanguage + + +class S3Client: + def __init__(self, bucket, s3_credentials_location, robot_programs_dir, aws_programs_dir, user_id, ): + os.environ['AWS_CONFIG_FILE'] = s3_credentials_location + + self.__s3 = boto3.resource('s3') + + self.__client = self.__s3.Bucket(bucket) + self.__robot_programs_location = os.path.expanduser('~/{}'.format(robot_programs_dir)) + self.__aws_programs_location = os.path.join("home", user_id, aws_programs_dir) + + self.__language_to_str_map = { + ProgramLanguage.PYTHON2: 'python2', + ProgramLanguage.PYTHON3: 'python3', + ProgramLanguage.BLOCKLY: 'blockly', + } + for language in self.__language_to_str_map.values(): + dir_path = os.path.join(self.__robot_programs_location, language) + if not os.path.isdir(dir_path): + os.makedirs(dir_path) + + def upload_program(self, file_language, file_name): + try: + key = os.path.join(self.__aws_programs_location, self.__language_to_str_map[file_language], file_name) + file_path = os.path.join(self.__robot_programs_location, self.__language_to_str_map[file_language], + file_name) + self.__client.upload_file( + Key=key, + Filename=file_path + ) + except KeyError: + return False + + return True + + def download_program(self, file_language, file_name): + try: + self.__client.download_file( + Key='{}/{}/{}'.format(self.__aws_programs_location, self.__language_to_str_map[file_language], file_name), + Filename='{}/{}/{}'.format(self.__robot_programs_location, self.__language_to_str_map[file_language], + file_name) + ) + except KeyError: + return False + + return True diff --git a/niryo_robot_iot/scripts/mqtt_client/__init__.py b/niryo_robot_iot/scripts/mqtt_client/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_iot/scripts/mqtt_client_node.py b/niryo_robot_iot/scripts/mqtt_client_node.py new file mode 100755 index 000000000..22734a660 --- /dev/null +++ b/niryo_robot_iot/scripts/mqtt_client_node.py @@ -0,0 +1,237 @@ +#!/usr/bin/env python + +# Libs +import rospy + +import os +import subprocess +from paho.mqtt.client import connack_string, CONNACK_ACCEPTED, MQTT_ERR_SUCCESS + +from mqtt_client.MqttSubscriber import MqttSubscriber +from mqtt_client.MqttClient import MqttClient +from mqtt_client.MqttPublisher import MqttPublisher + +# Message / Services +from niryo_robot_msgs.msg import CommandStatus + +from niryo_robot_iot.srv import GetSerial +from niryo_robot_iot.srv import MqttPublish + + +class MqttClientNode: + def __init__(self): + rospy.logdebug("MQTT Client - Entering in Init") + + # - Ros Params + self.__aws_endpoint = rospy.get_param('~aws_endpoint') + self.__aws_port = rospy.get_param('~aws_port') + + conf_location = os.path.expanduser(rospy.get_param('~conf_location')) + self.__certs_location = "{}/certs".format(conf_location) + self.__credentials_location = "{}/credentials".format(conf_location) + + self.__still_alive_publish_duration = rospy.get_param('~still_alive_publish_duration') + + # - Serial + + self.__serial = self.get_serial() + + # - Credentials + + self.__ca_file = os.path.join(self.__certs_location, rospy.get_param('~ca_name')) + cert_filename = '{}{}'.format(self.__serial, rospy.get_param('~cert_suffix')) + self.__cert_file = os.path.join(self.__certs_location, cert_filename) + key_filename = '{}{}'.format(self.__serial, rospy.get_param('~key_suffix')) + self.__key_file = os.path.join(self.__certs_location, key_filename) + + self.wait_for_credentials_creation() + self.wait_for_internet_connection() + + self.__user_id = self.get_user_id() + + # - MQTT Client + self.__mqtt_client = MqttClient(self.__serial, self.__ca_file, self.__cert_file, self.__key_file) + self.__mqtt_client.set_callbacks(self.__on_connect_callback, self.__on_disconnect_callback, + self.__on_message_callback) + + # - MQTT Publisher + self.__mqtt_publisher = MqttPublisher(self.__mqtt_client.client, self.__serial, self.__user_id) + + # - MQTT Subscriber + s3_credentials_location = rospy.get_param('~s3_credentials_location') + s3_bucket = rospy.get_param('~private_bucket') + s3_programs_dir = rospy.get_param('~s3_programs_dir') + robot_programs_dir = rospy.get_param('/niryo_robot_programs_manager/programs_dir', + default="niryo_robot_programs") + + self.__subscriber = MqttSubscriber(s3_credentials_location, s3_bucket, + robot_programs_dir, s3_programs_dir, self.__user_id) + self.__subscribe_topics = self.generate_subscribed_topics_dict() + + # Service for publish + rospy.Service('~mqtt_publish', MqttPublish, self.__mqtt_publish_callback) + + # - End of Init + self.start() + + # Publisher Still Alive + rospy.Timer(rospy.Duration(self.__still_alive_publish_duration), self.__publish_still_alive) + + # Stop on ROS shutdown + rospy.on_shutdown(self.stop) + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("MQTT Client - Node Started") + + # - Init + @staticmethod + def get_serial(): + service_name = "/niryo_robot_serial_number/get" + rospy.wait_for_service(service_name) + get_serial_service = rospy.ServiceProxy(service_name, GetSerial) + serial = get_serial_service().message + return serial + + def generate_subscribed_topics_dict(self): + topic_prefix = 'topic/{}'.format(self.__serial) + + subscribe_topics = { + '{}/aws_credentials'.format(topic_prefix): self.__subscriber.get_aws_credentials, + '{}/programs_manager/execute_program'.format(topic_prefix): self.__subscriber.execute_program, + '{}/programs_manager/stop_program'.format(topic_prefix): self.__subscriber.stop_program, + '{}/programs_manager/robot_to_aws'.format(topic_prefix): self.__subscriber.upload_program_to_aws, + '{}/programs_manager/aws_to_robot'.format(topic_prefix): self.__subscriber.download_program_from_aws, + '{}/pong'.format(topic_prefix): self.__subscriber.receive_pong, + } + return subscribe_topics + + def wait_for_credentials_creation(self): + # We NEED to wait for the credentials since the first time the robot will + # start it won't have them but will still need to communicate with AWS later + + rate = rospy.Rate(0.1) + while not os.path.isfile(self.__ca_file) or not os.path.isfile(self.__cert_file) \ + or not os.path.isfile(self.__key_file): + rospy.logwarn_once('MQTT Client - Waiting for the certificates, re-checking every 10s...') + rospy.logdebug('MQTT Client - Waiting for the certificates, re-checking in 10s...') + rate.sleep() + + @staticmethod + def test_internet_connection(): + dev_null = open(os.devnull, 'w') + try: + ping_process = subprocess.check_call(['ping', '-c', '1', '8.8.8.8'], stdout=dev_null, stderr=dev_null) + result = ping_process == 0 + except subprocess.CalledProcessError: + result = False + + dev_null.close() + return result + + + def wait_for_internet_connection(self): + # This is to prevent the node to crash if there is no internet connection + rate = rospy.Rate(0.1) + while not self.test_internet_connection(): + rospy.logwarn_once('MQTT Client - Waiting for an internet connection, re-checking every 10s...') + rospy.logdebug('MQTT Client - Waiting for an internet connection, re-checking in 10s...') + rate.sleep() + + + # - MQTT Callbacks + + @staticmethod + def __on_connect_callback(_client, _userdata, _flags, rc): + if rc == CONNACK_ACCEPTED: + rospy.logdebug("MQTT Client - Connected") + else: + rospy.logwarn('MQTT Client - Connection failed : {}'.format(connack_string(rc))) + + @staticmethod + def __on_disconnect_callback(_client, _userdata, rc): + if rc != MQTT_ERR_SUCCESS: + rospy.logwarn("MQTT Client - Unexpected disconnection") + else: + rospy.logdebug("MQTT Client - Disconnected successfully") + + @staticmethod + def __on_message_callback(_client, _userdata, message): + rospy.logwarn("MQTT Client - Unhandled payload received. " + "This means there is no callback function for this topics but it's still subscribed") + rospy.logwarn("\ttopic: {}".format(message.topic)) + rospy.logwarn("\tpayload: {}".format(message.payload)) + + # - ROS callbacks + + def __publish_still_alive(self, _): + self.__mqtt_publisher.ping_still_alive() + + def __mqtt_publish_callback(self, req): + try: + pub_func = getattr(self.__mqtt_publisher, req.command) + except AttributeError: + return (CommandStatus.MQTT_PUBLISH_FUNCTION_DOESNT_EXIST, + "The publisher doesn't have the function {}".format(req.command)) + + try: + pub_func(*req.args) + except TypeError as e: + return CommandStatus.MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS, str(e) + + return CommandStatus.SUCCESS, "Successfully published" + + # - Regular functions + + def get_user_id(self): + try: + f = open(os.path.join(self.__credentials_location, 'user_id'), 'r') + except IOError: + return "000000000000000000000000" + # reads the 24 first characters of the file as a user_id is 24 char long. + # This is to prevent trailing newline characters + user_id_ = f.read(24) + f.close() + return user_id_ + + def open_client_connection(self): + rospy.loginfo("MQTT Client - Trying to connect...") + self.__mqtt_client.connect(self.__aws_endpoint, self.__aws_port) + # Without this tempo, the client disconnect almost every time + rospy.sleep(5) + rospy.logdebug("MQTT Client - Subscribing to the topics...") + self.__mqtt_client.subscribe_all(self.__subscribe_topics) + rospy.logdebug("MQTT Client - Connected & Subscribed to the topics") + for topic, callback_function in self.__subscribe_topics.items(): + rospy.logdebug("MQTT Client - Handling {} with {}".format(topic, callback_function.__name__)) + self.__mqtt_client.add_topic_callback(topic, callback_function) + + def close_client_connection(self): + rospy.logdebug("MQTT Client - Unsubscribing to the topics...") + self.__mqtt_client.unsubscribe_all(self.__subscribe_topics) + rospy.logdebug("MQTT Client - Unsubscribed to the topic") + rospy.logdebug("MQTT Client - Disconnecting...") + self.__mqtt_client.disconnect() + rospy.loginfo("MQTT Client - Unsubscribed & Disconnected") + + def retry_connection(self): + self.__mqtt_client.disconnect() + self.__mqtt_client.connect(self.__aws_endpoint, self.__aws_port) + + def start(self): + self.open_client_connection() + self.__mqtt_client.loop_start() + + def stop(self): + self.__mqtt_client.loop_stop() + self.close_client_connection() + + +if __name__ == "__main__": + rospy.init_node('niryo_robot_mqtt_client', anonymous=False, log_level=rospy.INFO) + try: + node = MqttClientNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_iot/scripts/serial_number_node.py b/niryo_robot_iot/scripts/serial_number_node.py new file mode 100755 index 000000000..60b3fc745 --- /dev/null +++ b/niryo_robot_iot/scripts/serial_number_node.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +# Libs +import rospy +import os + +from niryo_robot_iot.SerialNumber import SerialNumber + +# Message / Service +from niryo_robot_msgs.msg import CommandStatus +from niryo_robot_iot.srv import GetSerial + + +class SerialNumberNode: + def __init__(self): + rospy.logdebug("Serial Number Node - Entering in Init") + + serial_path = os.path.expanduser(rospy.get_param("~serial_path")) + self.__serial_number = SerialNumber(serial_path=serial_path) + + # Service + rospy.Service('~get', GetSerial, + self.__callback_get_serial) + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.logdebug("Serial Number Node - Node Started") + + def __callback_get_serial(self, _req): + try: + serial_number = self.__serial_number.read_serial() + except OSError: + rospy.logerr("Serial Number Node - Unable to read serial") + return CommandStatus.SERIAL_FILE_ERROR, "File error" + rospy.logdebug("Serial Number Node - Serial Read") + + if not serial_number: + rospy.logerr("Serial Number Node - Serial file is empty") + return CommandStatus.SERIAL_UNKNOWN_ERROR, "No serial" + return CommandStatus.SUCCESS, serial_number + + +if __name__ == "__main__": + rospy.init_node('niryo_robot_serial_number', anonymous=False, log_level=rospy.INFO) + try: + node = SerialNumberNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_iot/setup.py b/niryo_robot_iot/setup.py new file mode 100644 index 000000000..5a5b13054 --- /dev/null +++ b/niryo_robot_iot/setup.py @@ -0,0 +1,9 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_iot'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py b/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py new file mode 100755 index 000000000..53cdc87af --- /dev/null +++ b/niryo_robot_iot/src/niryo_robot_iot/SerialNumber.py @@ -0,0 +1,60 @@ +from hashlib import sha256 +from uuid import getnode as get_mac_address + + +class SerialNumber: + def __init__(self, serial_path): + self.__serial_path = serial_path + + # - Callable functions + def read_serial(self, attempt=3): + try: + f = open(self.__serial_path, 'r') + content = f.read().rstrip() + except IOError: + content = None + + if not content: + if attempt <= 0: + return False + self.__create_serial() + return self.read_serial(attempt - 1) + return content + + # -- Private + + @staticmethod + def __get_serial(): + # https://www.raspberrypi-spy.co.uk/2012/09/getting-your-raspberry-pi-serial-number-using-python/ + # Extract serial from cpuinfo file + cpuserial = "0000000000000000" + try: + f = open('/proc/cpuinfo', 'r') + for line in f: + if line[0:6] == 'Serial': + cpuserial = line[10:26] + f.close() + except IOError: + cpuserial = "ERROR000000000" + + return cpuserial + + def __generate_raw_serial(self): + return str(get_mac_address()) + self.__get_serial() + + @staticmethod + def __hash_serial(raw_serial): + return sha256(str.encode(raw_serial)).hexdigest()[:16].upper() + + def __write_serial(self, serial): + try: + f = open(self.__serial_path, 'w+') + except IOError: + return + f.write(serial) + f.close() + + def __create_serial(self): + raw_serial = self.__generate_raw_serial() + hash_serial = self.__hash_serial(raw_serial) + self.__write_serial(hash_serial) diff --git a/niryo_robot_iot/src/niryo_robot_iot/__init__.py b/niryo_robot_iot/src/niryo_robot_iot/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_iot/srv/GetSerial.srv b/niryo_robot_iot/srv/GetSerial.srv new file mode 100644 index 000000000..b3682dbd2 --- /dev/null +++ b/niryo_robot_iot/srv/GetSerial.srv @@ -0,0 +1,3 @@ +--- +int16 status +string message diff --git a/niryo_robot_iot/srv/MqttPublish.srv b/niryo_robot_iot/srv/MqttPublish.srv new file mode 100644 index 000000000..87d8adeb0 --- /dev/null +++ b/niryo_robot_iot/srv/MqttPublish.srv @@ -0,0 +1,5 @@ +string command +string[] args +--- +int16 status +string message diff --git a/niryo_robot_modbus/CMakeLists.txt b/niryo_robot_modbus/CMakeLists.txt new file mode 100644 index 000000000..586f7e1cd --- /dev/null +++ b/niryo_robot_modbus/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_modbus) + +find_package(catkin REQUIRED COMPONENTS + niryo_robot_msgs + rospy + std_msgs +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_modbus/examples/client_modbus_conveyor_example.py b/niryo_robot_modbus/examples/client_modbus_conveyor_example.py new file mode 100644 index 000000000..f9a0ebb6b --- /dev/null +++ b/niryo_robot_modbus/examples/client_modbus_conveyor_example.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +# ! You need to launch the server first ! + +from pymodbus.client.sync import ModbusTcpClient +import time + + +# Positive number : 0 - 32767 +# Negative number : 32768 - 65535 +def number_to_raw_data(val): + if val < 0: + val = (1 << 15) - val + return val + + +def raw_data_to_number(val): + if (val >> 15) == 1: + val = - (val & 0x7FFF) + return val + + +if __name__ == '__main__': + print "--- START" + client = ModbusTcpClient('169.254.200.200', port=5020) + + client.connect() + print "Connected to modbus server" + + print "Enable conveyor 1" + client.write_register(520, 1) + time.sleep(1) + + print "set direction to forward" + client.write_register(523, 1) + time.sleep(1) + + print "set speed to 50%" + client.write_register(524, 50) + time.sleep(1) + + print "start conveyor 1" + client.write_register(522, 1) + time.sleep(1) + + time.sleep(10) + print "stop conveyor 1" + client.write_register(526, 1) + + client.close() + print "Close connection to modbus server" + print "--- END" diff --git a/niryo_robot_modbus/examples/client_modbus_test.py b/niryo_robot_modbus/examples/client_modbus_test.py new file mode 100755 index 000000000..d3d5c9939 --- /dev/null +++ b/niryo_robot_modbus/examples/client_modbus_test.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +# ! You need to launch the server first ! + +from pymodbus.client.sync import ModbusTcpClient +import time + +print "--- START" +client = ModbusTcpClient('localhost', port=5020) + +client.connect() +print "Connected to modbus server" + +rr = client.read_input_registers(400, 9) +print rr.registers + +rr = client.read_discrete_inputs(100, 6) +print rr.bits + +# Set digital IO mode - output +client.write_coil(0, False) +client.write_coil(3, False) + +# Set digital IO state +client.write_coil(100, True) +client.write_coil(103, False) + +time.sleep(0.1) + +rr = client.read_discrete_inputs(100, 6) +print rr.bits + +client.close() +print "Close connection to modbus server" +print "--- END" diff --git a/niryo_robot_modbus/examples/client_move_command.py b/niryo_robot_modbus/examples/client_move_command.py new file mode 100755 index 000000000..8349d45fd --- /dev/null +++ b/niryo_robot_modbus/examples/client_move_command.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python + +# ! You need to launch the server first ! + +from pymodbus.client.sync import ModbusTcpClient +import time + + +# Positive number : 0 - 32767 +# Negative number : 32768 - 65535 +def number_to_raw_data(val): + if val < 0: + val = (1 << 15) - val + return val + + +def raw_data_to_number(val): + if (val >> 15) == 1: + val = - (val & 0x7FFF) + return val + + +if __name__ == '__main__': + print "--- START" + client = ModbusTcpClient('localhost', port=5020) + + client.connect() + print "Connected to modbus server" + + print "Calibrate Robot if needed" + client.write_register(311, 1) + time.sleep(1) + + # Wait for end of calibration + while client.read_input_registers(402, 1).registers[0] == 1: + time.sleep(0.05) + + print "Send a Joint Move command to the robot" + joints = [-0.5, 0.0, 0.0, 0.2, 1.2, -1.0] + joints_to_send = list(map(lambda j: int(number_to_raw_data(j * 1000)), joints)) + print joints_to_send + + client.write_registers(0, joints_to_send) + client.write_register(100, 1) + + # Wait for end of Move command + while client.read_holding_registers(150, count=1).registers[0] == 1: + time.sleep(0.01) + + print "Joint Move command is finished" + + joints = [0.5, 0.2, -0.7, -1.0, -1.2, 1.0] + joints_to_send = list(map(lambda j: number_to_raw_data(j * 1000), joints)) + + client.write_registers(0, joints_to_send) + client.write_register(100, 1) + + # Wait for end of Move command + while client.read_holding_registers(150, count=1).registers[0] == 1: + time.sleep(0.05) + + joints = [0.0, 0.0, -1.2, 0.0, 0.0, 0.0] + joints_to_send = list(map(lambda j: number_to_raw_data(j * 1000), joints)) + + client.write_registers(0, joints_to_send) + client.write_register(100, 1) + + # Wait for end of Move command + while client.read_holding_registers(150, count=1).registers[0] == 1: + time.sleep(0.05) + + # Activate learning mode + client.write_register(300, 1) + + client.close() + print "Close connection to modbus server" + print "--- END" diff --git a/niryo_robot_modbus/examples/modbus_server_test.py b/niryo_robot_modbus/examples/modbus_server_test.py new file mode 100755 index 000000000..cb89779f2 --- /dev/null +++ b/niryo_robot_modbus/examples/modbus_server_test.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +import rospy +from niryo_robot_modbus.modbus_server import ModbusServer + +if __name__ == '__main__': + rospy.init_node('modbus_server_test') + + server = ModbusServer("0.0.0.0", 5020) + rospy.on_shutdown(server.stop) + + server.start() + rospy.spin() diff --git a/niryo_robot_modbus/launch/modbus_server.launch b/niryo_robot_modbus/launch/modbus_server.launch new file mode 100644 index 000000000..32c5135b9 --- /dev/null +++ b/niryo_robot_modbus/launch/modbus_server.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/niryo_robot_modbus/package.xml b/niryo_robot_modbus/package.xml new file mode 100644 index 000000000..f5a7532bf --- /dev/null +++ b/niryo_robot_modbus/package.xml @@ -0,0 +1,25 @@ + + niryo_robot_modbus + 3.0.0 + Ned Modbus Server + Edouard Renard + Corentin Ducatez + + GPLv3 + + catkin + + niryo_robot_msgs + rospy + std_msgs + + niryo_robot_msgs + rospy + std_msgs + + + python-pymodbus + + + + diff --git a/niryo_robot_modbus/scripts/coil_data_block.py b/niryo_robot_modbus/scripts/coil_data_block.py new file mode 100644 index 000000000..560d04ec2 --- /dev/null +++ b/niryo_robot_modbus/scripts/coil_data_block.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python + +from data_block import DataBlock + +from niryo_robot_rpi.srv import SetDigitalIO + +""" + - Each address contains a 1 bit value + - READ/WRITE registers + + --> Used to give commands to the robot + ( ! the stored values correspond to the last given command, + not the current robot state !) +""" + +CO_DIGITAL_IO_MODE = 0 +CO_DIGITAL_IO_STATE = 100 + +GPIO_1_A = 2 +GPIO_1_B = 3 +GPIO_1_C = 16 +GPIO_2_A = 26 +GPIO_2_B = 19 +GPIO_2_C = 6 + + +class CoilDataBlock(DataBlock): + + def __init__(self): + super(CoilDataBlock, self).__init__() + + # Override + def setValues(self, address, values): + self.process_command(address, values) + super(CoilDataBlock, self).setValues(address, values) + + def process_command(self, address, values): + address -= 1 + if len(values) == 0: + return + value = values[0] + pin = 0 + + if address == 0 or address == 100: + pin = GPIO_1_A + elif address == 1 or address == 101: + pin = GPIO_1_B + elif address == 2 or address == 102: + pin = GPIO_1_C + elif address == 3 or address == 103: + pin = GPIO_2_A + elif address == 4 or address == 104: + pin = GPIO_2_B + elif address == 5 or address == 105: + pin = GPIO_2_C + + if 0 <= address < 100: + self.set_pin_mode(pin, value) + elif 100 <= address < 200: + self.set_pin_state(pin, value) + + def set_pin_mode(self, pin, mode): + response = self.call_ros_service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO, pin, mode) + + def set_pin_state(self, pin, state): + response = self.call_ros_service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO, pin, state) diff --git a/niryo_robot_modbus/scripts/data_block.py b/niryo_robot_modbus/scripts/data_block.py new file mode 100644 index 000000000..82163e1aa --- /dev/null +++ b/niryo_robot_modbus/scripts/data_block.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python + +import rospy + +from pymodbus.datastore import ModbusSparseDataBlock + + +class DataBlock(ModbusSparseDataBlock): + + def __init__(self): + super(DataBlock, self).__init__(values=[0] * 1000) + + # Called from internal functions + # Modbus addresses start at 1 + # There is an offset with what the client is asking + def setValuesOffset(self, address, values): + self.setValues(address + 1, values) + + def getValuesOffset(self, address, count=1): + return self.getValues(address + 1, count) + + @staticmethod + def call_ros_service(service_name, service_msg_type, *args): + # Connect to service + try: + rospy.wait_for_service(service_name, 0.1) + except rospy.ROSException, e: + return + + # Call service + try: + service = rospy.ServiceProxy(service_name, service_msg_type) + response = service(*args) + return response + except rospy.ServiceException, e: + return diff --git a/niryo_robot_modbus/scripts/discrete_input_data_block.py b/niryo_robot_modbus/scripts/discrete_input_data_block.py new file mode 100644 index 000000000..345d89b6a --- /dev/null +++ b/niryo_robot_modbus/scripts/discrete_input_data_block.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +import rospy + +from data_block import DataBlock + +from niryo_robot_rpi.msg import DigitalIOState + +""" + - Each address contains a 1 bit value + - READ ONLY registers + + --> State of the robot +""" + +DI_DIGITAL_IO_MODE = 0 +DI_DIGITAL_IO_STATE = 100 + + +class DiscreteInputDataBlock(DataBlock): + + def __init__(self): + super(DiscreteInputDataBlock, self).__init__() + self.digital_io_state_sub = None + + def start_ros_subscribers(self): + self.digital_io_state_sub = rospy.Subscriber('/niryo_robot_rpi/digital_io_state', DigitalIOState, + self.sub_digital_io_state) + + def stop_ros_subscribers(self): + self.digital_io_state_sub.unregister() + + def sub_digital_io_state(self, msg): + self.setValuesOffset(DI_DIGITAL_IO_MODE, list(msg.modes)) + self.setValuesOffset(DI_DIGITAL_IO_STATE, list(msg.states)) diff --git a/niryo_robot_modbus/scripts/holding_register_data_block.py b/niryo_robot_modbus/scripts/holding_register_data_block.py new file mode 100644 index 000000000..290de3e9f --- /dev/null +++ b/niryo_robot_modbus/scripts/holding_register_data_block.py @@ -0,0 +1,372 @@ +#!/usr/bin/env python + +import rospy +import actionlib +import threading + +from data_block import DataBlock + +# Messages +from actionlib_msgs.msg import GoalStatus +from niryo_robot_commander.command_enums import MoveCommandType +from niryo_robot_commander.msg import RobotCommand +from niryo_robot_commander.msg import RobotMoveAction +from niryo_robot_commander.msg import RobotMoveGoal +from niryo_robot_msgs.msg import CommandStatus + +# Services +from conveyor_interface.srv import ControlConveyor, SetConveyor +from niryo_robot_msgs.srv import SetInt, SetBool +from niryo_robot_msgs.srv import Trigger + +""" + - Each address contains a 16 bits value + - READ/WRITE registers + + --> Used to give commands to the robot + ( ! the stored values correspond to the last given command, + not the current robot state !) +""" + +HR_JOINTS = 0 +HR_POSITION_X = 10 +HR_POSITION_Y = 11 +HR_POSITION_Z = 12 +HR_ORIENTATION_X = 13 +HR_ORIENTATION_Y = 14 +HR_ORIENTATION_Z = 15 + +HR_MOVE_JOINTS_COMMAND = 100 +HR_MOVE_POSE_COMMAND = 101 +HR_STOP_COMMAND = 110 + +# You should not write any value on those 3 addresses +# Only read to get info about command execution +HR_IS_EXECUTING_CMD = 150 # Is a command currently being executed (only for move/tool) +HR_LAST_ROBOT_CMD_RESULT = 151 # Get the status of the last command +HR_LAST_ROBOT_CMD_DATA_RESULT = 152 # Contains data retrieved from last cmd (depends of the cmd) + +HR_LEARNING_MODE = 300 + +HR_NEW_CALIBRATION_REQUEST = 310 +HR_START_AUTO_CALIBRATION = 311 +HR_START_MANUAL_CALIBRATION = 312 + +HR_GRIPPER_OPEN_SPEED = 401 +HR_GRIPPER_CLOSE_SPEED = 402 + +HR_SELECT_TOOL_FROM_ID = 500 + +HR_OPEN_GRIPPER = 510 +HR_CLOSE_GRIPPER = 511 +HR_PULL_AIR_VACUUM_PUMP = 512 +HR_PUSH_AIR_VACUUM_PUMP = 513 + +# conveyor commands +HR_PING_AND_SET_CONVEYOR = 520 +HR_REMOVE_CONVEYOR_WITH_ID = 521 +HR_CONTROL_CONVEYOR = 522 +HR_CONTROL_CONVEYOR_DIRECTION = 523 +HR_CONTROL_CONVEYOR_SPEED = 524 +HR_CONTROL_CONVEYOR_ID = 525 +HR_STOP_CONVEYOR_WITH_ID = 526 + + +# Positive number : 0 - 32767 +# Negative number : 32768 - 65535 +def handle_negative_hr(val): + if (val >> 15) == 1: + val = - (val & 0x7FFF) + return val + + +class HoldingRegisterDataBlock(DataBlock): + + def __init__(self): + super(HoldingRegisterDataBlock, self).__init__() + self.execution_thread = threading.Thread() + self.is_action_client_running = False + self.cmd_action_client = None + self.tool_command_list = rospy.get_param("/niryo_robot_tools/command_list") + + def __set_command_in_progress(self): + """ + Set a command as in progress and refresh the last result + :return: + :rtype: + """ + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [0]) + self.setValuesOffset(HR_IS_EXECUTING_CMD, [1]) + + def __set_command_done(self, status_result): + """ + Set a command as completed and store the result + :param status_result: Status stored to HR_LAST_ROBOT_CMD_RESULT + :type status_result: + :return: + :rtype: + """ + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [status_result]) + self.setValuesOffset(HR_IS_EXECUTING_CMD, [0]) + + # Override + + def setValues(self, address, values): + self.process_command(address, values) + super(HoldingRegisterDataBlock, self).setValues(address, values) + + def process_command(self, address, values): + address -= 1 + if len(values) == 0: + return + + if address == HR_LEARNING_MODE: + self.activate_learning_mode(values[0]) + elif address == HR_MOVE_JOINTS_COMMAND: + self.move_joints_command() + elif address == HR_MOVE_POSE_COMMAND: + self.move_pose_command() + elif address == HR_STOP_COMMAND: + self.stop_current_command() + elif address == HR_NEW_CALIBRATION_REQUEST: + self.request_new_calibration() + elif address == HR_START_AUTO_CALIBRATION: + self.start_auto_calibration() + elif address == HR_START_MANUAL_CALIBRATION: + self.start_manual_calibration() + elif address == HR_SELECT_TOOL_FROM_ID: + self.select_tool(values[0]) + elif address == HR_OPEN_GRIPPER: + self.open_gripper_command(values[0]) + elif address == HR_CLOSE_GRIPPER: + self.close_gripper_command(values[0]) + elif address == HR_PULL_AIR_VACUUM_PUMP: + self.pull_air_vacuum_pump_command(values[0]) + elif address == HR_PUSH_AIR_VACUUM_PUMP: + self.push_air_vacuum_pump_command(values[0]) + elif address == HR_PING_AND_SET_CONVEYOR: + self.ping_and_set_conveyor() + elif address == HR_REMOVE_CONVEYOR_WITH_ID: + self.remove_conveyor_with_id() + elif address == HR_CONTROL_CONVEYOR: + self.control_conveyor() + elif address == HR_STOP_CONVEYOR_WITH_ID: + self.stop_conveyor() + + def request_new_calibration(self): + self.call_ros_service('/niryo_robot/joints_interface/request_new_calibration', Trigger) + + def start_auto_calibration(self): + self.__set_command_in_progress() + response = self.call_ros_service('/niryo_robot/joints_interface/calibrate_motors', SetInt, 1) + self.__set_command_done(response.status) + + def start_manual_calibration(self): + self.call_ros_service('/niryo_robot/joints_interface/calibrate_motors', SetInt, 2) + + def activate_learning_mode(self, activate): + activate = int(activate >= 1) + self.call_ros_service('/niryo_robot/learning_mode/activate', SetBool, activate) + + def stop_current_command(self): + if self.is_action_client_running: + self.cmd_action_client.cancel_goal() + + def select_tool(self, tool_id): + self.call_ros_service('/niryo_robot/update_tool', SetInt, int(tool_id)) + + def open_gripper_command(self, tool_id): + speed = self.getValuesOffset(HR_GRIPPER_OPEN_SPEED, 1)[0] + if speed < 100: + speed = 100 + elif speed > 1000: + speed = 1000 + self.open_gripper(tool_id, speed) + + def close_gripper_command(self, tool_id): + speed = self.getValuesOffset(HR_GRIPPER_CLOSE_SPEED, 1)[0] + if speed < 100: + speed = 100 + elif speed > 1000: + speed = 1000 + self.close_gripper(tool_id, speed) + + def pull_air_vacuum_pump_command(self, tool_id): + self.pull_air_vacuum_pump(tool_id) + + def push_air_vacuum_pump_command(self, tool_id): + self.push_air_vacuum_pump(tool_id) + + def move_joints_command(self): + joints_raw_values = self.getValuesOffset(HR_JOINTS, 6) + joints = [] + for j in joints_raw_values: + joints.append(handle_negative_hr(j) / 1000.0) + self.move_joints(joints) + + def move_pose_command(self): + pose_raw_values = self.getValuesOffset(HR_POSITION_X, 6) + pose = [] + for p in pose_raw_values: + pose.append(handle_negative_hr(p) / 1000.0) + self.move_pose(pose) + + def open_gripper(self, gripper_id, speed): + goal = RobotMoveGoal() + goal.cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = int(gripper_id) + goal.cmd.tool_cmd.cmd_type = self.tool_command_list['open_gripper'] + goal.cmd.tool_cmd.gripper_open_speed = speed + self.start_execution_thread(goal) + + def close_gripper(self, gripper_id, speed): + goal = RobotMoveGoal() + goal.cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = int(gripper_id) + goal.cmd.tool_cmd.cmd_type = self.tool_command_list['close_gripper'] + goal.cmd.tool_cmd.gripper_close_speed = speed + self.start_execution_thread(goal) + + def pull_air_vacuum_pump(self, vacuum_pump_id): + goal = RobotMoveGoal() + goal.cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id) + goal.cmd.tool_cmd.cmd_type = self.tool_command_list['pull_air_vacuum_pump'] + self.start_execution_thread(goal) + + def push_air_vacuum_pump(self, vacuum_pump_id): + goal = RobotMoveGoal() + goal.cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = int(vacuum_pump_id) + goal.cmd.tool_cmd.cmd_type = self.tool_command_list['push_air_vacuum_pump'] + self.start_execution_thread(goal) + + def move_pose(self, pose): + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.POSE + goal.cmd.arm_cmd.position.x = pose[0] + goal.cmd.arm_cmd.position.y = pose[1] + goal.cmd.arm_cmd.position.z = pose[2] + goal.cmd.arm_cmd.rpy.roll = pose[3] + goal.cmd.arm_cmd.rpy.pitch = pose[4] + goal.cmd.arm_cmd.rpy.yaw = pose[5] + self.start_execution_thread(goal) + + def move_joints(self, joints): + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.JOINTS + goal.cmd.arm_cmd.joints = joints + + self.start_execution_thread(goal) + + def start_execution_thread(self, goal): + if not self.execution_thread.is_alive(): + self.execution_thread = threading.Thread(target=self.execute_action, + args=['niryo_robot_commander/robot_action', RobotMoveAction, goal]) + self.execution_thread.start() + + def execute_action(self, action_name, action_msg_type, goal): + self.setValuesOffset(HR_IS_EXECUTING_CMD, [1]) + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [0]) + self.cmd_action_client = actionlib.SimpleActionClient(action_name, action_msg_type) + + # Connect to server + if not self.cmd_action_client.wait_for_server(rospy.Duration(0.5)): + self.setValuesOffset(HR_IS_EXECUTING_CMD, [0]) + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [7]) + return + + # Send goal and check response + self.cmd_action_client.send_goal(goal) + + self.is_action_client_running = True + if not self.cmd_action_client.wait_for_result(timeout=rospy.Duration(15.0)): + self.cmd_action_client.cancel_goal() + self.cmd_action_client.stop_tracking_goal() + self.setValuesOffset(HR_IS_EXECUTING_CMD, [0]) + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [6]) + self.is_action_client_running = False + return + + self.is_action_client_running = False + goal_state = self.cmd_action_client.get_state() + + if goal_state != GoalStatus.SUCCEEDED: + self.cmd_action_client.stop_tracking_goal() + + self.setValuesOffset(HR_IS_EXECUTING_CMD, [0]) + + if goal_state == GoalStatus.REJECTED: + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [2]) + elif goal_state == GoalStatus.ABORTED: + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [3]) + elif goal_state == GoalStatus.PREEMPTED: + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [4]) + elif goal_state != GoalStatus.SUCCEEDED: + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [5]) + else: + self.setValuesOffset(HR_LAST_ROBOT_CMD_RESULT, [1]) + + def ping_and_set_conveyor(self): + """ + Scan for a conveyor connected and return it's ID (attribute a new ID internally) + :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum && HR_LAST_ROBOT_CMD_DATA_RESULT + to the conveyor_id on result == CommandStatus.SUCCESS + :rtype: + """ + self.__set_command_in_progress() + response = self.call_ros_service('/niryo_robot/conveyor/ping_and_set_conveyor', + SetConveyor, 1, 0) + self.__set_command_done(response.status) + print(response) + if response == CommandStatus.SUCCESS: + self.setValuesOffset(HR_LAST_ROBOT_CMD_DATA_RESULT, [response.id]) + + def remove_conveyor_with_id(self): + """ + Remove (unset) conveyor with ID given at HR_CONTROL_CONVEYOR_ID + :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum + :rtype: + """ + self.__set_command_in_progress() + conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0] + response = self.call_ros_service('/niryo_robot/conveyor/ping_and_set_conveyor', + SetConveyor, 2, conveyor_id) + print(response) + self.__set_command_done(response.status) + + def control_conveyor(self): + """ + Control the conveyor with ID given at HR_CONTROL_CONVEYOR_ID with speed HR_CONTROL_CONVEYOR_SPEED + and direction HR_CONTROL_CONVEYOR_DIRECTION + :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum + :rtype: + """ + self.__set_command_in_progress() + conveyor_speed = self.getValuesOffset(HR_CONTROL_CONVEYOR_SPEED, 1)[0] + if conveyor_speed > 100: + conveyor_speed = 100 + elif conveyor_speed < 0: + conveyor_speed = 0 + + conveyor_direction = self.getValuesOffset(HR_CONTROL_CONVEYOR_DIRECTION, 1)[0] + conveyor_direction = handle_negative_hr(conveyor_direction) + + conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0] + response = self.call_ros_service('/niryo_robot/conveyor/control_conveyor', + ControlConveyor, conveyor_id, True, int(conveyor_speed), conveyor_direction) + self.__set_command_done(response.status) + + def stop_conveyor(self): + """ + Stop conveyor with ID given at HR_CONTROL_CONVEYOR_ID + :return: set HR_LAST_ROBOT_CMD_RESULT to CommandStatus Enum + :rtype: + """ + self.__set_command_in_progress() + conveyor_id = self.getValuesOffset(HR_CONTROL_CONVEYOR_ID, 1)[0] + response = self.call_ros_service('/niryo_robot/conveyor/control_conveyor', + ControlConveyor, conveyor_id, False, 0, 1) + self.__set_command_done(response.status) diff --git a/niryo_robot_modbus/scripts/input_register_data_block.py b/niryo_robot_modbus/scripts/input_register_data_block.py new file mode 100644 index 000000000..5e8ea64b9 --- /dev/null +++ b/niryo_robot_modbus/scripts/input_register_data_block.py @@ -0,0 +1,159 @@ +#!/usr/bin/env python + +import rospy +from data_block import DataBlock + +# Messages +from sensor_msgs.msg import JointState +from std_msgs.msg import Bool, Int32 + +from conveyor_interface.msg import ConveyorFeedbackArray +from niryo_robot_msgs.msg import HardwareStatus, RobotState, SoftwareVersion +from niryo_robot_rpi.msg import LogStatus + +""" + - Each address contains a 16 bits value + - READ ONLY registers + + --> State of the robot +""" + +IR_JOINTS = 0 +IR_POSITION_X = 10 +IR_POSITION_Y = 11 +IR_POSITION_Z = 12 +IR_ORIENTATION_X = 13 +IR_ORIENTATION_Y = 14 +IR_ORIENTATION_Z = 15 + +IR_SELECTED_TOOL_ID = 200 + +IR_LEARNING_MODE = 300 + +IR_MOTORS_CONNECTION_UP = 400 +IR_CALIBR_NEEDED = 401 +IR_CALIBR_IN_PROGRESS = 402 +IR_RPI_TEMPERATURE = 403 +IR_RPI_AVAILABLE_SPACE = 404 +IR_RPI_ROS_LOG_SIZE = 405 +IR_RPI_VERSION_N1 = 406 +IR_RPI_VERSION_N2 = 407 +IR_RPI_VERSION_N3 = 408 +IR_HARDWARE_VERSION = 409 + +IR_CONVEYOR_1_CONNECTION_STATE = 530 +IR_CONVEYOR_1_CONTROL_STATUS = 531 +IR_CONVEYOR_1_SPEED = 532 +IR_CONVEYOR_1_DIRECTION = 533 + +IR_CONVEYOR_2_CONNECTION_STATE = 540 +IR_CONVEYOR_2_CONTROL_STATUS = 541 +IR_CONVEYOR_2_SPEED = 542 +IR_CONVEYOR_2_DIRECTION = 543 + + +def handle_negative(val): + """ + Positive number : 0 - 32767 + Negative number : 32768 - 65535 + """ + if val < 0: + val = (1 << 15) - val + return val + + +class InputRegisterDataBlock(DataBlock): + + def __init__(self): + super(InputRegisterDataBlock, self).__init__() + self.joint_state_sub = None + self.robot_state_sub = None + self.selected_tool_id_sub = None + self.learning_mode_sub = None + self.hardware_status_sub = None + self.ros_log_status_sub = None + self.software_version_sub = None + self.conveyor_feedback_sub = None + + def start_ros_subscribers(self): + self.joint_state_sub = rospy.Subscriber('/joint_states', JointState, self.sub_joint_states) + self.robot_state_sub = rospy.Subscriber('/niryo_robot/robot_state', RobotState, self.sub_robot_state) + self.selected_tool_id_sub = rospy.Subscriber('/niryo_robot_hardware/tools/current_id', Int32, self.sub_selected_tool_id) + self.learning_mode_sub = rospy.Subscriber('/niryo_robot/learning_mode/state', Bool, self.sub_learning_mode) + self.hardware_status_sub = rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus, + self.sub_hardware_status) + self.ros_log_status_sub = rospy.Subscriber('/niryo_robot_rpi/ros_log_status', LogStatus, + self.sub_ros_log_status) + self.software_version_sub = rospy.Subscriber('/niryo_robot_hardware_interface/software_version', + SoftwareVersion, self.sub_software_version) + + self.conveyor_feedback_sub = rospy.Subscriber('/niryo_robot/conveyor/feedback', ConveyorFeedbackArray, + self.sub_conveyor_feedback) + + def stop_ros_subscribers(self): + self.joint_state_sub.unregister() + self.robot_state_sub.unregister() + self.selected_tool_id_sub.unregister() + self.learning_mode_sub.unregister() + self.hardware_status_sub.unregister() + self.ros_log_status_sub.unregister() + self.software_version_sub.unregister() + self.conveyor_feedback_sub.unregister() + + def sub_joint_states(self, msg): + joints = [] + for i, joint in enumerate(msg.position): + joints.append(handle_negative(int(joint * 1000))) + + self.setValuesOffset(IR_JOINTS, joints) + + def sub_robot_state(self, msg): + pos = msg.position + rpy = msg.rpy + self.setValuesOffset(IR_POSITION_X, handle_negative(int(pos.x * 1000))) + self.setValuesOffset(IR_POSITION_Y, handle_negative(int(pos.y * 1000))) + self.setValuesOffset(IR_POSITION_Z, handle_negative(int(pos.z * 1000))) + self.setValuesOffset(IR_ORIENTATION_X, handle_negative(int(rpy.roll * 1000))) + self.setValuesOffset(IR_ORIENTATION_Y, handle_negative(int(rpy.pitch * 1000))) + self.setValuesOffset(IR_ORIENTATION_Z, handle_negative(int(rpy.yaw * 1000))) + + def sub_selected_tool_id(self, msg): + value = int(msg.data) + self.setValuesOffset(IR_SELECTED_TOOL_ID, value) + + def sub_learning_mode(self, msg): + value = int(msg.data) + self.setValuesOffset(IR_LEARNING_MODE, [value]) + + def sub_hardware_status(self, msg): + self.setValuesOffset(IR_MOTORS_CONNECTION_UP, [int(msg.connection_up)]) + self.setValuesOffset(IR_CALIBR_NEEDED, [int(msg.calibration_needed)]) + self.setValuesOffset(IR_CALIBR_IN_PROGRESS, [int(msg.calibration_in_progress)]) + self.setValuesOffset(IR_RPI_TEMPERATURE, [int(msg.rpi_temperature)]) + self.setValuesOffset(IR_HARDWARE_VERSION, [int(msg.hardware_version)]) + + def sub_ros_log_status(self, msg): + self.setValuesOffset(IR_RPI_AVAILABLE_SPACE, [int(msg.available_disk_size)]) + self.setValuesOffset(IR_RPI_ROS_LOG_SIZE, [int(msg.log_size)]) + + def sub_software_version(self, msg): + version = msg.rpi_image_version + if version != '': + v_maj, v_min, v_patch = version.split('.') + self.setValuesOffset(IR_RPI_VERSION_N1, [int(v_maj)]) + self.setValuesOffset(IR_RPI_VERSION_N2, [int(v_min)]) + self.setValuesOffset(IR_RPI_VERSION_N3, [int(v_patch)]) + + def sub_conveyor_feedback(self, conveyor_array_feedback): + if len(conveyor_array_feedback.conveyors) > 0: + conveyor_1 = conveyor_array_feedback.conveyors[0] + self.setValuesOffset(IR_CONVEYOR_1_CONNECTION_STATE, int(conveyor_1.connection_state)) + self.setValuesOffset(IR_CONVEYOR_1_CONTROL_STATUS, int(conveyor_1.running)) + self.setValuesOffset(IR_CONVEYOR_1_SPEED, int(conveyor_1.speed)) + self.setValuesOffset(IR_CONVEYOR_1_DIRECTION, handle_negative(int(conveyor_1.direction))) + if len(conveyor_array_feedback.conveyors) > 1: + conveyor_2 = conveyor_array_feedback.conveyors[1] + self.setValuesOffset(IR_CONVEYOR_2_CONNECTION_STATE, int(conveyor_2.connection_state)) + self.setValuesOffset(IR_CONVEYOR_2_CONTROL_STATUS, int(conveyor_2.running)) + self.setValuesOffset(IR_CONVEYOR_2_SPEED, int(conveyor_2.speed)) + self.setValuesOffset(IR_CONVEYOR_2_DIRECTION, handle_negative(int(conveyor_2.direction))) diff --git a/niryo_robot_modbus/scripts/modbus_internal_test.py b/niryo_robot_modbus/scripts/modbus_internal_test.py new file mode 100755 index 000000000..c82309e50 --- /dev/null +++ b/niryo_robot_modbus/scripts/modbus_internal_test.py @@ -0,0 +1,240 @@ +#!/usr/bin/env python + +# ! You need to launch the server first ! + +from pymodbus.client.sync import ModbusTcpClient + +from input_register_data_block import * +from discrete_input_data_block import * +from coil_data_block import * +from holding_register_data_block import * + +import time + + +def number_to_raw_data(val): + if val < 0: + val = (1 << 15) - val + return val + + +def raw_data_to_number(val): + if (val >> 15) == 1: + val = - (val & 0x7FFF) + return val + + +def wait_end_of_execution(client): + # Wait for end of Move command + while client.read_holding_registers(HR_IS_EXECUTING_CMD, count=1).registers[0] == 1: + time.sleep(0.01) + + +def test_coil_data(client): + print("---- COIL DATA BLOCK TEST BEGINS ----") + + digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8) + print("BEFORE MODIFICATION DIGITAL IO MODES: {}".format(digital_IO_modes.bits)) + + digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8) + print("BEFORE MODIFICATION DIGITAL IO STATES: {}".format(digital_IO_states.bits)) + + # Set digital IO mode - output + client.write_coil(0, False) + client.write_coil(3, False) + + # Set digital IO state + client.write_coil(100, False) + client.write_coil(103, True) + + time.sleep(0.2) + + digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8) + print("AFTER MODIFICATION DIGITAL IO MODES: {}".format(digital_IO_modes.bits)) + + digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8) + print("AFTER MODIFICATION DIGITAL IO STATES: {}".format(digital_IO_states.bits)) + + print("---- COIL DATA BLOCK TEST ENDS ----") + + +def test_discrete_input(client): + print("---- DISCRETE INPUT TEST BEGINS ----") + + digital_IO_modes = client.read_discrete_inputs(DI_DIGITAL_IO_MODE, 8) + print("DIGITAL IO MODES: {}".format(digital_IO_modes.bits)) + + digital_IO_states = client.read_discrete_inputs(DI_DIGITAL_IO_STATE, 8) + print("DIGITAL IO STATES: {}".format(digital_IO_states.bits)) + + print("---- DISCRETE INPUT TEST ENDS ----") + + +def test_input_register(client): + print("---- INPUT REGISTERS TEST BEGINS ----") + + joints_registers = client.read_input_registers(IR_JOINTS, 6) + joints = [raw_data_to_number(item) / 1000.00 for item in joints_registers.registers[:]] + print("JOINTS: {}".format(joints)) + + pose_registers = client.read_input_registers(IR_POSITION_X, 6) + pose_list = [raw_data_to_number(item) / 1000.00 for item in pose_registers.registers[:]] + print("POSE: {}".format(pose_list)) + + selected_tool_registers = client.read_input_registers(IR_SELECTED_TOOL_ID, 1) + print("SELECTED TOOL: {}".format(selected_tool_registers.registers[0])) + + learning_mode_registers = client.read_input_registers(IR_LEARNING_MODE, 1) + print("LEARNING MODE: {}".format(learning_mode_registers.registers[0])) + + hardware_status_registers = client.read_input_registers(IR_MOTORS_CONNECTION_UP, 10) + print("HW STATUS / MOTORS CONNECTION UP: {}".format(hardware_status_registers.registers[0])) + print("HW STATUS / CALIBRATION NEEDED: {}".format(hardware_status_registers.registers[1])) + print("HW STATUS / CALIBRATION IN PROGRESS: {}".format(hardware_status_registers.registers[2])) + print("HW STATUS / RPI TEMPERATURE: {}".format(hardware_status_registers.registers[3])) + print("HW STATUS / RPI AVAILABLE SPACE: {}".format(hardware_status_registers.registers[4])) + print("HW STATUS / RPI ROS LOG SIZE: {}".format(hardware_status_registers.registers[5])) + print("HW STATUS / RPI IMAGE VERSION: {}".format(hardware_status_registers.registers[6:9])) + print("HW STATUS / HARDWARE_VERSION: {}".format(hardware_status_registers.registers[9])) + + conveyor_1_registers = client.read_input_registers(IR_CONVEYOR_1_CONNECTION_STATE, 4) + print("CONVEYOR 1 STATE: {}".format(conveyor_1_registers.registers[0])) + print("CONVEYOR 1 CONTROL STATUS: {}".format(conveyor_1_registers.registers[1])) + print("CONVEYOR 1 SPEED: {}".format(conveyor_1_registers.registers[2])) + print("CONVEYOR 1 DIRECTION: {}".format(conveyor_1_registers.registers[3])) + + conveyor_2_registers = client.read_input_registers(IR_CONVEYOR_2_CONNECTION_STATE, 4) + print("CONVEYOR 1 STATE: {}".format(conveyor_2_registers.registers[0])) + print("CONVEYOR 1 CONTROL STATUS: {}".format(conveyor_2_registers.registers[1])) + print("CONVEYOR 1 SPEED: {}".format(conveyor_2_registers.registers[2])) + print("CONVEYOR 1 DIRECTION: {}".format(conveyor_2_registers.registers[3])) + + print("---- INPUT REGISTERS TEST ENDS ----") + + +def test_holding_register(client): + print("---- HOLDING REGISTER TEST BEGINS ----") + + print("Force recalibration") + client.write_register(HR_NEW_CALIBRATION_REQUEST, 1) + + print("Calibrate Robot if needed") + client.write_register(HR_START_AUTO_CALIBRATION, 1) + time.sleep(1) + + wait_end_of_execution(client) + print("Calibration ended") + + print("Send a Joint Move command to the robot") + joints_to_send = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + client.write_registers(HR_JOINTS, joints_to_send) + client.write_register(HR_MOVE_JOINTS_COMMAND, 1) + time.sleep(1) + wait_end_of_execution(client) + + print("Joint Move command is finished") + + print("Send a move pose command to the robot") + pose_to_send = [0.304, 0.231, 0.322, 0.0, 0.178, 0.648] + pose_to_send = list(map(lambda j: int(number_to_raw_data(j * 1000)), pose_to_send)) + + client.write_register(HR_POSITION_X, pose_to_send[0]) + client.write_register(HR_POSITION_Y, pose_to_send[1]) + client.write_register(HR_POSITION_Z, pose_to_send[2]) + client.write_register(HR_ORIENTATION_X, pose_to_send[3]) + client.write_register(HR_ORIENTATION_Y, pose_to_send[4]) + client.write_register(HR_ORIENTATION_Z, pose_to_send[5]) + client.write_register(HR_MOVE_POSE_COMMAND, 1) + time.sleep(1) + wait_end_of_execution(client) + + print("Move pose command is finished") + + print("Testing tool stuff begins") + + client.write_register(HR_OPEN_GRIPPER, 1) + wait_end_of_execution(client) + client.write_register(HR_CLOSE_GRIPPER, 1) + wait_end_of_execution(client) + client.write_register(HR_PULL_AIR_VACUUM_PUMP, 1) + wait_end_of_execution(client) + client.write_register(HR_PUSH_AIR_VACUUM_PUMP, 1) + wait_end_of_execution(client) + + print("Testing tool stuff end") + + learning_mode = client.read_holding_registers(HR_LEARNING_MODE, 1) + print("Learning mode current state: {}".format(learning_mode.registers[0])) + + print("Settings learning mode to {}".format(not learning_mode.registers[0])) + client.write_register(HR_LEARNING_MODE, not learning_mode.registers[0]) + time.sleep(1) + print("Settings learning mode to previous state {}".format(not learning_mode.registers[0])) + client.write_register(HR_LEARNING_MODE, learning_mode.registers[0]) + + print("---- CONVEYOR HOLDING REGISTER TEST BEGINS ----") + client.write_register(HR_PING_AND_SET_CONVEYOR, 1) + wait_end_of_execution(client) + conveyor_id_scanned = client.read_holding_registers(HR_LAST_ROBOT_CMD_DATA_RESULT, 1).registers[0] + print("New conveyor ID scanned: {}".format(conveyor_id_scanned)) + + if conveyor_id_scanned is 0: + print("Starting conveyor at full speed in forward...") + client.write_register(HR_CONTROL_CONVEYOR_SPEED, 100) + client.write_register(HR_CONTROL_CONVEYOR_DIRECTION, 1) + client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned) + client.write_register(HR_CONTROL_CONVEYOR, 1) + wait_end_of_execution(client) + print("Conveyor should be running now") + time.sleep(2) + print("Changing direction...") + client.write_register(HR_CONTROL_CONVEYOR_DIRECTION, 1) + wait_end_of_execution(client) + time.sleep(2) + print("Stopping ...") + client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned) + client.write_register(HR_STOP_CONVEYOR_WITH_ID, 1) + wait_end_of_execution(client) + print("Conveyor should be stopped now") + print("Removing conveyor now...") + client.write_register(HR_CONTROL_CONVEYOR_ID, conveyor_id_scanned) + client.write_register(HR_REMOVE_CONVEYOR_WITH_ID, 1) + wait_end_of_execution(client) + print("Conveyor should be removed now") + else: + print("No conveyor scanned :'(") + print("---- CONVEYOR HOLDING REGISTER TEST ENDS ----") + print("---- HOLDING REGISTER TEST ENDS ----") + + +if __name__ == '__main__': + need_test_coil_data = True + need_test_discrete_input = True + need_test_input_register = True + need_test_holding_register = True + + modbus_ip_address = '127.0.0.1' + modbus_port = 5020 + + print "--- START" + modbus_tcp_client = ModbusTcpClient(modbus_ip_address, port=modbus_port) + + modbus_tcp_client.connect() + print "Connected to modbus server" + + if need_test_holding_register: + test_holding_register(modbus_tcp_client) + + if need_test_coil_data: + test_coil_data(modbus_tcp_client) + + if need_test_discrete_input: + test_discrete_input(modbus_tcp_client) + + if need_test_input_register: + test_input_register(modbus_tcp_client) + + modbus_tcp_client.close() + print "Close connection to modbus server" + print "--- END" diff --git a/niryo_robot_modbus/scripts/modbus_server.py b/niryo_robot_modbus/scripts/modbus_server.py new file mode 100755 index 000000000..5469cb418 --- /dev/null +++ b/niryo_robot_modbus/scripts/modbus_server.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +import rospy + +from threading import Thread + +from pymodbus.server.sync import ModbusTcpServer +from pymodbus.device import ModbusDeviceIdentification +from pymodbus.datastore import ModbusSlaveContext, ModbusServerContext + +from coil_data_block import CoilDataBlock +from discrete_input_data_block import DiscreteInputDataBlock +from input_register_data_block import InputRegisterDataBlock +from holding_register_data_block import HoldingRegisterDataBlock + + +class ModbusServer: + + def __init__(self, address, port): + self.coil = CoilDataBlock() + self.discrete_input = DiscreteInputDataBlock() + self.input_register = InputRegisterDataBlock() + self.holding_register = HoldingRegisterDataBlock() + self.store = ModbusSlaveContext(di=self.discrete_input, + co=self.coil, hr=self.holding_register, ir=self.input_register) + self.context = ModbusServerContext(slaves=self.store, single=True) + + self.identity = ModbusDeviceIdentification() + self.identity.VendorName = 'pymodbus' + self.identity.VendorUrl = 'http://github.com/bashwork/pymodbus/' + self.identity.ProductName = 'pymodbus Server' + self.identity.ModelName = 'pymodbus Server' + self.identity.MajorMinorRevision = '1.0' + + self.server = ModbusTcpServer(context=self.context, + framer=None, identity=self.identity, address=(address, port)) + + def start(self): + t = Thread(target=self.__start_server) + t.start() + + def __start_server(self): + self.discrete_input.start_ros_subscribers() + self.input_register.start_ros_subscribers() + self.server.serve_forever() + + def stop(self): + rospy.loginfo("Modbus - Stopping ROS subscribers") + self.discrete_input.stop_ros_subscribers() + self.input_register.stop_ros_subscribers() + + rospy.loginfo("Modbus - Closing Server") + self.server.server_close() + self.server.shutdown() diff --git a/niryo_robot_modbus/scripts/modbus_server_node.py b/niryo_robot_modbus/scripts/modbus_server_node.py new file mode 100755 index 000000000..6966532e7 --- /dev/null +++ b/niryo_robot_modbus/scripts/modbus_server_node.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python + +import rospy +from modbus_server import ModbusServer + + +class ModbusServerNode: + def __init__(self): + # Retrieved parameters + self.__modbus_server_address = rospy.get_param("~server_address") + self.__modbus_server_port = rospy.get_param("~server_port") + + # Create Modbus server + self.__modbus_server = ModbusServer(self.__modbus_server_address, self.__modbus_server_port) + + # Stop on ROS shutdown + rospy.on_shutdown(self.__modbus_server.stop) + + # Start server + self.__modbus_server.start() + + rospy.loginfo("Modbus Node - Started") + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_modbus') + modbus_server_node = ModbusServerNode() + # Loop until ros shutdown + rospy.spin() diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant new file mode 100644 index 000000000..516f3caf8 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/.setup_assistant @@ -0,0 +1,10 @@ +moveit_setup_assistant_config: + URDF: + package: niryo_robot_description + relative_path: urdf/niryo_ned.urdf + SRDF: + relative_path: config/niryo_ned.srdf + CONFIG: + author_name: Edouard Renard + author_email: e.renard@niryo.com + generated_timestamp: 1482343386 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt new file mode 100644 index 000000000..33dad0f4a --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_ned_moveit_config_standalone) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml new file mode 100644 index 000000000..a8b7547ab --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/fake_controllers.yaml @@ -0,0 +1,9 @@ +controller_list: + - name: fake_niryo_robot_follow_joint_trajectory_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml new file mode 100644 index 000000000..88f614722 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/joint_limits.yaml @@ -0,0 +1,34 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_1: + has_velocity_limits: true + max_velocity: 2.6 + has_acceleration_limits: true + max_acceleration: 2.6 + joint_2: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 1.5 + joint_3: + has_velocity_limits: true + max_velocity: 2.5 + has_acceleration_limits: true + max_acceleration: 1.6 + joint_4: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: true + max_acceleration: 3.14 + joint_5: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: true + max_acceleration: 3.14 + joint_6: + has_velocity_limits: true + max_velocity: 3.14 + has_acceleration_limits: true + max_acceleration: 3.14 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml new file mode 100644 index 000000000..46a238632 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf new file mode 100644 index 000000000..c8d38d4a9 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/niryo_ned.srdf @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml new file mode 100644 index 000000000..a48ae4f7c --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ompl_planning.yaml @@ -0,0 +1,149 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + FMTkConfigDefault: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMTkConfigDefault: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDSTkConfigDefault: + type: geometric::PDST + STRIDEkConfigDefault: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRTkConfigDefault: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRTkConfigDefault: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiESTkConfigDefault: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjESTkConfigDefault: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRMkConfigDefault: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstarkConfigDefault: + type: geometric::LazyPRMstar + SPARSkConfigDefault: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwokConfigDefault: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + projection_evaluator: joints(joint_1,joint_2) + longest_valid_segment_fraction: 0.005 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml new file mode 100644 index 000000000..14e1046df --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/ros_controllers.yaml @@ -0,0 +1,53 @@ +# Settings for ros_control control loop +hardware_control_loop: + loop_hz: 25 + +# Publish all joint states ----------------------- +joint_state_controller: + type: "joint_state_controller/JointStateController" + publish_rate: 50 + +controller_list: + - name: "niryo_robot_follow_joint_trajectory_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + +# Joint Trajectory Controller - position based ----------------------- +niryo_robot_follow_joint_trajectory_controller: + type: "position_controllers/JointTrajectoryController" + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + constraints: + goal_time: 1.0 + stopped_velocity_tolerance: 0.05 + joint_1: {trajectory: 0.5, goal: 0.2} + joint_2: {trajectory: 0.5, goal: 0.2} + joint_3: {trajectory: 0.5, goal: 0.2} + joint_4: {trajectory: 0.5, goal: 0.2} + joint_5: {trajectory: 1.0, goal: 0.3} + joint_6: {trajectory: 1.0, goal: 0.3} + stop_trajectory_duration: 1.0 + state_publish_rate: 20 + action_monitor_rate: 10 + +# parameters for Gazebo ROS control plugin +gazebo_ros_control/pid_gains: + joint_1: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_2: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_3: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_4: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_5: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_6: {p: 100, d: 1, i: 1, i_clamp: 1} diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml new file mode 100644 index 000000000..d2955dcd9 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/config/sensors_3d.yaml @@ -0,0 +1,3 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - {} \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch new file mode 100644 index 000000000..69715bf8d --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch new file mode 100644 index 000000000..392b2871c --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/demo.launch @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..b06a12301 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch new file mode 100644 index 000000000..9411f6e60 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch new file mode 100644 index 000000000..ad922016e --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/move_group.launch @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz new file mode 100644 index 000000000..8b2b768ad --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /world + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /world + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch new file mode 100644 index 000000000..6f89c7093 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..56e48b5d9 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_controller_manager.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/niryo_ned_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..011c2f0f1 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch new file mode 100644 index 000000000..1c65406f8 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..39db0dfbe --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..85001aa12 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..d29d7d466 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch new file mode 100644 index 000000000..cebeb8bfb --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..56edaa6ed --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch new file mode 100644 index 000000000..0c1d75c53 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..967e0ff4d --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml new file mode 100644 index 000000000..868c8f107 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_standalone/package.xml @@ -0,0 +1,32 @@ + + + niryo_ned_moveit_config_standalone + 3.0.0 + + An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework + + Edouard Renard + Rémi Lux + + GPLv3 + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + + + niryo_robot_description + niryo_robot_description + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant new file mode 100644 index 000000000..3c8ab0bbf --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: niryo_robot_description + relative_path: urdf/ned/niryo_ned_gripper1_n_camera.urdf.xacro + xacro_args: "" + SRDF: + relative_path: config/niryo_ned.srdf + CONFIG: + author_name: Rémi lux + author_email: r.lux@niryo.com + generated_timestamp: 1586943668 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt new file mode 100644 index 000000000..48e7018cb --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_ned_moveit_config_w_gripper1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml new file mode 100644 index 000000000..d74115e90 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/chomp_planning.yaml @@ -0,0 +1,17 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.01 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearence: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: true \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml new file mode 100644 index 000000000..6badce254 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/fake_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: fake_niryo_robot_follow_joint_trajectory_controller + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - name: fake_gazebo_tool_controller + joints: + - joint_base_to_mors_1 + - joint_base_to_mors_2 \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml new file mode 100644 index 000000000..df22b2469 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/joint_limits.yaml @@ -0,0 +1,44 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint_base_to_mors_1: + has_velocity_limits: true + max_velocity: 4.8 + has_acceleration_limits: false + max_acceleration: 0 + joint_base_to_mors_2: + has_velocity_limits: true + max_velocity: 4.8 + has_acceleration_limits: false + max_acceleration: 0 + joint_1: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_2: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_3: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_4: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_5: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 + joint_6: + has_velocity_limits: true + max_velocity: 3 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml new file mode 100644 index 000000000..05573e5c6 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/kinematics.yaml @@ -0,0 +1,4 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf new file mode 100644 index 000000000..d85796490 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/niryo_ned.srdf @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml new file mode 100644 index 000000000..3c20b7377 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ompl_planning.yaml @@ -0,0 +1,177 @@ +planner_configs: + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +arm: + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_1,joint_2) + longest_valid_segment_fraction: 0.005 +tool: + default_planner_config: "" + planner_configs: + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint_base_to_mors_1) + longest_valid_segment_fraction: 0.005 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml new file mode 100644 index 000000000..9369d12a0 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/ros_controllers.yaml @@ -0,0 +1,93 @@ +# MoveIt-specific simulation settings +moveit_sim_hw_interface: + joint_model_group: controllers_initial_group_ + joint_model_group_pose: controllers_initial_pose_ +# Settings for ros_control control loop +generic_hw_control_loop: + loop_hz: 300 + cycle_time_error_threshold: 0.01 +# Settings for ros_control hardware interface +hardware_interface: + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - joint_base_to_mors_1 + - joint_base_to_mors_2 + sim_control_mode: 1 # 0: position, 1: velocity + +# Publish all joint states +# Creates the /joint_states topic necessary in ROS +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +controller_list: + - name: "niryo_robot_follow_joint_trajectory_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + - name: "gazebo_tool_controller" + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_base_to_mors_1 + - joint_base_to_mors_2 + +niryo_robot_follow_joint_trajectory_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + constraints: + goal_time: 1.0 + stopped_velocity_tolerance: 0.05 + joint_1: {trajectory: 0.5, goal: 0.2} + joint_2: {trajectory: 0.5, goal: 0.2} + joint_3: {trajectory: 0.5, goal: 0.2} + joint_4: {trajectory: 0.5, goal: 0.2} + joint_5: {trajectory: 1.0, goal: 0.3} + joint_6: {trajectory: 1.0, goal: 0.3} + stop_trajectory_duration: 1.0 + state_publish_rate: 20 + action_monitor_rate: 10 + +gazebo_tool_controller: + type: effort_controllers/JointTrajectoryController + joints: + - joint_base_to_mors_1 + - joint_base_to_mors_2 + gains: + joint_base_to_mors_1: + p: 100 + d: 1 + i: 1 + joint_base_to_mors_2: + p: 100 + d: 1 + i: 1 + +gazebo_ros_control/pid_gains: + joint_1: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_2: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_3: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_4: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_5: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_6: {p: 100, d: 1, i: 1, i_clamp: 1} + joint_base_to_mors_1: {p: 100, d: 1, i: 1} + joint_base_to_mors_2: {p: 100, d: 1, i: 1} \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml new file mode 100644 index 000000000..d2955dcd9 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/config/sensors_3d.yaml @@ -0,0 +1,3 @@ +# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it +sensors: + - {} \ No newline at end of file diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 000000000..6e952befa --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch new file mode 100644 index 000000000..9010d1f16 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch new file mode 100644 index 000000000..53816db80 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch new file mode 100644 index 000000000..05a4a3814 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/demo_gazebo.launch @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..904fa5aa8 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch new file mode 100644 index 000000000..9ae231e37 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/gazebo.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch new file mode 100644 index 000000000..9411f6e60 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch new file mode 100644 index 000000000..1a6994a21 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/move_group.launch @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz new file mode 100644 index 000000000..3e2b1a2de --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /world + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch new file mode 100644 index 000000000..e324af8e5 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch new file mode 100644 index 000000000..908d13a65 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/my_demo.launch @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml new file mode 100644 index 000000000..efe4db763 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml new file mode 100644 index 000000000..5d02698d7 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/niryo_ned_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 000000000..5500e6778 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch new file mode 100644 index 000000000..f09c0377f --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml new file mode 100644 index 000000000..7feb41d0e --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch new file mode 100644 index 000000000..26a6e4986 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch new file mode 100644 index 000000000..97ecb0af8 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml new file mode 100644 index 000000000..bab7dbc8b --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch new file mode 100644 index 000000000..e051f3607 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml new file mode 100644 index 000000000..5b00a01e7 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch new file mode 100644 index 000000000..6c5917c8b --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml new file mode 100644 index 000000000..e473b083b --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml new file mode 100644 index 000000000..e4e393e21 --- /dev/null +++ b/niryo_robot_moveit_config/ned/niryo_ned_moveit_config_w_gripper1/package.xml @@ -0,0 +1,35 @@ + + + niryo_ned_moveit_config_w_gripper1 + 0.3.0 + + An automatically generated package with all the configuration and launch files for using Ned with the MoveIt! Motion Planning Framework + + Rémi lux + Rémi lux + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + joint_state_publisher + robot_state_publisher + tf2_ros + xacro + + + niryo_robot_description + niryo_robot_description + + + diff --git a/niryo_robot_msgs/CMakeLists.txt b/niryo_robot_msgs/CMakeLists.txt new file mode 100644 index 000000000..9d967e1d0 --- /dev/null +++ b/niryo_robot_msgs/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_msgs) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + message_generation + std_msgs +) + +add_message_files( + FILES + BusState.msg + CommandStatus.msg + HardwareStatus.msg + MotorHeader.msg + ObjectPose.msg + RobotState.msg + RPY.msg + SoftwareVersion.msg +) + +add_service_files( + DIRECTORY srv + FILES + GetBool.srv + GetInt.srv + GetNameDescriptionList.srv + GetStringList.srv + SetBool.srv + SetInt.srv + SetString.srv + Trigger.srv +) + +generate_messages( + DEPENDENCIES + geometry_msgs + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + message_runtime + std_msgs +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_msgs/msg/BusState.msg b/niryo_robot_msgs/msg/BusState.msg new file mode 100644 index 000000000..8dd5233cb --- /dev/null +++ b/niryo_robot_msgs/msg/BusState.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +bool connection_status +uint8[] motor_id_connected +string error \ No newline at end of file diff --git a/niryo_robot_msgs/msg/CommandStatus.msg b/niryo_robot_msgs/msg/CommandStatus.msg new file mode 100644 index 000000000..c10e62f91 --- /dev/null +++ b/niryo_robot_msgs/msg/CommandStatus.msg @@ -0,0 +1,95 @@ +int32 val + +# overall behavior +int32 SUCCESS = 1 +int32 CANCELLED = 2 +int32 PREEMPTED = 3 + +int32 FAILURE = -1 +int32 ABORTED = -3 +int32 STOPPED = -4 + +int32 ROS_ERROR = -20 + +int32 FILE_ALREADY_EXISTS = -30 + +int32 UNKNOWN_COMMAND = -50 +int32 NOT_IMPLEMENTED_COMMAND = -51 +int32 INVALID_PARAMETERS = -52 + +# - Hardware +int32 HARDWARE_FAILURE = -110 +int32 HARDWARE_NOT_OK = -111 +int32 LEARNING_MODE_ON = -112 +int32 CALIBRATION_NOT_DONE = -113 +int32 DIGITAL_IO_PANEL_ERROR = -114 +int32 LED_MANAGER_ERROR = -115 +int32 BUTTON_ERROR = -116 +int32 WRONG_MOTOR_TYPE = -117 +int32 DXL_WRITE_ERROR = -118 +int32 DXL_READ_ERROR = -119 +int32 CAN_WRITE_ERROR = -120 +int32 CAN_READ_ERROR = -121 +int32 NO_CONVEYOR_LEFT = -122 +int32 NO_CONVEYOR_FOUND = -123 +int32 CONVEYOR_ID_INVALID = -124 +int32 CALIBRATION_IN_PROGRESS = -125 + +# - Vision +int32 VIDEO_STREAM_ON_OFF_FAILURE = -170 +int32 VIDEO_STREAM_NOT_RUNNING = -171 +int32 OBJECT_NOT_FOUND = -172 +int32 MARKERS_NOT_FOUND = -173 + +# - Commander +# Arm Commander +int32 ARM_COMMANDER_FAILURE = -220 +int32 GOAL_STILL_ACTIVE = -221 +int32 JOG_CONTROLLER_ENABLED = -222 +int32 CONTROLLER_PROBLEMS = -223 +int32 SHOULD_RESTART = -224 +int32 JOG_CONTROLLER_FAILURE = -220 + +int32 PLAN_FAILED = -230 +int32 NO_PLAN_AVAILABLE = -231 +int32 INVERT_KINEMATICS_FAILURE = -232 + +# Tool Commander +int32 TOOL_FAILURE = -251 +int32 TOOL_ID_INVALID = -252 +int32 TOOL_NOT_CONNECTED = -253 +int32 TOOL_ROS_INTERFACE_ERROR = -254 + +# - Pose Handlers +int32 POSES_HANDLER_CREATION_FAILED = -300 +int32 POSES_HANDLER_REMOVAL_FAILED = -301 +int32 POSES_HANDLER_READ_FAILURE = -302 +int32 POSES_HANDLER_COMPUTE_FAILURE = -303 + +int32 WORKSPACE_CREATION_FAILED = -308 + +# - Programs Manager +int32 PROGRAMS_MANAGER_FAILURE = -320 +int32 PROGRAMS_MANAGER_READ_FAILURE = -321 +int32 PROGRAMS_MANAGER_UNKNOWN_LANGUAGE = -325 +int32 PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE = -326 +int32 PROGRAMS_MANAGER_EXECUTION_FAILED = -327 +int32 PROGRAMS_MANAGER_STOPPING_FAILED = -328 +int32 PROGRAMS_MANAGER_AUTORUN_FAILURE = -329 +int32 PROGRAMS_MANAGER_WRITING_FAILURE = -330 +int32 PROGRAMS_MANAGER_FILE_ALREADY_EXISTS = -331 +int32 PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST = -332 + + +# - Serial +int32 SERIAL_FILE_ERROR = -400 +int32 SERIAL_UNKNOWN_ERROR = -401 + +# - MQTT Client +int32 MQTT_PUBLISH_FUNCTION_DOESNT_EXIST = -420 +int32 MQTT_PUBLISH_FUNCTION_INVALID_ARGUMENTS = -421 + +# - System Api Client +int32 SYSTEM_API_CLIENT_UNKNOWN_ERROR = -440 +int32 SYSTEM_API_CLIENT_INVALID_ROBOT_NAME = -441 +int32 SYSTEM_API_CLIENT_REQUEST_FAILED = -442 diff --git a/niryo_robot_msgs/msg/HardwareStatus.msg b/niryo_robot_msgs/msg/HardwareStatus.msg new file mode 100644 index 000000000..fe4ceab44 --- /dev/null +++ b/niryo_robot_msgs/msg/HardwareStatus.msg @@ -0,0 +1,21 @@ +std_msgs/Header header + +# Raspberry Pi board +int32 rpi_temperature + +# Robot version : 1 Ned (only one until needed modification) +int32 hardware_version + +# Motors +bool connection_up +string error_message +bool calibration_needed +bool calibration_in_progress + +string[] motor_names +string[] motor_types + +int32[] temperatures +float64[] voltages +int32[] hardware_errors +string[] hardware_errors_message diff --git a/niryo_robot_msgs/msg/MotorHeader.msg b/niryo_robot_msgs/msg/MotorHeader.msg new file mode 100644 index 000000000..468313f3e --- /dev/null +++ b/niryo_robot_msgs/msg/MotorHeader.msg @@ -0,0 +1,6 @@ +uint8 motor_id + +uint8 motor_type +uint8 MOTOR_TYPE_STEPPER=1 +uint8 MOTOR_TYPE_XL430=2 +uint8 MOTOR_TYPE_XL320=3 diff --git a/niryo_robot_msgs/msg/ObjectPose.msg b/niryo_robot_msgs/msg/ObjectPose.msg new file mode 100644 index 000000000..927693389 --- /dev/null +++ b/niryo_robot_msgs/msg/ObjectPose.msg @@ -0,0 +1,7 @@ +float64 x +float64 y +float64 z + +float64 roll +float64 pitch +float64 yaw diff --git a/niryo_robot_msgs/msg/ObjectSave.msg b/niryo_robot_msgs/msg/ObjectSave.msg new file mode 100644 index 000000000..60fab9460 --- /dev/null +++ b/niryo_robot_msgs/msg/ObjectSave.msg @@ -0,0 +1,5 @@ +int32 cmd +int32 SAVE = 1 +int32 DELETE = -1 + +string name \ No newline at end of file diff --git a/niryo_robot_msgs/msg/RPY.msg b/niryo_robot_msgs/msg/RPY.msg new file mode 100644 index 000000000..2fd5871ed --- /dev/null +++ b/niryo_robot_msgs/msg/RPY.msg @@ -0,0 +1,5 @@ +# roll, pitch and yaw + +float64 roll +float64 pitch +float64 yaw diff --git a/niryo_robot_msgs/msg/RobotState.msg b/niryo_robot_msgs/msg/RobotState.msg new file mode 100644 index 000000000..f2d4c4726 --- /dev/null +++ b/niryo_robot_msgs/msg/RobotState.msg @@ -0,0 +1,3 @@ +geometry_msgs/Point position +niryo_robot_msgs/RPY rpy +geometry_msgs/Quaternion orientation diff --git a/niryo_robot_msgs/msg/SoftwareVersion.msg b/niryo_robot_msgs/msg/SoftwareVersion.msg new file mode 100644 index 000000000..c60c9e6f2 --- /dev/null +++ b/niryo_robot_msgs/msg/SoftwareVersion.msg @@ -0,0 +1,5 @@ +string rpi_image_version +string ros_niryo_robot_version + +string[] motor_names +string[] stepper_firmware_versions diff --git a/niryo_robot_msgs/package.xml b/niryo_robot_msgs/package.xml new file mode 100644 index 000000000..4b2cbe61b --- /dev/null +++ b/niryo_robot_msgs/package.xml @@ -0,0 +1,19 @@ + + niryo_robot_msgs + 3.0.0 + Niryo "Standards messages" used in other Niryo Robot packages + Rémi Lux + Rémi Lux + Corentin Ducatez + GPLv3 + + catkin + + geometry_msgs + message_generation + std_msgs + + geometry_msgs + message_runtime + std_msgs + diff --git a/niryo_robot_msgs/srv/GetBool.srv b/niryo_robot_msgs/srv/GetBool.srv new file mode 100644 index 000000000..e3e4ce7c4 --- /dev/null +++ b/niryo_robot_msgs/srv/GetBool.srv @@ -0,0 +1,2 @@ +--- +bool value diff --git a/niryo_robot_msgs/srv/GetInt.srv b/niryo_robot_msgs/srv/GetInt.srv new file mode 100644 index 000000000..92f224663 --- /dev/null +++ b/niryo_robot_msgs/srv/GetInt.srv @@ -0,0 +1,2 @@ +--- +int32 value diff --git a/niryo_robot_msgs/srv/GetNameDescriptionList.srv b/niryo_robot_msgs/srv/GetNameDescriptionList.srv new file mode 100644 index 000000000..dfd829bb4 --- /dev/null +++ b/niryo_robot_msgs/srv/GetNameDescriptionList.srv @@ -0,0 +1,3 @@ +--- +string[] name_list +string[] description_list diff --git a/niryo_robot_msgs/srv/GetStringList.srv b/niryo_robot_msgs/srv/GetStringList.srv new file mode 100644 index 000000000..436e01c5d --- /dev/null +++ b/niryo_robot_msgs/srv/GetStringList.srv @@ -0,0 +1,2 @@ +--- +string[] string_list diff --git a/niryo_robot_msgs/srv/SetBool.srv b/niryo_robot_msgs/srv/SetBool.srv new file mode 100644 index 000000000..ae2f1a02d --- /dev/null +++ b/niryo_robot_msgs/srv/SetBool.srv @@ -0,0 +1,4 @@ +bool value +--- +int32 status +string message diff --git a/niryo_robot_msgs/srv/SetInt.srv b/niryo_robot_msgs/srv/SetInt.srv new file mode 100644 index 000000000..013aa3d74 --- /dev/null +++ b/niryo_robot_msgs/srv/SetInt.srv @@ -0,0 +1,4 @@ +int32 value +--- +int32 status +string message diff --git a/niryo_robot_msgs/srv/SetString.srv b/niryo_robot_msgs/srv/SetString.srv new file mode 100644 index 000000000..1286ac2c9 --- /dev/null +++ b/niryo_robot_msgs/srv/SetString.srv @@ -0,0 +1,4 @@ +string value +--- +int32 status +string message diff --git a/niryo_robot_msgs/srv/Trigger.srv b/niryo_robot_msgs/srv/Trigger.srv new file mode 100644 index 000000000..bab64caed --- /dev/null +++ b/niryo_robot_msgs/srv/Trigger.srv @@ -0,0 +1,3 @@ +--- +int32 status +string message diff --git a/niryo_robot_poses_handlers/CMakeLists.txt b/niryo_robot_poses_handlers/CMakeLists.txt new file mode 100644 index 000000000..85301b666 --- /dev/null +++ b/niryo_robot_poses_handlers/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_poses_handlers) + +find_package(catkin REQUIRED + COMPONENTS + geometry_msgs + message_generation + moveit_msgs + niryo_robot_msgs +) + +add_message_files( + FILES + NiryoPose.msg + Trajectory.msg + Workspace.msg +) + +add_service_files( + DIRECTORY srv + FILES + GetPose.srv + GetTargetPose.srv + GetTrajectory.srv + GetWorkspaceRatio.srv + GetWorkspaceRobotPoses.srv + ManagePose.srv + ManageTrajectory.srv + ManageWorkspace.srv +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES + geometry_msgs + moveit_msgs + niryo_robot_msgs +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +############# +## Testing ## +############# +find_package(rostest REQUIRED) + +add_rostest(launch/rpi_poses_handlers.test) +add_rostest(launch/simulation_poses_handlers.test) diff --git a/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip b/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip new file mode 100644 index 000000000..7fbf87a3e --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Calibration_Tip.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Calibration_Tip", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.026, + 0.0, + 0.0045 + ], + "quaternion": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip new file mode 100644 index 000000000..bc465f5d4 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Electromagnet_1.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Electromagnet_1", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.0, + 0.0, + 0.0225 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip new file mode 100644 index 000000000..134822ad6 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_1.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Gripper_1", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.0, + 0.0, + 0.085 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip new file mode 100644 index 000000000..74066dc45 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_2.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Gripper_2", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.0, + 0.0, + 0.113 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip b/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip new file mode 100644 index 000000000..89977e5b1 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Gripper_3.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Gripper_3", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.0, + 0.0, + 0.1215 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip b/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip new file mode 100644 index 000000000..44fb37a18 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_No_Tool.grip @@ -0,0 +1,18 @@ +{ + "name": "default_No_Tool", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.00, + 0.0, + 0.0 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip b/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip new file mode 100644 index 000000000..205bf45d0 --- /dev/null +++ b/niryo_robot_poses_handlers/grips/ned/default_Vacuum_Pump_1.grip @@ -0,0 +1,18 @@ +{ + "name": "default_Vacuum_Pump_1", + "transform": { + "header_frame_id": "object_base", + "translation": [ + 0.0, + 0.0, + 0.047 + ], + "quaternion": [ + 0.0, + 0.7071068, + 0.0, + 0.7071068 + ], + "child_frame_id": "tool_link_target" + } +} diff --git a/niryo_robot_poses_handlers/launch/poses_handlers.launch b/niryo_robot_poses_handlers/launch/poses_handlers.launch new file mode 100644 index 000000000..5d6477816 --- /dev/null +++ b/niryo_robot_poses_handlers/launch/poses_handlers.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test b/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test new file mode 100644 index 000000000..87a92eefe --- /dev/null +++ b/niryo_robot_poses_handlers/launch/rpi_poses_handlers.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test b/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test new file mode 100644 index 000000000..874334367 --- /dev/null +++ b/niryo_robot_poses_handlers/launch/simulation_poses_handlers.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/niryo_robot_poses_handlers/msg/NiryoPose.msg b/niryo_robot_poses_handlers/msg/NiryoPose.msg new file mode 100644 index 000000000..403a0ad30 --- /dev/null +++ b/niryo_robot_poses_handlers/msg/NiryoPose.msg @@ -0,0 +1,8 @@ +string name +string description + +float64[] joints +geometry_msgs/Point position +niryo_robot_msgs/RPY rpy +geometry_msgs/Quaternion orientation + diff --git a/niryo_robot_poses_handlers/msg/Trajectory.msg b/niryo_robot_poses_handlers/msg/Trajectory.msg new file mode 100644 index 000000000..2f973466c --- /dev/null +++ b/niryo_robot_poses_handlers/msg/Trajectory.msg @@ -0,0 +1,2 @@ +string name +geometry_msgs/Pose[] poses diff --git a/niryo_robot_poses_handlers/msg/Workspace.msg b/niryo_robot_poses_handlers/msg/Workspace.msg new file mode 100644 index 000000000..266e2b2d2 --- /dev/null +++ b/niryo_robot_poses_handlers/msg/Workspace.msg @@ -0,0 +1,5 @@ +string name +string description + +geometry_msgs/Point[] points +niryo_robot_msgs/RobotState[] poses diff --git a/niryo_robot_poses_handlers/package.xml b/niryo_robot_poses_handlers/package.xml new file mode 100644 index 000000000..94d025555 --- /dev/null +++ b/niryo_robot_poses_handlers/package.xml @@ -0,0 +1,29 @@ + + niryo_robot_poses_handlers + 3.0.0 + + - Handles the conversion of workspace-relative poses to robot poses + - Handles Poses + - Handles Trajectories + + Andreas Voigt + Rémi Lux + Rémi Lux + GPLv3 + + catkin + + geometry_msgs + moveit_msgs + niryo_robot_msgs + + moveit_msgs + niryo_robot_msgs + tf + + + python-numpy + + + + diff --git a/niryo_robot_poses_handlers/scripts/__init__.py b/niryo_robot_poses_handlers/scripts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_poses_handlers/scripts/poses_handlers_node.py b/niryo_robot_poses_handlers/scripts/poses_handlers_node.py new file mode 100755 index 000000000..d50cdf96f --- /dev/null +++ b/niryo_robot_poses_handlers/scripts/poses_handlers_node.py @@ -0,0 +1,468 @@ +#!/usr/bin/env python + +# Libs +import rospy + +from transform_handler import TransformHandler +from niryo_robot_poses_handlers.transform_functions import euler_from_quaternion +from niryo_robot_poses_handlers.file_manager import NiryoRobotFileException +from niryo_robot_poses_handlers.grip_manager import GripManager +from niryo_robot_poses_handlers.pose_manager import PoseManager +from niryo_robot_poses_handlers.trajectory_manager import TrajectoryManager +from niryo_robot_poses_handlers.workspace_manager import WorkspaceManager + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from geometry_msgs.msg import Pose, Point, Quaternion +from niryo_robot_msgs.msg import RobotState +from niryo_robot_msgs.msg import RPY +from niryo_robot_poses_handlers.msg import NiryoPose + +# Services +from niryo_robot_msgs.srv import GetNameDescriptionList + +from niryo_robot_poses_handlers.srv import GetTargetPose +from niryo_robot_poses_handlers.srv import GetWorkspaceRatio +from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses +from niryo_robot_poses_handlers.srv import ManageWorkspace +from niryo_robot_poses_handlers.srv import GetPose, ManagePose +from niryo_robot_poses_handlers.srv import GetTrajectory, ManageTrajectory + + +class PoseHandlerNode: + """ + This class is an interface for manipulating object poses and converting them to robot poses. + In particular, it allows + - creation of workspaces + - created of grips + - convertion of workspace-relative poses (e.g. from camera) to robot poses + """ + + def __init__(self): + rospy.logdebug("Poses Handlers - Entering in Init") + + # Workspaces + ws_dir = rospy.get_param("~workspace_dir") + self.__ws_manager = WorkspaceManager(ws_dir) + rospy.Service('~manage_workspace', ManageWorkspace, + self.__callback_manage_workspace) + rospy.Service('~get_workspace_ratio', GetWorkspaceRatio, + self.__callback_workspace_ratio) + rospy.Service('~get_workspace_list', GetNameDescriptionList, + self.__callback_workspace_list) + rospy.Service('~get_workspace_poses', GetWorkspaceRobotPoses, + self.__callback_get_workspace_poses) + # Grips + tool_config_dict = rospy.get_param("niryo_robot_tools/tool_list", dict()) + self.__tool_id_gripname_dict = {tool["id"]: "default_" + tool["name"].replace(" ", "_") + for tool in tool_config_dict} + self.__tool_id_gripname_dict[-1] = "default_Calibration_Tip" + + grip_dir = rospy.get_param("~grip_dir") + self.__grip_manager = GripManager(grip_dir, self.__tool_id_gripname_dict.values()) + rospy.Service('~get_target_pose', GetTargetPose, + self.__callback_target_pose) + + # Transform Handlers + self.__transform_handler = TransformHandler(self.__grip_manager) + + rospy.logdebug("Poses Handlers - Transform Handler created") + + # -- POSES AND TRAJECTORIES + # Poses + poses_dir = rospy.get_param("~poses_dir") + self.__pos_manager = PoseManager(poses_dir) + + rospy.Service('~manage_pose', ManagePose, + self.__callback_manage_pose) + rospy.Service('~get_pose', GetPose, + self.__callback_get_pose) + rospy.Service('~get_pose_list', GetNameDescriptionList, + self.__callback_get_position_list) + + # Trajectories + trajectories_dir = rospy.get_param("~trajectories_dir") + self.traj_manager = TrajectoryManager(trajectories_dir) + rospy.Service('~manage_trajectory', ManageTrajectory, + self.__callback_manage_trajectory) + rospy.Service('~get_trajectory', GetTrajectory, + self.__callback_get_trajectory) + rospy.Service('~get_trajectory_list', GetNameDescriptionList, + self.__callback_get_trajectory_list) + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("Poses Handlers - Started") + + # -- ROS CALLBACKS + # Workspace + def __callback_manage_workspace(self, req): + cmd = req.cmd + workspace = req.workspace + if cmd == req.SAVE: + if len(workspace.poses) != 4: + return CommandStatus.WORKSPACE_CREATION_FAILED, "Workspaces have 4 positions, {} given".format( + len(workspace.poses)) + try: + self.create_workspace(workspace.name, workspace.description, workspace.poses) + return CommandStatus.SUCCESS, "Created workspace '{}'".format(workspace.name) + except NiryoRobotFileException as e: + return CommandStatus.FILE_ALREADY_EXISTS, str(e) + except (ValueError, Exception) as e: + return CommandStatus.WORKSPACE_CREATION_FAILED, str(e) + + elif cmd == req.SAVE_WITH_POINTS: + if len(workspace.points) != 4: + return CommandStatus.WORKSPACE_CREATION_FAILED, "Workspaces have 4 points, {} given".format( + len(workspace.points)) + try: + self.create_workspace_from_points(workspace.name, workspace.description, workspace.points) + return CommandStatus.SUCCESS, "Created workspace '{}'".format(workspace.name) + except NiryoRobotFileException as e: + return CommandStatus.FILE_ALREADY_EXISTS, str(e) + except Exception as e: + return CommandStatus.WORKSPACE_CREATION_FAILED, str(e) + elif cmd == req.DELETE: + try: + self.remove_workspace(workspace.name) + return CommandStatus.SUCCESS, "Removed workspace '{}'".format(workspace.name) + except Exception as e: + return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e) + else: + return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(req.cmd) + + def __callback_workspace_ratio(self, req): + try: + ratio = self.get_workspace_ratio(req.workspace) + return CommandStatus.SUCCESS, "Success", ratio + except Exception as e: + return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), 0 + + def __callback_workspace_list(self, _): + try: + ws_list, description_list = self.get_available_workspaces() + except Exception as e: + rospy.logerr("Poses Handlers - Error occured when getting workspace list: {}".format(e)) + ws_list = description_list = [] + return {"name_list": ws_list, "description_list": description_list} + + def __callback_get_workspace_poses(self, req): + try: + poses = self.get_workspace_poses(req.name) + return CommandStatus.SUCCESS, "Success", poses + except Exception as e: + return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), 4 * [RobotState()] + + # Grips + def __callback_target_pose(self, req): + try: + if req.grip == req.GRIP_AUTO: + pose = self.get_target_pose_auto_grip(req.workspace, req.tool_id, req.height_offset, + req.x_rel, req.y_rel, req.yaw_rel) + else: + pose = self.get_target_pose(req.workspace, req.grip, req.height_offset, + req.x_rel, req.y_rel, req.yaw_rel) + return CommandStatus.SUCCESS, "Success", pose + except Exception as e: + return CommandStatus.POSES_HANDLER_COMPUTE_FAILURE, str(e), RobotState() + + # Position + def __callback_get_position_list(self, _): + try: + pos_list, description_list = self.get_available_poses() + except Exception as e: + rospy.logerr("Poses Handlers - Error occured when getting position list: {}".format(e)) + pos_list = description_list = [] + return {"name_list": pos_list, "description_list": description_list} + + def __callback_get_pose(self, req): + try: + pos_read = self.get_pose(req.name) + pos_msg = NiryoPose(pos_read.name, pos_read.description, + pos_read.joints, pos_read.position, pos_read.rpy, pos_read.orientation) + return CommandStatus.SUCCESS, "Success", pos_msg + except Exception as e: + return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), NiryoPose() + + def __callback_manage_pose(self, req): + cmd = req.cmd + pose = req.pose + if cmd == req.SAVE: + try: + self.create_pose(pose.name, pose.description, pose.joints, pose.position, pose.rpy, pose.orientation) + return CommandStatus.SUCCESS, "Created Position '{}'".format(pose.name) + except Exception as e: + return CommandStatus.POSES_HANDLER_CREATION_FAILED, str(e) + elif cmd == req.DELETE: + try: + self.remove_pose(pose.name) + return CommandStatus.SUCCESS, "Removed Position '{}'".format(pose.name) + except Exception as e: + return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e) + else: + return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(cmd) + + def __callback_manage_trajectory(self, req): + cmd = req.cmd + if cmd == req.SAVE: + try: + self.create_trajectory(req.name, req.description, req.poses) + return CommandStatus.SUCCESS, "Created trajectory '{}'".format(req.name) + except Exception as e: + return CommandStatus.POSES_HANDLER_CREATION_FAILED, str(e) + elif cmd == req.DELETE: + try: + self.remove_trajectory(req.name) + return CommandStatus.SUCCESS, "Removed trajectory '{}'".format(req.name) + except Exception as e: + return CommandStatus.POSES_HANDLER_REMOVAL_FAILED, str(e) + else: + return CommandStatus.UNKNOWN_COMMAND, "cmd '{}' not found.".format(req.cmd) + + # Trajectories + def __callback_get_trajectory_list(self, _): + try: + trajectory_list, description_list = self.get_available_trajectories_w_description() + except Exception as e: + rospy.logerr("Poses Handlers - Error occured when getting trajectories list: {}".format(e)) + trajectory_list = description_list = [] + return {"name_list": trajectory_list, "description_list": description_list} + + def __callback_get_trajectory(self, req): + try: + traj_list_poses = self.get_trajectory(req.name) + return CommandStatus.SUCCESS, "Success", traj_list_poses + except Exception as e: + return CommandStatus.POSES_HANDLER_READ_FAILURE, str(e), [] + + # -- REGULAR CLASS FUNCTIONS + # Workspace + def create_workspace(self, name, description, robot_poses): + """ + Creates a new workspace based on 4 recorded robot poses. The 0th point + needs to be the workspace origin. Points ordered clockwise. + + :param name: name of the new workspace + :param description: description of the new workspace + :param robot_poses: [pose when pointing at origin, pose on marker 1,...] + """ + points = [] + robot_poses_raw = [] + + for pose in robot_poses: + rospy.logdebug("Robot point\n{}".format(pose.position)) + point = self.__transform_handler.get_calibration_tip_position(pose) + rospy.logdebug("Tip point\n{}".format(point)) + points.append([point.x, point.y, point.z]) + pose_raw = [[pose.position.x, pose.position.y, pose.position.z], + [pose.rpy.roll, pose.rpy.pitch, pose.rpy.yaw]] + robot_poses_raw.append(pose_raw) + self.__ws_manager.create(name, points, robot_poses_raw, description) + + def create_workspace_from_points(self, name, description, points): + """ + + :param name: name of the new workspace + :param description: description of the new workspace + :param points: [pose of origin marker, pose of marker 1,...] + """ + points_raw = [] + for point in points: + points_raw.append([point.x, point.y, point.z]) + self.__ws_manager.create(name, points_raw, description) + + def remove_workspace(self, name): + """ + Removes a workspace + :param name: name of the workspace to remove + """ + self.__ws_manager.remove(name) + + def get_available_workspaces(self): + """ + Returns a list of all available workspace names. + """ + return self.__ws_manager.get_all_names_w_description() + + def get_workspace_poses(self, name): + ws_raw = self.__ws_manager.read(name) + poses = [RobotState(position=Point(*pose[0]), rpy=RPY(*pose[1])) + for pose in ws_raw.robot_poses] + return poses + + def get_workspace_ratio(self, workspace): + """ + Reads the ratio (width/height) of the specified workspace. This function is used by the + camera to do the perspective transform. + + :param workspace: name of the workspace + """ + current_ws = self.__ws_manager.read(workspace) + return current_ws.x_width / current_ws.y_width + + # Grips + def get_target_pose_auto_grip(self, workspace, tool_id, height_offset, x_rel, y_rel, yaw_rel): + """ + Loads the default grip corresponding to the tool_id and calls get_target_pose. + + See arguments of 'get_target_pose' + """ + return self.get_target_pose(workspace, self.__tool_id_gripname_dict[tool_id], height_offset, + x_rel, y_rel, yaw_rel) + + def get_target_pose(self, workspace, grip, height_offset, x_rel, y_rel, yaw_rel): + """ + Computes the robot pose that can be used to grab an object which is + positioned relative to the given workspace using the specified grip. + + :param workspace: name of the workspace the object is in + :param grip: name of the grip to use to pick the object + :param height_offset: z-offset that is added to the grip + :param x_rel: x relative position of the object inside working zone + :param y_rel: y relative position of the object inside working zone + :param yaw_rel: angle of the object inside working zone + """ + current_ws = self.__ws_manager.read(workspace) + current_grip = self.__grip_manager.read(grip) + current_grip.transform.transform.translation.z += height_offset + + self.__transform_handler.set_grip(current_grip) + self.__transform_handler.set_relative_pose_object(current_ws, x_rel, y_rel, yaw_rel, + yaw_center=current_ws.yaw_center) + + base_link_to_tool_target = self.__transform_handler.get_gripping_transform() + q = base_link_to_tool_target.transform.rotation + + roll, pitch, yaw = euler_from_quaternion([q.x, q.y, q.z, q.w]) + + pose = RobotState() + pose.position.x = base_link_to_tool_target.transform.translation.x + pose.position.y = base_link_to_tool_target.transform.translation.y + pose.position.z = base_link_to_tool_target.transform.translation.z + pose.rpy.roll = roll + pose.rpy.pitch = pitch + pose.rpy.yaw = yaw + + return pose + + # -- Pose + def create_pose(self, name, description, joints, point, rpy, quaternion): + """ + Create a pose from ManagePose message fields + + :type name: str + :type description: str + :type joints: list[float] + :type point: Point + :type rpy: RPY + :type quaternion: Quaternion + :return: None + """ + point_raw = [point.x, point.y, point.z] + rpy_raw = [rpy.roll, rpy.pitch, rpy.yaw] + quaternion_raw = [quaternion.x, quaternion.y, quaternion.z, quaternion.w] + self.__pos_manager.create(name, joints, point_raw, rpy_raw, quaternion_raw, description) + + def get_pose(self, name): + """ + Get pose from pose manager and return NiryoPose + + :param name: pose name + :type name: str + :return: The pose object + :rtype: NiryoPose + """ + pose_raw = self.__pos_manager.read(name) + pose = NiryoPose() + pose.joints = pose_raw.joints + pose.position = Point(*pose_raw.position) + pose.rpy = RPY(*pose_raw.rpy) + pose.orientation = Quaternion(*pose_raw.orientation) + return pose + + def remove_pose(self, name): + """ + Asks pose manager to remove pose + + :param name: pose name + :type name: str + :return: None + """ + self.__pos_manager.remove(name) + + def get_available_poses(self): + """ + Ask the poses manager which pose(s) are available + + :return: list of positions name + :rtype: list[str] + """ + return self.__pos_manager.get_all_names_w_description() + + # -- Trajectories + def create_trajectory(self, name, description, poses): + """ + Create a pose from ManageTrajectory message fields + + :type name: str + :type description: str + :type poses: list[Pose] + :return: None + """ + poses_raw = [] + for pose in poses: + point_raw = [pose.position.x, pose.position.y, pose.position.z] + quaternion_raw = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w] + pose_raw = [point_raw, quaternion_raw] + poses_raw.append(pose_raw) + self.traj_manager.create(name, poses_raw, description) + + def get_trajectory(self, name): + """ + Get trajectory from trajectories manager and return list of NiryoPose + + :param name: pose name + :type name: str + :return: The trajectory object + :rtype: list[NiryoPose] + """ + traj_read = self.traj_manager.read(name) + list_poses_raw = traj_read.list_poses + list_poses = [] + for pose_raw in list_poses_raw: + point = Point(*pose_raw[0]) + quaternion = Quaternion(*pose_raw[1]) + pose = Pose(point, quaternion) + list_poses.append(pose) + return list_poses + + def remove_trajectory(self, name): + """ + Asks trajectories manager to remove pose + + :param name: trajectory name + :type name: str + :return: None + """ + self.traj_manager.remove(name) + + def get_available_trajectories_w_description(self): + """ + Ask the trajectories manager which trajectories are available + + :return: list of trajectories name + :rtype: list[str] + """ + return self.traj_manager.get_all_names_w_description() + + +if __name__ == "__main__": + rospy.init_node('niryo_robot_poses_handlers', anonymous=False, log_level=rospy.INFO) + try: + vision_node = PoseHandlerNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_poses_handlers/scripts/transform_handler.py b/niryo_robot_poses_handlers/scripts/transform_handler.py new file mode 100644 index 000000000..f20fb618d --- /dev/null +++ b/niryo_robot_poses_handlers/scripts/transform_handler.py @@ -0,0 +1,276 @@ +# Libs +import rospy +import tf2_ros + +import niryo_robot_poses_handlers.transform_functions as transformations + +import threading +import numpy as np + +# Messages +from geometry_msgs.msg import TransformStamped +from visualization_msgs.msg import Marker + + +class TransformHandler: + """ + This class uses a tfBuffer to handle transforms related to the vision kit. + """ + + def __init__(self, grip_manager): + self.__tf_buffer = tf2_ros.Buffer() + self.__debug_stop_event = threading.Event() + self.__debug_thread = None + self.__debug_current_ws = None # only for debugging purposes + + self.__grip_manager = grip_manager + + def __del__(self): + self.disable_debug() + + def set_relative_pose_object(self, workspace, x_rel, y_rel, yaw_rel, yaw_center=None): + """ + Updates the transform base_link -> object_base in local tfBuffer + + :param workspace: reference workspace object + :param x_rel: object base x position relative to workspace + :param y_rel: object base y position relative to workspace + :param yaw_rel: object base rotation on z relative to workspace + :param yaw_center: Avoid over rotation + """ + position = np.dot(workspace.position_matrix, np.array([x_rel, y_rel, 1])) + camera_rotation = transformations.euler_matrix(0, 0, yaw_rel) + # Here we correct the object orientation to be similar to base_link if + # the object in on the ground. Not neccessarily needed to be honest... + convention_rotation = np.array([[0, -1, 0, 0], + [-1, 0, 0, 0], + [0, 0, -1, 0], + [0, 0, 0, 1]]) + + object_rotation = transformations.concatenate_matrices( + workspace.rotation_matrix, camera_rotation, convention_rotation) + roll, pitch, yaw = transformations.euler_from_matrix(object_rotation) + + # Correcting yaw to avoid out of reach targets + if yaw_center is not None: + if yaw < yaw_center - np.pi / 2: + yaw += np.pi + elif yaw > yaw_center + np.pi / 2: + yaw -= np.pi + + q = transformations.quaternion_from_euler(roll, pitch, yaw) + + t = TransformStamped() + t.transform.translation.x = position[0] + t.transform.translation.y = position[1] + t.transform.translation.z = position[2] + + t.transform.rotation.x = q[0] + t.transform.rotation.y = q[1] + t.transform.rotation.z = q[2] + t.transform.rotation.w = q[3] + + t.header.frame_id = "base_link" + t.child_frame_id = "object_base" + + self.__tf_buffer.set_transform(t, "default_authority") + + def set_grip(self, grip): + """ + Updates the transform object_base -> tool_link_target in local tfBuffer + :param grip: + + """ + if grip.transform.header.frame_id != "object_base": + rospy.logerr("TransformHandler - Grip transform need to have header frame 'object_base'") + return False + + if grip.transform.child_frame_id != "tool_link_target": + rospy.logerr("Transform Handler - Grip transform need to have child frame 'tool_link_target'") + return False + + self.__tf_buffer.set_transform(grip.transform, "default_authority") + return True + + def get_object_base_transform(self): + """ + Reads the transform base_link -> object_base from local tfBuffer + + :returns: transform base_link -> object_base + """ + return self.__tf_buffer.lookup_transform("base_link", "object_base", + rospy.Time(0)) + + def get_gripping_transform(self): + """ + Reads the transform base_link -> tool_link_target from local tfBuffer + + :returns: transform base_link -> tool_link_target + """ + return self.__tf_buffer.lookup_transform( + "base_link", "tool_link_target", rospy.Time(0)) + + def get_calibration_tip_position(self, robot_pose): + """ + Retrieves the position of the calibration tip from a given robot pose. + + :param robot_pose: pose of the robot's tool_link + :returns: xyz position of calibration tip in robot coordinates + """ + # First apply transform for robot pose + base_link_to_tool_link = self.transform_from_euler( + robot_pose.position.x, robot_pose.position.y, robot_pose.position.z, + robot_pose.rpy.roll, robot_pose.rpy.pitch, robot_pose.rpy.yaw, + "base_link", "tool_link" + ) + self.__tf_buffer.set_transform(base_link_to_tool_link, + "default_authority") + + # Getting calibration tip + calibration_tip_grip = self.__grip_manager.read("default_Calibration_Tip") + tool_link_to_calib_tip = calibration_tip_grip.transform + tool_link_to_calib_tip.header.frame_id = "tool_link" + tool_link_to_calib_tip.child_frame_id = "calibration_tip" + + self.__tf_buffer.set_transform(tool_link_to_calib_tip, + "default_authority") + + base_link_to_calib_tip = self.__tf_buffer.lookup_transform( + "base_link", "calibration_tip", rospy.Time(0)) + + calib_tip_position = base_link_to_calib_tip.transform.translation + # rospy.loginfo("Base Link -> Tool Link : {}".format(base_link_to_tool_link.transform.translation)) + # rospy.loginfo("Base Link -> Calib Tip : {}".format(base_link_to_calib_tip.transform.translation)) + return calib_tip_position + + def get_grip_transform(self, ws_name, robot_pose): + """ + Retrieves the transform needed to create a grip supposing the object + is placed on the origin of the given workspace. + + :param ws_name: name of the workspace the object is placed on + :param robot_pose: pose of the robot's tool_link + """ + # First apply transform for robot pose + base_link_to_tool_link = self.transform_from_euler( + robot_pose.position.x, robot_pose.position.y, robot_pose.position.z, + robot_pose.rpy.roll, robot_pose.rpy.pitch, robot_pose.rpy.yaw, + "base_link", "tool_link" + ) + self.__tf_buffer.set_transform(base_link_to_tool_link, + "default_authority") + + # Manually place object on origin + self.set_relative_pose_object(ws_name, 0, 0, 0) + + # Lookup the grip + t = self.__tf_buffer.lookup_transform("object_base", "tool_link", + rospy.Time(0)) + t.child_frame_id = "tool_link_target" + return t + + @staticmethod + def transform_from_euler(x, y, z, roll, pitch, yaw, header_frame_id, + child_frame_id): + """ + Creates a new stamped transform from translation and euler-orientation + + :param x: x translation + :param y: y translation + :param z: z translation + :param roll: orientation roll + :param pitch: orientation pitch + :param yaw: orientation yaw + :param header_frame_id: transform from this frame + :param child_frame_id: transform to this frame + + :returns: transform + """ + t = TransformStamped() + t.transform.translation.x = x + t.transform.translation.y = y + t.transform.translation.z = z + + q = transformations.quaternion_from_euler(roll, pitch, yaw) + t.transform.rotation.x = q[0] + t.transform.rotation.y = q[1] + t.transform.rotation.z = q[2] + t.transform.rotation.w = q[3] + + t.header.frame_id = header_frame_id + t.child_frame_id = child_frame_id + + return t + + def enable_debug(self): + """ + Start publishing debug information on /tf and /visualization_marker for + debugging using rviz. This will happen in a separate thread. + """ + self.__debug_thread = threading.Thread(target=self.__debug_loop, + name="Transform Handler Debug Thread") + self.__debug_thread.start() + + def disable_debug(self): + """ + Stop publishing debug inforation + """ + self.__debug_stop_event.set() + if self.__debug_thread is not None: + self.__debug_thread.join() + + def __debug_loop(self): + """ + Debug loop that will run in a separate thread. + (tfBuffer should be threadsafe) + """ + broadcaster = tf2_ros.TransformBroadcaster() + rviz_marker_pub = rospy.Publisher('/visualization_marker', Marker, + queue_size=1000) + rate = rospy.Rate(5) + while not self.__debug_stop_event.is_set() and not rospy.is_shutdown(): + if self.__debug_current_ws is None: + rospy.logerr("Transform Handler - Could not publish debug tf, no workspace set.") + rate.sleep() + continue + + try: + broadcaster.sendTransform( + self.__tf_buffer.lookup_transform( + "base_link", self.__debug_current_ws.name, + rospy.Time(0)) + ) + broadcaster.sendTransform( + self.__tf_buffer.lookup_transform( + self.__debug_current_ws.name, "object_base", + rospy.Time(0)) + ) + broadcaster.sendTransform( + self.__tf_buffer.lookup_transform( + "object_base", "tool_link_target", rospy.Time(0)) + ) + except tf2_ros.LookupException as e: + rospy.logerr("Transform Handler - Could not publish debug tf: {}".format(e)) + + for i in range(4): # Iterate over the 4 markers defining the workspace + msg = Marker() + msg.header.frame_id = "base_link" + msg.id = i + msg.type = 2 # It correspond to a sphere which will be drawn + + msg.pose.position.x = self.__debug_current_ws.points[i][0] + msg.pose.position.y = self.__debug_current_ws.points[i][1] + msg.pose.position.z = self.__debug_current_ws.points[i][2] + + msg.scale.x = 0.005 + msg.scale.y = 0.005 + msg.scale.z = 0.005 + + msg.color.r = 1.0 if i == 0 or i == 3 else 0.0 + msg.color.g = 1.0 if i == 1 or i == 3 else 0.0 + msg.color.b = 1.0 if i == 2 or i == 3 else 0.0 + msg.color.a = 1.0 + + rviz_marker_pub.publish(msg) + + rate.sleep() diff --git a/niryo_robot_poses_handlers/setup.py b/niryo_robot_poses_handlers/setup.py new file mode 100644 index 000000000..dc41a2eb9 --- /dev/null +++ b/niryo_robot_poses_handlers/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_poses_handlers'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/__init__.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py new file mode 100644 index 000000000..88e15e632 --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/file_manager.py @@ -0,0 +1,133 @@ +#!/usr/bin/env python + +import os +import json + + +class NiryoRobotFileException(Exception): + pass + + +class FileManager(object): + """ + Manages the creation, storage and loading of objects that implement the functions + from_dict and to_dict. + + !!! This class is an abstract class + + :raises NiryoRobotFileException: + + """ + object_type = None + + def __init__(self, base_dir, extension, protected_names=None): + self._base_dir = os.path.expanduser(base_dir) + self._protected_names = protected_names if protected_names is not None else [] + if not self._base_dir.endswith('/'): + self._base_dir += '/' + if not os.path.exists(self._base_dir): + os.makedirs(self._base_dir) + + self._extension = extension + self._suffix = "." + self._extension + + # - Private + def __name_from_filename(self, filename): + if filename.endswith(self._suffix): + return filename[:-len(self._suffix)] + return filename + + def __filename_from_name(self, name): + return name + self._suffix + + def __path_from_name(self, name): + return self._base_dir + self.__filename_from_name(name) + + def _write(self, name, object_): + if name in self._protected_names: + raise NiryoRobotFileException("Object '{}' is protected and cannot be written".format(name)) + with open(self.__path_from_name(name), 'w') as f: + try: + f.write(json.dumps(object_.to_dict(), indent=2)) + except Exception as e: + raise NiryoRobotFileException("Could not write object. " + str(e)) + + # - Public + def read(self, name): + """ + Read file + + :param name: file name + :type name: str + + :raises: NiryoRobotFileException: if any error + + :return: An object corresponding to object_type + :rtype: object_type + """ + if not self.exists(name): + raise NiryoRobotFileException("Object '{}' does not exist".format(name)) + + with open(self.__path_from_name(name), 'r') as f: + try: + return self.object_type.from_dict(json.loads(f.read())) + except Exception as e: + raise NiryoRobotFileException("Could not read object '{}' : {}".format(name, e)) + + def read_description(self, name): + obj = self.read(name) + return obj.description + + def remove(self, name): + """ + Remove file + + :param name: file name + :type name: str + :raises: NiryoRobotFileException: if any error + + :return: None + """ + if name in self._protected_names: + raise NiryoRobotFileException("Object '{}' is protected and cannot be removed".format(name)) + try: + os.remove(self.__path_from_name(name)) + except OSError as e: + raise NiryoRobotFileException("Could not remove object '{}' : {}".format(name, e)) + + def get_all_names(self): + """ + Get all filenames available in storage + + :raises: NiryoRobotFileException: if any error + + :return: list of filenames + :rtype: list[str] + """ + try: + filenames = sorted(os.listdir(self._base_dir)) + except OSError as e: + raise NiryoRobotFileException("Could not retrieve files. " + str(e)) + return [self.__name_from_filename(f) for f in filenames if f.endswith(self._suffix)] + + def get_all_names_w_description(self): + """ + Get all filenames available in storage + their descriptions + + :return: list of filenames + :rtype: list[str] + """ + list_name = self.get_all_names() + list_description = [self.read_description(name=n) for n in list_name] + return list_name, list_description + + def exists(self, name): + """ + Check if a file with a certain name exists + + :param name: file name + :type name: str + :return: True if file exists, else False + :rtype: bool + """ + return os.path.isfile(self.__path_from_name(name)) diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py new file mode 100644 index 000000000..a8ae97ea4 --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/grip_manager.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +from niryo_robot_poses_handlers.file_manager import FileManager + +from geometry_msgs.msg import TransformStamped + + +# Todo : Shouldn't be ROS dependant +class Grip(object): + """ + Represents the robot tool_0 position (the one we plan for) with respect to + an object we want to approach. + + :param name: unique (!) name for the grip that will be used to reference it + :param transform: the tf transform msg from object to tool_0 + """ + + def __init__(self, name, transform): + self.name = name + self.transform = transform + + def __str__(self): + return "Grip name : {}".format(self.name) + + def __repr__(self): + return self.__str__() + + def to_dict(self): + dict_ = dict() + dict_["name"] = self.name + transform_dict = dict() + transform_dict["header_frame_id"] = self.transform.header.frame_id + transform_dict["child_frame_id"] = self.transform.child_frame_id + transform_dict["translation"] = [self.transform.transform.translation.x, + self.transform.transform.translation.y, + self.transform.transform.translation.z] + transform_dict["quaternion"] = [self.transform.transform.rotation.x, + self.transform.transform.rotation.y, + self.transform.transform.rotation.z, + self.transform.transform.rotation.w] + dict_["transform"] = transform_dict + return dict_ + + @classmethod + def from_dict(cls, dict_): + t = TransformStamped() + t.transform.translation.x = dict_["transform"]["translation"][0] + t.transform.translation.y = dict_["transform"]["translation"][1] + t.transform.translation.z = dict_["transform"]["translation"][2] + + t.transform.rotation.x = dict_["transform"]["quaternion"][0] + t.transform.rotation.y = dict_["transform"]["quaternion"][1] + t.transform.rotation.z = dict_["transform"]["quaternion"][2] + t.transform.rotation.w = dict_["transform"]["quaternion"][3] + + t.header.frame_id = dict_["transform"]["header_frame_id"] + t.child_frame_id = dict_["transform"]["child_frame_id"] + + return cls(dict_["name"], t) + + +class GripManager(FileManager): + """ + Manages the creation, storage and loading of grips. + + :raises NiryoRobotFileException: + """ + object_type = Grip + + def __init__(self, grip_dir, protected_grips=None): + super(GripManager, self).__init__(grip_dir, "grip", protected_names=protected_grips) + + def create(self, grip_name, transform): + grip = Grip(grip_name, transform) + self._write(grip_name, grip) diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py new file mode 100755 index 000000000..0fcac580e --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/pose_manager.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python + +from niryo_robot_poses_handlers.file_manager import FileManager + + +class PoseObj: + + def __init__(self, name, description): + self.name = name + self.description = description + self.joints = None + self.position = None + self.rpy = None + self.orientation = None + + def to_dict(self): + dict_ = dict() + dict_["name"] = self.name + dict_["description"] = self.description + dict_["joints"] = self.joints + dict_["position"] = self.position + dict_["rpy"] = self.rpy + dict_["orientation"] = self.orientation + return dict_ + + @classmethod + def from_dict(cls, dict_): + pos = cls(dict_["name"], dict_["description"]) + pos.joints = dict_["joints"] + pos.position = dict_["position"] + pos.rpy = dict_["rpy"] + pos.orientation = dict_["orientation"] + return pos + + def get_value(self): + return [self.joints, self.position, self.rpy, self.orientation] + + def __str__(self): + return "{} {} {}".format(self.name, self.position, self.rpy) + + +class PoseManager(FileManager): + """ + Manages the creation, storage and loading of positions. + + :raises NiryoRobotFileException: + """ + object_type = PoseObj + + def __init__(self, position_dir): + super(PoseManager, self).__init__(position_dir, "position") + + def create(self, pos_name, joints, position, rpy, orientation, description=""): + position_obj = PoseObj(pos_name, description) + position_obj.joints = joints + position_obj.rpy = rpy + position_obj.position = position + position_obj.orientation = orientation + self._write(pos_name, position_obj) diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py new file mode 100644 index 000000000..5c1efecb9 --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/test_pure_python_poses_handlers.py @@ -0,0 +1,141 @@ +#!/usr/bin/env python + +import unittest +import os +import shutil + +from niryo_robot_poses_handlers.file_manager import NiryoRobotFileException + +import niryo_robot_poses_handlers.pose_manager as pose_manager +import niryo_robot_poses_handlers.trajectory_manager as trajectory_manager +import niryo_robot_poses_handlers.workspace_manager as workspace_manager + +test_folder = "~/Tests_Niryo_Ned/" +test_folder = os.path.expanduser(test_folder) + +points = [[0.278, 0.104, 0.058], [0.275, -0.036, 0.058], + [0.125, -0.040, 0.059], [0.127, 0.109, 0.059]] +robot_poses = [[[0.281, 0.102, 0.083], [2.200, 1.439, 2.367]], + [[0.276, -0.03, 0.083], [2.058, 1.473, 1.704]], + [[0.123, -0.04, 0.084], [0.132, 1.499, -0.12]], + [[0.121, 0.110, 0.083], [-0.19, 1.339, -0.19]]] + + +def create_test_folder(): + if not os.path.isdir(test_folder): + os.makedirs(test_folder) + + +def delete_test_folder(): + if os.path.isdir(test_folder): + shutil.rmtree(test_folder) + + +def check_get_read_remove(obj): + obj.assertEqual(obj.manager.get_all_names(), []) + obj.assertFalse(obj.manager.exists("NotExist")) + with obj.assertRaises(NiryoRobotFileException): + obj.manager.read("NoOne") + with obj.assertRaises(NiryoRobotFileException): + obj.manager.remove("NoOne") + + +class TestPoseMethods(unittest.TestCase): + + def setUp(self): + create_test_folder() + self.path = os.path.join(test_folder, "positions") + self.manager = pose_manager.PoseManager(position_dir=self.path) + + def tearDown(self): + shutil.rmtree(self.path) + delete_test_folder() + + def test_python_get_read_remove_pos(self): + check_get_read_remove(self) + + def test_python_creation_delete_pos(self): + self.assertEqual(self.manager.get_all_names(), []) + list_names = [] + pose = [[0., 1., 2., 3., 4., 5.], [1, 2, 3], [1, 2, 3], [1, 2, 3, 4]] + for i in range(5): + name = "Test{}".format(i) + self.manager.create(name, *pose) + self.assertEqual(self.manager.read(name).get_value(), pose) + + list_names.append(name) + self.assertEqual(self.manager.get_all_names(), list_names) + for name in list_names: + self.manager.remove(name) + self.assertEqual(self.manager.get_all_names(), []) + + +class TestTrajectoryMethods(unittest.TestCase): + + def setUp(self): + create_test_folder() + self.path = os.path.join(test_folder, "trajectories") + self.manager = trajectory_manager.TrajectoryManager(trajectory_dir=self.path) + + def tearDown(self): + shutil.rmtree(self.path) + delete_test_folder() + + def test_python_get_read_remove_trajectories(self): + check_get_read_remove(self) + + def test_python_creation_delete_traj(self): + self.assertEqual(self.manager.get_all_names(), []) + list_names = [] + poses = [[[1, 2, 3], [1, 0, 0, 0]], + [[1, 2, 3], [1, 0, 0, 0]]] + for i in range(5): + name = "Test{}".format(i) + self.manager.create(name, poses) + self.assertEqual(self.manager.read(name).get_value(), poses) + + list_names.append(name) + self.assertEqual(self.manager.get_all_names(), list_names) + for name in list_names: + self.manager.remove(name) + self.assertEqual(self.manager.get_all_names(), []) + + +class TestWorkspaceMethods(unittest.TestCase): + + def setUp(self): + create_test_folder() + self.path = os.path.join(test_folder, "workspaces") + self.manager = workspace_manager.WorkspaceManager(self.path) + + def tearDown(self): + shutil.rmtree(self.path) + delete_test_folder() + + def test_python_get_read_remove_workspaces(self): + check_get_read_remove(self) + + def test_python_creation_delete_workspace(self): + self.assertEqual(self.manager.get_all_names(), []) + list_names = [] + for i in range(3): + name = "Test{}".format(i) + self.manager.create(name, points, robot_poses=None) + self.assertEqual(self.manager.read(name).get_value(), tuple([points, []])) + self.manager.remove(name) + self.manager.create(name, points, robot_poses) + self.assertEqual(self.manager.read(name).get_value(), tuple([points, robot_poses])) + + list_names.append(name) + self.assertEqual(self.manager.get_all_names(), list_names) + for name in list_names: + self.manager.remove(name) + self.assertEqual(self.manager.get_all_names(), []) + + +def process_py(): + unittest.main() + + +if __name__ == '__main__': + process_py() diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py new file mode 100755 index 000000000..bb816194e --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/trajectory_manager.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +from niryo_robot_poses_handlers.file_manager import FileManager + + +class Trajectory: + def __init__(self, name, description): + self.name = name + self.description = description + self.list_poses = None + + def to_dict(self): + dict_ = dict() + dict_["name"] = self.name + dict_["description"] = self.description + dict_["list_poses"] = [] + for pose in self.list_poses: + sub_dict = dict() + sub_dict["position"] = pose[0] + sub_dict["orientation"] = pose[1] + dict_["list_poses"].append(sub_dict) + return dict_ + + @classmethod + def from_dict(cls, dict_): + traj = cls(dict_["name"], dict_["description"]) + traj.list_poses = [] + for pose in dict_["list_poses"]: + point = pose["position"] + quaternion = pose["orientation"] + traj.list_poses.append([point, quaternion]) + return traj + + def get_value(self): + return self.list_poses + + +class TrajectoryManager(FileManager): + """ + Manages the creation, storage and loading of trajectories. + + :raises NiryoRobotFileException: + """ + object_type = Trajectory + + def __init__(self, trajectory_dir): + super(TrajectoryManager, self).__init__(trajectory_dir, "trajectory") + + def create(self, trajectory_name, lists_poses, description=""): + trajectory = Trajectory(trajectory_name, description) + trajectory.list_poses = lists_poses + self._write(trajectory_name, trajectory) diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py new file mode 100644 index 000000000..99cabfc10 --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/transform_functions.py @@ -0,0 +1,188 @@ +import numpy as np +import math + +__all__ = [ + 'concatenate_matrices', + 'euler_matrix', + 'euler_from_matrix', + 'euler_from_quaternion', + 'quaternion_matrix', + 'quaternion_from_euler' +] + +# epsilon for testing whether a number is close to zero +_EPS = np.finfo(float).eps * 4.0 + +# axis sequences for Euler angles +_NEXT_AXIS = [1, 2, 0, 1] + +# map axes strings to/from tuples of inner axis, parity, repetition, frame +_AXES2TUPLE = { + 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), + 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), + 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), + 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), + 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), + 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), + 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), + 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} + +_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) + + +def concatenate_matrices(*matrices): + M = np.identity(4) + for i in matrices: + M = np.dot(M, i) + return M + + +def euler_matrix(ai, aj, ak, axes='sxyz'): + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + if frame: + ai, ak = ak, ai + if parity: + ai, aj, ak = -ai, -aj, -ak + + si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak) + ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak) + cc, cs = ci*ck, ci*sk + sc, ss = si*ck, si*sk + + M = np.identity(4) + if repetition: + M[i, i] = cj + M[i, j] = sj*si + M[i, k] = sj*ci + M[j, i] = sj*sk + M[j, j] = -cj*ss+cc + M[j, k] = -cj*cs-sc + M[k, i] = -sj*ck + M[k, j] = cj*sc+cs + M[k, k] = cj*cc-ss + else: + M[i, i] = cj*ck + M[i, j] = sj*sc-cs + M[i, k] = sj*cc+ss + M[j, i] = cj*sk + M[j, j] = sj*ss+cc + M[j, k] = sj*cs-sc + M[k, i] = -sj + M[k, j] = cj*si + M[k, k] = cj*ci + return M + + +def euler_from_matrix(matrix, axes='sxyz'): + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i + parity] + k = _NEXT_AXIS[i - parity + 1] + + M = np.array(matrix, dtype=np.float64, copy=False)[:3, :3] + if repetition: + sy = math.sqrt(M[i, j] * M[i, j] + M[i, k] * M[i, k]) + if sy > _EPS: + ax = math.atan2(M[i, j], M[i, k]) + ay = math.atan2(sy, M[i, i]) + az = math.atan2(M[j, i], -M[k, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2(sy, M[i, i]) + az = 0.0 + else: + cy = math.sqrt(M[i, i] * M[i, i] + M[j, i] * M[j, i]) + if cy > _EPS: + ax = math.atan2(M[k, j], M[k, k]) + ay = math.atan2(-M[k, i], cy) + az = math.atan2(M[j, i], M[i, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2(-M[k, i], cy) + az = 0.0 + + if parity: + ax, ay, az = -ax, -ay, -az + if frame: + ax, az = az, ax + return ax, ay, az + + +def euler_from_quaternion(quaternion, axes='sxyz'): + return euler_from_matrix(quaternion_matrix(quaternion), axes) + + +def quaternion_matrix(quaternion): + q = np.array(quaternion[:4], dtype=np.float64, copy=True) + nq = np.dot(q, q) + if nq < _EPS: + return np.identity(4) + q *= math.sqrt(2.0 / nq) + q = np.outer(q, q) + return np.array(( + (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0), + ( q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0), + ( q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0), + ( 0.0, 0.0, 0.0, 1.0) + ), dtype=np.float64) + + +def quaternion_from_euler(ai, aj, ak, axes='sxyz'): + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i + parity] + k = _NEXT_AXIS[i - parity + 1] + + if frame: + ai, ak = ak, ai + if parity: + aj = -aj + + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci * ck + cs = ci * sk + sc = si * ck + ss = si * sk + + quaternion = np.empty((4,), dtype=np.float64) + if repetition: + quaternion[i] = cj * (cs + sc) + quaternion[j] = sj * (cc + ss) + quaternion[k] = sj * (cs - sc) + quaternion[3] = cj * (cc - ss) + else: + quaternion[i] = cj * sc - sj * cs + quaternion[j] = cj * ss + sj * cc + quaternion[k] = cj * cs - sj * sc + quaternion[3] = cj * cc + sj * ss + if parity: + quaternion[j] *= -1 + + return quaternion diff --git a/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py new file mode 100644 index 000000000..9c8cea413 --- /dev/null +++ b/niryo_robot_poses_handlers/src/niryo_robot_poses_handlers/workspace_manager.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python + +from niryo_robot_poses_handlers.file_manager import FileManager, NiryoRobotFileException + +import numpy as np + + +class Workspace(object): + """ + Represents a workspace that is defined by 4 points that represent the + visual markers. + + :param name: unique (!) name that will be used to reference it + :type name: str + :param points: points defining the workspace, 0th element is the origin. + :type points: [float, float, float] + :param x_width: width of the workspace in m (between point_0 and point_1) + :type x_width: float + :param y_width: width of the workspace in m (between point_0 and point_3) + :type y_width: float + :param transform: tf transform msg from base_link to workspace origin + :type transform: geometry_msgs::TransformStamped + """ + + def __init__(self, name, description): + self.name = name + self.description = description + self.robot_poses = [] + self.points = [] + self.x_width = 0.0 + self.y_width = 0.0 + self.yaw_center = "0" + self.position_matrix = np.array([]) + self.rotation_matrix = np.array([]) + + def to_dict(self): + dict_ = dict() + dict_["name"] = self.name + dict_["description"] = self.description + dict_["robot_poses"] = self.robot_poses + dict_["points"] = self.points + dict_["x_width"] = self.x_width + dict_["y_width"] = self.y_width + dict_["yaw_center"] = self.yaw_center + dict_["position_matrix"] = self.position_matrix.tolist() + dict_["rotation_matrix"] = self.rotation_matrix.tolist() + return dict_ + + @classmethod + def from_dict(cls, dict_): + ws = cls(dict_["name"], dict_["description"]) + ws.robot_poses = dict_["robot_poses"] + ws.points = dict_["points"] + ws.x_width = dict_["x_width"] + ws.y_width = dict_["y_width"] + ws.yaw_center = dict_["yaw_center"] + ws.position_matrix = np.array(dict_["position_matrix"]) + ws.rotation_matrix = np.array(dict_["rotation_matrix"]) + return ws + + def get_value(self): + return self.points, self.robot_poses + + +class WorkspaceManager(FileManager): + """ + Manages the creation, storage and loading of worspaces. + + :raises NiryoRobotFileException: + """ + object_type = Workspace + + def __init__(self, ws_dir): + FileManager.__init__(self, ws_dir, "workspace") + + @staticmethod + def __validate_points(points): + robot_points = np.array(points) + if robot_points.shape != (4, 3): + raise ValueError("Points must contain 4 points with 3 coordinates each.") + + x_1 = robot_points[1] - robot_points[0] + x_2 = robot_points[2] - robot_points[3] + y_1 = robot_points[3] - robot_points[0] + y_2 = robot_points[2] - robot_points[1] + + # Check that the workspace as a sane size + min_ws_size = 0.01 # 1cm + for vec in (x_1, x_2, y_1, y_2): + if np.linalg.norm(vec) < min_ws_size: + raise ValueError("Workspace points are too close. " + "Make sure that there are no duplicates in the workspace points") + + # Check that the workspace is approx. rectangular + allowed_error = 0.02 # 2cm + if np.linalg.norm(x_1 - x_2) > allowed_error or np.linalg.norm(y_1 - y_2) > allowed_error: + raise ValueError("Workspace points don't form a rectangle. " + "Check that the points are in the right order.") + + def create(self, workspace_name, points, robot_poses=None, description=""): + """ + Create a new workspace based on 4 recorded points corresponding to the + real positions of the visual markers. + + :param workspace_name: unique (!) name that will be used to reference it + :param robot_poses: ? + :type workspace_name: str + :type description: str + :param points: real positions of the visual markers in robot coordinates + :type points: [float, float, float] + """ + if self.exists(workspace_name): + raise NiryoRobotFileException("Workspace {} already exists".format(workspace_name)) + + self.__validate_points(points) + + robot_points = np.array(points) + relative_points = np.array( + [[0, 0, 1], [1, 0, 1], [1, 1, 1], [0, 1, 1]], dtype=float) + position_matrix = np.linalg.lstsq(relative_points, robot_points)[0].T + # rcond should be set to None for new numpy version + # position_matrix = np.linalg.lstsq(relative_points, robot_points, rcond=None)[0].T + + # Calculate coordinate system for rotation + ws_points = np.dot(position_matrix, relative_points.T).T + ws_x_vec = ws_points[1] - ws_points[0] # x vector is from point 0 to point 1 + ws_y_vec = ws_points[3] - ws_points[0] # preliminary y vecor is from point 0 to point 3 + # but not necessarily perpendicular to the x vector. We just need it to calculate the normal vector + ws_z_vec = np.cross(ws_x_vec, ws_y_vec) # The z vector is the normal vector to our workspace plane + ws_y_vec = np.cross(ws_z_vec, ws_x_vec) # Recalculate the y vector s.th. it is perpendicular to x and y + + # Normalize + ws_x_vec = ws_x_vec / np.linalg.norm(ws_x_vec) + ws_y_vec = ws_y_vec / np.linalg.norm(ws_y_vec) + ws_z_vec = ws_z_vec / np.linalg.norm(ws_z_vec) + + workspace_rotation = np.eye(4) + workspace_rotation[:3, :3] = np.stack([ws_x_vec, ws_y_vec, ws_z_vec]).T + + workspace = Workspace(workspace_name, description) + workspace.points = points + workspace.robot_poses = robot_poses if robot_poses is not None else [] + workspace.position_matrix = position_matrix + workspace.rotation_matrix = workspace_rotation + workspace.x_width = np.linalg.norm(ws_points[1] - ws_points[0]) + workspace.y_width = np.linalg.norm(ws_points[3] - ws_points[0]) + workspace.yaw_center = self.__compute_yaw_center(ws_points) + + self._write(workspace_name, workspace) + + @staticmethod + def __compute_yaw_center(ws_points): + x_mean = np.mean([point[0] for point in ws_points]) + y_mean = np.mean([point[1] for point in ws_points]) + + if 0.05 < x_mean > abs(y_mean): # Workspace in front robot + return 0 + elif 0.05 < y_mean > abs(x_mean): # Workspace on the robot's left + return np.pi / 2 + elif -0.05 > y_mean and abs(y_mean) > abs(x_mean): # Workspace on the robot's right + return -np.pi / 2 + + return 0 diff --git a/niryo_robot_poses_handlers/srv/GetPose.srv b/niryo_robot_poses_handlers/srv/GetPose.srv new file mode 100644 index 000000000..c811ae489 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/GetPose.srv @@ -0,0 +1,5 @@ +string name +--- +int32 status +string message +niryo_robot_poses_handlers/NiryoPose pose diff --git a/niryo_robot_poses_handlers/srv/GetTargetPose.srv b/niryo_robot_poses_handlers/srv/GetTargetPose.srv new file mode 100644 index 000000000..0c74e7091 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/GetTargetPose.srv @@ -0,0 +1,13 @@ +string GRIP_AUTO = auto + +string workspace +string grip +int32 tool_id # Used if grip_name = GRIP_AUTO +float32 height_offset +float32 x_rel +float32 y_rel +float32 yaw_rel +--- +int32 status +string message +niryo_robot_msgs/RobotState target_pose diff --git a/niryo_robot_poses_handlers/srv/GetTrajectory.srv b/niryo_robot_poses_handlers/srv/GetTrajectory.srv new file mode 100644 index 000000000..6745b3c94 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/GetTrajectory.srv @@ -0,0 +1,5 @@ +string name +--- +int32 status +string message +geometry_msgs/Pose[] list_poses diff --git a/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv b/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv new file mode 100644 index 000000000..b188a7bec --- /dev/null +++ b/niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv @@ -0,0 +1,5 @@ +string workspace +--- +int32 status +string message +float32 ratio # width/height diff --git a/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv b/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv new file mode 100644 index 000000000..d06f61178 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv @@ -0,0 +1,5 @@ +string name +--- +int32 status +string message +niryo_robot_msgs/RobotState[] poses diff --git a/niryo_robot_poses_handlers/srv/ManagePose.srv b/niryo_robot_poses_handlers/srv/ManagePose.srv new file mode 100644 index 000000000..79d1160fa --- /dev/null +++ b/niryo_robot_poses_handlers/srv/ManagePose.srv @@ -0,0 +1,8 @@ +int32 cmd +int32 SAVE = 1 +int32 DELETE = -1 + +niryo_robot_poses_handlers/NiryoPose pose +--- +int32 status +string message diff --git a/niryo_robot_poses_handlers/srv/ManageTrajectory.srv b/niryo_robot_poses_handlers/srv/ManageTrajectory.srv new file mode 100644 index 000000000..04cb46283 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/ManageTrajectory.srv @@ -0,0 +1,12 @@ +int32 cmd +int32 SAVE = 1 +int32 DELETE = -1 + +string name +string description + +geometry_msgs/Pose[] poses +--- +int32 status +string message + diff --git a/niryo_robot_poses_handlers/srv/ManageWorkspace.srv b/niryo_robot_poses_handlers/srv/ManageWorkspace.srv new file mode 100644 index 000000000..ba3250363 --- /dev/null +++ b/niryo_robot_poses_handlers/srv/ManageWorkspace.srv @@ -0,0 +1,11 @@ +int32 SAVE = 1 +int32 SAVE_WITH_POINTS = 2 +int32 DELETE = -1 + +int32 cmd + +niryo_robot_poses_handlers/Workspace workspace + +--- +int32 status +string message diff --git a/niryo_robot_poses_handlers/test/__init__.py b/niryo_robot_poses_handlers/test/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_poses_handlers/test/test_poses_handlers.py b/niryo_robot_poses_handlers/test/test_poses_handlers.py new file mode 100755 index 000000000..6c07a6e84 --- /dev/null +++ b/niryo_robot_poses_handlers/test/test_poses_handlers.py @@ -0,0 +1,275 @@ +#!/usr/bin/env python + +import rospy +import rostest + +from niryo_robot_poses_handlers.test_pure_python_poses_handlers import * + +from geometry_msgs.msg import Pose, Point, Quaternion +from niryo_robot_msgs.msg import RPY, RobotState + +from niryo_robot_msgs.srv import GetNameDescriptionList + +from niryo_robot_poses_handlers.srv import GetPose +from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest +from niryo_robot_poses_handlers.srv import GetTrajectory +from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest +from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses +from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest + +service_timeout = 3 +position_dir = trajectory_dir = workspace_dir = None + + +def call_service(service_name, service_msg_type, *args): + # Connect to service + rospy.wait_for_service(service_name, service_timeout) + # Call service + service = rospy.ServiceProxy(service_name, service_msg_type) + response = service(*args) + return response + + +def clean_folders(): + folders_list_raw = [position_dir, trajectory_dir, workspace_dir] + folders_list = [os.path.expanduser(folder) for folder in folders_list_raw] + for folder in folders_list: + if os.path.isdir(folder): + shutil.rmtree(folder) + os.makedirs(folder) + + +class TestPoseHandlerAbstract(unittest.TestCase): + file_dir = None + + def setUp(self): + clean_folders() + + def tearDown(self): + clean_folders() + + def create_folder(self): + if not os.path.isdir(self.file_dir): + os.makedirs(self.file_dir) + + def delete_folder(self): + if os.path.isdir(self.file_dir): + shutil.rmtree(self.file_dir) + + def assertStatus(self, ret): + self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret") + self.assertTrue(ret.status > 0, msg="status : {} - message : {}".format(ret.status, ret.message)) + + def assertNotStatus(self, ret): + self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret") + self.assertTrue(ret.status < 0, msg="status : {} - message : {}".format(ret.status, ret.message)) + + +class TestServicePose(TestPoseHandlerAbstract): + file_dir = position_dir + + # def setUp(self): + # super(TestServicePostion, self).setUp() + # + # def tearDown(self): + # super(TestServicePostion, self).tearDown() + + @staticmethod + def get_pose_list(): + return call_service('/niryo_robot_poses_handlers/get_pose_list', GetNameDescriptionList).name_list + + @staticmethod + def get_pose(name): + return call_service('/niryo_robot_poses_handlers/get_pose', GetPose, name) + + @staticmethod + def save_pose(name, x, y, z, roll, pitch, yaw): + req = ManagePoseRequest() + req.cmd = ManagePoseRequest.SAVE + req.pose.name = name + req.pose.position = Point(x, y, z) + req.pose.rpy = RPY(roll, pitch, yaw) + return call_service('/niryo_robot_poses_handlers/manage_pose', ManagePose, req) + + @staticmethod + def delete_pose(name): + req = ManagePoseRequest() + req.cmd = ManagePoseRequest.DELETE + req.pose.name = name + return call_service('/niryo_robot_poses_handlers/manage_pose', ManagePose, req) + + def test_service_get_saved_pose_list(self): + self.assertEqual(self.get_pose_list(), []) + self.assertNotStatus(self.get_pose("SomePose")) # Do not exist + self.assertNotStatus(self.delete_pose("SomePose")) # Do not exist + + def test_service_creation_delete_pos(self): + self.assertEqual(self.get_pose_list(), []) + list_names = [] + pose = [1, 2, 3, 1, 2, 3] + for i in range(5): + name = "Test{}".format(i) + self.assertStatus(self.save_pose(name, *pose)) + ret_get_pos = self.get_pose(name) + self.assertStatus(ret_get_pos) + p = ret_get_pos.pose + + self.assertEqual([p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw], pose, + "Read Failed") + + list_names.append(name) + self.assertEqual(self.get_pose_list(), list_names, "Read All Failed") + for name in list_names: + self.assertStatus(self.delete_pose(name)) + self.assertEqual(self.get_pose_list(), [], "Read All Failed") + + +class TestServiceTrajetory(TestPoseHandlerAbstract): + file_dir = trajectory_dir + + @staticmethod + def get_trajectory_list(): + return call_service('/niryo_robot_poses_handlers/get_trajectory_list', GetNameDescriptionList).name_list + + @staticmethod + def get_trajectory(name): + ret = call_service('/niryo_robot_poses_handlers/get_trajectory', GetTrajectory, name) + list_p = ret.list_poses + list_p_raw = [] + for p in list_p: + pose = [[p.position.x, p.position.y, p.position.z], + [p.orientation.x, p.orientation.y, p.orientation.z, p.orientation.w]] + list_p_raw.append(pose) + return ret, list_p_raw + + @staticmethod + def save_trajectory(name, list_poses_raw): + req = ManageTrajectoryRequest() + req.name = name + req.cmd = ManageTrajectoryRequest.SAVE + list_poses = [] + for p in list_poses_raw: + point = Point(*p[0]) + orientation = Quaternion(*p[1]) + list_poses.append(Pose(point, orientation)) + req.poses = list_poses + return call_service('/niryo_robot_poses_handlers/manage_trajectory', ManageTrajectory, req) + + @staticmethod + def delete_trajectory(name): + req = ManageTrajectoryRequest() + req.cmd = ManageTrajectoryRequest.DELETE + req.name = name + return call_service('/niryo_robot_poses_handlers/manage_trajectory', ManageTrajectory, req) + + def test_service_get_saved_traj_list(self): + self.assertEqual(self.get_trajectory_list(), []) + self.assertNotStatus(self.get_trajectory("Some Traj")[0]) # Do not exist + self.assertNotStatus(self.delete_trajectory("Some Traj")) # Do not exist + + def test_service_creation_traj_pos(self): + self.assertEqual(self.get_trajectory_list(), []) + list_names = [] + poses = [[[1, 2, 3], [1, 0, 0, 0]], + [[1, 2, 3], [1, 0, 0, 0]]] + for i in range(5): + name = "Test{}".format(i) + self.assertStatus(self.save_trajectory(name, poses)) + ret_get_pos = self.get_trajectory(name) + self.assertStatus(ret_get_pos[0]) + + self.assertEqual(ret_get_pos[1], poses) + + list_names.append(name) + self.assertEqual(self.get_trajectory_list(), list_names, "Read All Failed") + for name in list_names: + self.assertStatus(self.delete_trajectory(name)) + self.assertEqual(self.get_trajectory_list(), [], "Read All Failed") + + +class TestServiceWorkspace(TestPoseHandlerAbstract): + file_dir = workspace_dir + + @staticmethod + def get_workspace_list(): + return call_service('/niryo_robot_poses_handlers/get_workspace_list', GetNameDescriptionList).name_list + + @staticmethod + def get_workspace_poses(name): + ret = call_service('/niryo_robot_poses_handlers/get_workspace_poses', GetWorkspaceRobotPoses, name) + poses = ret.poses + list_p_raw = [] + for p in poses: + pose = [[p.position.x, p.position.y, p.position.z], + [p.rpy.roll, p.rpy.pitch, p.rpy.yaw]] + list_p_raw.append(pose) + return ret, list_p_raw + + @staticmethod + def save_workspace(name, list_poses_raw): + list_poses = [] + for p in list_poses_raw: + point = Point(*p[0]) + rpy = RPY(*p[1]) + list_poses.append(RobotState(point, rpy, Quaternion())) + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.SAVE + req.workspace.name = name + req.workspace.poses = list_poses + return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req) + + @staticmethod + def save_workspace_from_points(name, list_points_raw): + list_points = [] + for p in list_points_raw: + list_points.append(Point(*p)) + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.SAVE_WITH_POINTS + req.workspace.name = name + req.workspace.points = list_points + return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req) + + @staticmethod + def delete_workspace(name): + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.DELETE + req.workspace.name = name + return call_service('/niryo_robot_poses_handlers/manage_workspace', ManageWorkspace, req) + + def test_service_get_saved_workspace_list(self): + self.assertEqual(self.get_workspace_list(), []) + self.assertNotStatus(self.get_workspace_poses("Some Workspace")[0]) # Do not exist + self.assertNotStatus(self.delete_workspace("Some Workspace")) # Do not exist + + def test_service_creation_delete_workspace(self): + self.assertEqual(self.get_workspace_list(), []) + list_names = [] + # robot_poses can be found in test_pure_python_pose_handlers + for i in range(3): + name = "Test{}".format(2 * i) + self.assertStatus(self.save_workspace(name, robot_poses)) + ret_get_pos = self.get_workspace_poses(name) + self.assertStatus(ret_get_pos[0]) + + self.assertEqual(ret_get_pos[1], robot_poses) + name2 = "Test{}".format(2 * i + 1) + self.assertStatus(self.save_workspace_from_points(name2, points)) + + list_names.append(name) + list_names.append(name2) + + self.assertEqual(self.get_workspace_list(), list_names) + for name in list_names: + self.assertStatus(self.delete_workspace(name)) + self.assertEqual(self.get_workspace_list(), []) + + +if __name__ == '__main__': + while not rospy.has_param('/niryo_robot_poses_handlers/initialized'): + rospy.sleep(0.10) + + position_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/poses_dir')) + trajectory_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/trajectories_dir')) + workspace_dir = os.path.expanduser(rospy.get_param('/niryo_robot_poses_handlers/workspace_dir')) + # Going to execute all unittest.TestCase subclasses in the file -> Import are also concerned + rostest.rosrun("poses_handlers", "test_poses_handlers", __name__) diff --git a/niryo_robot_programs_manager/CMakeLists.txt b/niryo_robot_programs_manager/CMakeLists.txt new file mode 100644 index 000000000..46aa803e9 --- /dev/null +++ b/niryo_robot_programs_manager/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_programs_manager) + +find_package(catkin REQUIRED COMPONENTS + message_generation +) + +add_message_files( + FILES + ProgramLanguage.msg + ProgramLanguageList.msg + ProgramList.msg +) + +add_service_files( + DIRECTORY srv + FILES + ExecuteProgram.srv + GetProgram.srv + GetProgramAutorunInfos.srv + GetProgramList.srv + ManageProgram.srv + SetProgramAutorun.srv +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +############# +## Testing ## +############# +find_package(rostest REQUIRED) + +add_rostest(launch/rpi_programs_manager.test) +add_rostest(launch/simulation_programs_manager.test) diff --git a/niryo_robot_programs_manager/config/programs_manager_params.yaml b/niryo_robot_programs_manager/config/programs_manager_params.yaml new file mode 100644 index 000000000..91b89ba0c --- /dev/null +++ b/niryo_robot_programs_manager/config/programs_manager_params.yaml @@ -0,0 +1,2 @@ +execute_from_string_program_name: "Last Interpreted Blockly Code" +autorun_file_name : "autorun_config.yaml" diff --git a/niryo_robot_programs_manager/launch/programs_manager.launch b/niryo_robot_programs_manager/launch/programs_manager.launch new file mode 100644 index 000000000..9e0876c81 --- /dev/null +++ b/niryo_robot_programs_manager/launch/programs_manager.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_programs_manager/launch/rpi_programs_manager.test b/niryo_robot_programs_manager/launch/rpi_programs_manager.test new file mode 100644 index 000000000..564c72319 --- /dev/null +++ b/niryo_robot_programs_manager/launch/rpi_programs_manager.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/niryo_robot_programs_manager/launch/simulation_programs_manager.test b/niryo_robot_programs_manager/launch/simulation_programs_manager.test new file mode 100644 index 000000000..9bc606c75 --- /dev/null +++ b/niryo_robot_programs_manager/launch/simulation_programs_manager.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/niryo_robot_programs_manager/msg/ProgramLanguage.msg b/niryo_robot_programs_manager/msg/ProgramLanguage.msg new file mode 100644 index 000000000..9291e7bad --- /dev/null +++ b/niryo_robot_programs_manager/msg/ProgramLanguage.msg @@ -0,0 +1,12 @@ +int8 NONE = -1 + +int8 ALL = 0 + +# Runnable +int8 PYTHON2 = 1 +int8 PYTHON3 = 2 + +# Not Runnable +int8 BLOCKLY = 66 + +int8 used diff --git a/niryo_robot_programs_manager/msg/ProgramLanguageList.msg b/niryo_robot_programs_manager/msg/ProgramLanguageList.msg new file mode 100644 index 000000000..42e1e09f2 --- /dev/null +++ b/niryo_robot_programs_manager/msg/ProgramLanguageList.msg @@ -0,0 +1 @@ +niryo_robot_programs_manager/ProgramLanguage[] language_list diff --git a/niryo_robot_programs_manager/msg/ProgramList.msg b/niryo_robot_programs_manager/msg/ProgramList.msg new file mode 100644 index 000000000..8bca43880 --- /dev/null +++ b/niryo_robot_programs_manager/msg/ProgramList.msg @@ -0,0 +1,4 @@ +string[] programs_names +niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list +string[] programs_description + diff --git a/niryo_robot_programs_manager/package.xml b/niryo_robot_programs_manager/package.xml new file mode 100644 index 000000000..ea3232fe4 --- /dev/null +++ b/niryo_robot_programs_manager/package.xml @@ -0,0 +1,23 @@ + + niryo_robot_programs_manager + 3.0.0 + The niryo_robot_programs_manager package + + Remi Lux + Remi Lux + Etienne Rey-Coquais + + GPLv3 + + catkin + + niryo_robot_msgs + + niryo_robot_msgs + rosbridge_server + std_msgs + + + python-yaml + + diff --git a/niryo_robot_programs_manager/scripts/programs_manager_node.py b/niryo_robot_programs_manager/scripts/programs_manager_node.py new file mode 100755 index 000000000..7e911b0f2 --- /dev/null +++ b/niryo_robot_programs_manager/scripts/programs_manager_node.py @@ -0,0 +1,415 @@ +#!/usr/bin/env python + +import rospy +import os +import yaml + +from threading import Thread + +from niryo_robot_programs_manager.ProgramsFileManager import FileAlreadyExistException, FileDoesNotExistException +from niryo_robot_programs_manager.Python2Manager import Python2FileManager +from niryo_robot_programs_manager.BlocklyManager import BlocklyManager + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from niryo_robot_programs_manager.msg import ProgramList +from niryo_robot_programs_manager.msg import ProgramLanguage, ProgramLanguageList +from std_msgs.msg import Bool + +# Services +from niryo_robot_msgs.srv import Trigger + +from niryo_robot_programs_manager.srv import ExecuteProgram +from niryo_robot_programs_manager.srv import GetProgram, GetProgramResponse +from niryo_robot_programs_manager.srv import GetProgramAutorunInfos, GetProgramAutorunInfosResponse +from niryo_robot_programs_manager.srv import GetProgramList +from niryo_robot_programs_manager.srv import ManageProgram +from niryo_robot_programs_manager.srv import SetProgramAutorun, SetProgramAutorunRequest + + +class ProgramManagerNode: + + def __init__(self): + rospy.logdebug("Programs Manager - Entering in Init") + + self.__programs_base_dir = os.path.expanduser(rospy.get_param("~programs_dir")) + if not os.path.isdir(self.__programs_base_dir): + os.makedirs(self.__programs_base_dir) + + self.__python2_manager = Python2FileManager(self.__programs_base_dir) + self.__blockly_manager = BlocklyManager(self.__programs_base_dir) + + rospy.logdebug("Programs Manager - Managers created !") + + self.__standalone = rospy.get_param("~standalone") + + self.__autorun_file_path = os.path.join(self.__programs_base_dir, rospy.get_param("~autorun_file_name")) + + self._manager_map = { + ProgramLanguage.PYTHON2: self.__python2_manager, + ProgramLanguage.BLOCKLY: self.__blockly_manager, + } + + self.__str_to_program_language_map = { + "NONE": ProgramLanguage.NONE, + "PYTHON2": ProgramLanguage.PYTHON2, + "BLOCKLY": ProgramLanguage.BLOCKLY, + } + self.__program_language_to_str_map = {index: string for string, index + in self.__str_to_program_language_map.iteritems()} + self.__autorun_mode_to_str = { + SetProgramAutorunRequest.DISABLE: "DISABLE", + SetProgramAutorunRequest.ONE_SHOT: "ONE_SHOT", + SetProgramAutorunRequest.LOOP: "LOOP", + } + self._str_to_autorun_mode = {index: string for string, index + in self.__autorun_mode_to_str.iteritems()} + + # Services + rospy.Service('~manage_program', ManageProgram, + self.__callback_manage_program) + rospy.Service('~get_program_list', GetProgramList, + self.__callback_get_program_list) + rospy.Service('~get_program', GetProgram, + self.__callback_get_program) + + rospy.Service('~execute_program', ExecuteProgram, + self.__callback_execute_program) + self.__execute_from_string_program_name = rospy.get_param("~execute_from_string_program_name") + + rospy.Service('~stop_program', Trigger, + self.__callback_stop_program) + + self.__program_is_running = False + + # Publisher + self.__program_list_publisher = rospy.Publisher( + '~program_list', ProgramList, latch=True, queue_size=1) + self.__publish_program_list() + + self.__program_is_running_publisher = rospy.Publisher( + '~program_is_running', Bool, latch=True, queue_size=1) + self.__program_is_running_publisher.publish(self.__program_is_running) + + # - Autorun + self.__set_program_autorun_service = rospy.Service( + '~set_program_autorun', SetProgramAutorun, + self.__callback_set_program_autorun) + + self.__get_program_autorun_infos_service = rospy.Service( + '~get_program_autorun_infos', GetProgramAutorunInfos, + self.__callback_get_program_autorun_infos) + + self.__execute_program_autorun_service = rospy.Service( + '~execute_program_autorun', Trigger, + self.__callback_execute_program_autorun) + + self.__loop_autorun = False + + self.__execution_thread = None + self.__execution_stopped = False + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("Programs Manager - Started") + + # -- ROS CALLBACKS + # Program + def __callback_manage_program(self, req): + language_used = req.language.used + if language_used not in self._manager_map: + return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language" + manager = self._manager_map[language_used] + try: + if req.cmd == req.SAVE: + manager.create(req.name, req.code, req.description, req.allow_overwrite) + self.__publish_program_list() + + message = "Created program '{}'".format(req.name) + rospy.loginfo("Programs Manager - {}".format(message)) + + return CommandStatus.SUCCESS, message + elif req.cmd == req.DELETE: + manager.remove(req.name) + self.__publish_program_list() + + message = "Removed program '{}'".format(req.name) + rospy.loginfo("Programs Manager - {}".format(message)) + + return CommandStatus.SUCCESS, message + else: + return CommandStatus.UNKNOWN_COMMAND, "Programs Manager - Command '{}' not found.".format(req.cmd) + except FileAlreadyExistException as e: + rospy.logerr("Programs Manager - File already exists !") + return CommandStatus.PROGRAMS_MANAGER_FILE_ALREADY_EXISTS, str(e) + except Exception as e: + return CommandStatus.PROGRAMS_MANAGER_WRITING_FAILURE, str(e) + + def __callback_get_program_list(self, req): + language_msg = req.language + return self.___get_program_list(language_msg) + + def __callback_get_program(self, req): + resp = GetProgramResponse() + language_used = req.language.used + if language_used not in self._manager_map: + resp.status = CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE + resp.message = "Unknown Language" + return resp + manager = self._manager_map[language_used] + try: + code, description = manager.read(req.name) + return CommandStatus.SUCCESS, "Success", code, description + except Exception as e: + resp.status = CommandStatus.PROGRAMS_MANAGER_READ_FAILURE + resp.message = str(e) + return resp + + def __callback_execute_program(self, req): + if self.__program_is_running: + return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, "Program is already running" + language = req.language.used + if req.execute_from_string: + name = None + code_string = req.code_string + else: + name = req.name + code_string = None + return self.__execute_program(language, name=name, code_string=code_string) + + def __callback_stop_program(self, _req): + if not self.__program_is_running: + return CommandStatus.SUCCESS, "No program is running" + + try: + self.__loop_autorun = False + ret, message = self.__python2_manager.stop_execution() + if not self.__standalone: + self.__stop_robot_action() + + if self.__program_is_running: + self.__program_is_running = False + self.__program_is_running_publisher.publish(self.__program_is_running) + + except Exception as e: + return CommandStatus.PROGRAMS_MANAGER_FAILURE, str(e) + + if ret: + self.__execution_stopped = True + return CommandStatus.SUCCESS, "Stop program success" + else: + return CommandStatus.PROGRAMS_MANAGER_STOPPING_FAILED, message + + # Autorun + def __callback_set_program_autorun(self, req): + mode = req.mode + + if mode == SetProgramAutorunRequest.DISABLE: + return self.__disable_autorun() + + language_used = req.language.used + if language_used not in self._manager_map: + return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language" + + manager = self._manager_map[language_used] + if not manager.runnable: + return CommandStatus.PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE, "Not Runnable Language" + + name = req.name + + if not manager.exists(name): + return CommandStatus.PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST, "File Doesn't Exist" + + return self.__save_autorun_infos(language_used, name, mode) + + def __callback_get_program_autorun_infos(self, _req): + language, name, mode = self.__get_autorun_infos() + + if language is None: + resp = GetProgramAutorunInfosResponse() + resp.status = CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE + resp.message = "Failed to get autorun infos" + return resp + + return CommandStatus.SUCCESS, "OK", language, name, mode + + def __callback_execute_program_autorun(self, _req): + if self.__program_is_running: + return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, "Program is already running" + + language_obj, name, mode = self.__get_autorun_infos() + + if language_obj is None or language_obj == ProgramLanguage.NONE: + rospy.loginfo("Programs Manager - Autorun file is not set") + return CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE, "Autorun file is not set" + + if mode == self._str_to_autorun_mode["ONE_SHOT"]: + self.__loop_autorun = False + elif mode == self._str_to_autorun_mode["DISABLE"]: + rospy.loginfo("Programs Manager - Autorun disable") + return CommandStatus.PROGRAMS_MANAGER_AUTORUN_FAILURE, "Autorun disable" + else: + self.__loop_autorun = True + + self.__program_is_running = True + self.__program_is_running_publisher.publish(self.__program_is_running) + + self.__execution_thread = Thread(target=self.__execute_program, name="execution_thread_programs_manager", + args=[language_obj.used, name, None]) + self.__execution_thread.setDaemon(True) + self.__execution_thread.start() + + message = "Executing autorun program ..." + rospy.loginfo("Programs Manager - {}".format(message)) + return CommandStatus.SUCCESS, message + + # - Functions + def __publish_program_list(self): + programs_list = self.___get_program_list(ProgramLanguage(ProgramLanguage.ALL)) + self.__program_list_publisher.publish(*programs_list) + + def __execute_program(self, language_used, name=None, code_string=None): + if language_used not in self._manager_map: + return CommandStatus.PROGRAMS_MANAGER_UNKNOWN_LANGUAGE, "Unknown Language" + manager = self._manager_map[language_used] + if not manager.runnable: + return CommandStatus.PROGRAMS_MANAGER_NOT_RUNNABLE_LANGUAGE, "Not Runnable Language" + + if code_string: + prog_name = self.__execute_from_string_program_name + manager.create(prog_name, code_string, description="", allow_overwrite=True) + else: + prog_name = name + + self.__execution_stopped = False + + try: + if not self.__program_is_running: + self.__program_is_running = True + self.__program_is_running_publisher.publish(self.__program_is_running) + + ret, message = manager.execute(prog_name) + while self.__loop_autorun and ret: + ret, message = manager.execute(prog_name) + + except FileDoesNotExistException: + self.__program_is_running = False + self.__program_is_running_publisher.publish(self.__program_is_running) + return CommandStatus.PROGRAMS_MANAGER_FILE_DOES_NOT_EXIST, "File Doesn't Exist" + except Exception as e: + self.__program_is_running = False + self.__program_is_running_publisher.publish(self.__program_is_running) + return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, str(e) + + self.__program_is_running = False + self.__program_is_running_publisher.publish(self.__program_is_running) + if ret: + message = "Program execution success" + rospy.loginfo("Programs Manager - {}".format(message)) + return CommandStatus.SUCCESS, message + elif self.__execution_stopped: + return CommandStatus.PREEMPTED, "Program successfully stopped" + else: + return CommandStatus.PROGRAMS_MANAGER_EXECUTION_FAILED, message + + def __get_autorun_infos(self): + if not os.path.isfile(self.__autorun_file_path): + return None, None, None + with open(self.__autorun_file_path, "r") as input_file: + yaml_file = yaml.load(input_file) + + mode = self._str_to_autorun_mode[yaml_file["mode"]] + + language = ProgramLanguage(self.__str_to_program_language_map[yaml_file["language"]]) + + return language, yaml_file["name"], mode + + def __disable_autorun(self): + self.__save_autorun_infos(ProgramLanguage.NONE, "", SetProgramAutorunRequest.DISABLE) + return CommandStatus.SUCCESS, "Programs Manager - Disable Autorun Program" + + def __save_autorun_infos(self, language, name, mode): + language_str = self.__program_language_to_str_map[language] + mode_str = self.__autorun_mode_to_str[mode] + + json_dict = {"language": language_str, "name": name, "mode": mode_str} + with open(self.__autorun_file_path, "w") as output_file: + yaml.dump(json_dict, output_file, default_flow_style=False) + + message = "Programs Manager - Change autorun " \ + "setting to file {} in {} mode".format(name, + mode_str.replace("_", " ").title()) + rospy.loginfo(message) + + return CommandStatus.SUCCESS, message + + def ___get_program_list(self, language_msg): + language_used = language_msg.used + if language_used != language_msg.ALL: + # If language_used is unknown + if language_used not in self._manager_map: + return [], [], [] + else: + manager = self._manager_map[language_used] + prog_list, description_list = manager.get_all_names_with_description() + + programs_names = prog_list + list_of_language_list = [ProgramLanguageList([language_msg])] + programs_description = description_list + else: + prog_dict = {} + for language, manager in self._manager_map.iteritems(): + # Get all names from a manager + all_names = manager.get_all_names() + # Adding them to dictionary + for name in all_names: + if name[0] == ".": + # Secret file + continue + elif name not in prog_dict: + prog_dict[name] = [language] + else: + prog_dict[name].append(language) + + languages_list_list = [] + for lang_list in prog_dict.values(): + ros_lang_list = ProgramLanguageList([ProgramLanguage(lang) for lang in lang_list]) + languages_list_list.append(ros_lang_list) + + description_list = [] + for name, languages in prog_dict.iteritems(): + if ProgramLanguage.PYTHON2 not in languages: + description_list.append("") + else: + description = self.__python2_manager.read_description(name) + description_list.append(description) + + programs_names = prog_dict.keys() + list_of_language_list = languages_list_list + programs_description = description_list + + return programs_names, list_of_language_list, programs_description + + # - Others functions + + @staticmethod + def __stop_robot_action(): + # Stop current move command + try: + rospy.wait_for_service('/niryo_robot_commander/stop_command', 1) + stop_cmd = rospy.ServiceProxy('/niryo_robot_commander/stop_command', Trigger) + stop_cmd() + except (rospy.ServiceException, rospy.ROSException): + pass + + +if __name__ == "__main__": + rospy.init_node('niryo_programs_manager', anonymous=False, log_level=rospy.INFO) + try: + node = ProgramManagerNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_programs_manager/setup.py b/niryo_robot_programs_manager/setup.py new file mode 100644 index 000000000..51d5e9c4c --- /dev/null +++ b/niryo_robot_programs_manager/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_programs_manager'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_programs_manager/src/__init__.py b/niryo_robot_programs_manager/src/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py new file mode 100644 index 000000000..3069ae0dd --- /dev/null +++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/BlocklyManager.py @@ -0,0 +1,21 @@ +import os + +from niryo_robot_programs_manager.ProgramsFileManager import ProgramsFileManager +from niryo_robot_programs_manager.programs_manager_enums import LanguageEnum + + +class BlocklyManager(ProgramsFileManager): + associated_path = "blockly/" + + def __init__(self, base_dir): + programs_dir = os.path.join(base_dir, self.associated_path) + super(BlocklyManager, self).__init__(progs_dir=programs_dir, + language=LanguageEnum.BLOCKLY, extension=".xml", + runnable=False) + + @staticmethod + def _generate_raw_text(code, description): + return code + + def read(self, name): + return self._read_raw_file(name), "" diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py new file mode 100755 index 000000000..92c6dbe39 --- /dev/null +++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/ProgramsFileManager.py @@ -0,0 +1,175 @@ +#!/usr/bin/env python +import os + + +class ProgramFileException(Exception): + pass + + +class FileAlreadyExistException(ProgramFileException): + pass + + +class FileDoesNotExistException(ProgramFileException): + pass + + +class ProgramsFileManager(object): + associated_path = "" + + def __init__(self, progs_dir, language, extension, runnable): + self._progs_dir = os.path.abspath(os.path.expanduser(progs_dir)) + "/" + if not os.path.isdir(self._progs_dir): + os.makedirs(self._progs_dir) + + self._language = language + self._runnable = runnable + + self._extension, self._suffix = self._init_extension_n_suffix(extension) + + def _init_extension_n_suffix(self, extension): + if extension[0] == ".": + return extension[1:], extension + return extension, "." + self._extension + + def _name_from_filename(self, filename): + if filename.endswith(self._suffix): + return filename[:-len(self._suffix)] + return filename + + def _filename_from_name(self, name): + return name + self._suffix + + def _path_from_name(self, name): + return self._progs_dir + self._filename_from_name(name) + + def _read_raw_file(self, name): + """ + Read file + + :param name: file name + :type name: str + + :raises: ProgramFileException: if any error + + :return: The file + :rtype: str + """ + if not self.exists(name): + raise ProgramFileException("File '{}' does not exist".format(name)) + + with open(self._path_from_name(name), 'r') as f: + try: + return f.read() + except Exception as e: + raise ProgramFileException("Could not read object '{}' : {}".format(name, e)) + + @staticmethod + def _generate_raw_text(code, description): + raise NotImplementedError + + # - Public + def create(self, name, code, description, allow_overwrite): + # Getting path + file_path = self._path_from_name(name) + + if not allow_overwrite and os.path.isfile(file_path): + raise FileAlreadyExistException("File already exist and overwrite permission is not given") + + # Generate raw string + file_raw_text = self._generate_raw_text(code, description) + # Generating lines which should be written + file_lines = file_raw_text.split('\\n') + with open(file_path, 'w') as f: + try: + for file_line in file_lines: + f.write(file_line + "\n") + except Exception as e: + raise ProgramFileException("Could not write program" + str(e)) + + def read(self, name): + """ + Read + + :param name: + :type name: str + :return: Code, description + :rtype: (str, str) + """ + raise NotImplementedError + + def read_description(self, name): + """ + Read description + """ + return self.read(name)[1] + + def remove(self, name): + """ + Remove file + + :param name: file name + :type name: str + :raises: ProgramFileException: if any error + + :return: None + """ + try: + os.remove(self._path_from_name(name)) + except OSError as e: + raise ProgramFileException("Could not remove object '{}' : {}".format(name, e)) + + def get_all_names(self, with_suffix=False): + """ + Get all filenames available in storage + + :param with_suffix: + :raises: ProgramFileException: if any error + + :return: list of filenames + :rtype: list[str] + """ + try: + filenames = sorted(os.listdir(self._progs_dir)) + except OSError as e: + raise ProgramFileException("Could not retrieve files. " + str(e)) + if with_suffix: + return [f for f in filenames if f.endswith(self._suffix)] + else: + return [self._name_from_filename(f) for f in filenames if f.endswith(self._suffix)] + + def get_all_names_with_description(self): + list_name = self.get_all_names() + list_description = [self.read_description(name=n) for n in list_name] + return list_name, list_description + + def get_all_names_with_subdirectory(self): + list_ = self.get_all_names(with_suffix=True) + return [self.associated_path + name for name in list_] + + def exists(self, name): + """ + Check if a file with a certain name exists + + :param name: file name + :type name: str + :return: True if file exists, else False + :rtype: bool + """ + return os.path.isfile(self._path_from_name(name)) + + def execute(self, name): + if self._runnable: + return False, "Execution not implemented" + else: + return False, "Execution not runnable" + + def stop_execution(self): + if self._runnable: + return False, "Stop execution not implemented" + else: + return False, "Execution not runnable, why do you want to stop it ?" + + @property + def runnable(self): + return self._runnable diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py new file mode 100644 index 000000000..5b19b0927 --- /dev/null +++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/Python2Manager.py @@ -0,0 +1,74 @@ +import os +import subprocess + +from niryo_robot_programs_manager.ProgramsFileManager import ProgramsFileManager, FileDoesNotExistException +from niryo_robot_programs_manager.programs_manager_enums import LanguageEnum + +triple_quotes = '"""' +len_triple_quotes = len(triple_quotes) +line_jump = "\n" +len_line_jump = len(line_jump) + + +class Python2FileManager(ProgramsFileManager): + associated_path = "python2/" + + def __init__(self, base_dir): + programs_dir = os.path.join(base_dir, self.associated_path) + super(Python2FileManager, self).__init__(progs_dir=programs_dir, + language=LanguageEnum.PYTHON2, extension=".py", + runnable=True) + + self.__process = None + + @staticmethod + def _generate_raw_text(code, description): + + file_text = triple_quotes + "\n" + file_text += description + "\n" + file_text += triple_quotes + "\n" + file_text += code + "\n" + return file_text + + def execute(self, name): + if not self.exists(name): + raise FileDoesNotExistException + try: + self.__process = subprocess.Popen(['python', self._path_from_name(name)], + stdout=subprocess.PIPE, stderr=subprocess.PIPE) + _stdout, stderr = self.__process.communicate() + except Exception as e: + return False, str(e) + + if stderr: + return False, stderr + + return True, "Execution success" + + def stop_execution(self): + if self.__process is None: + return False, "No Process is running" + try: + self.__process.terminate() + except Exception as e: + return False, str(e) + + return True, "Execution stopped" + + def read(self, name): + raw_file = self._read_raw_file(name) + + # Check if description + if not raw_file.startswith(triple_quotes): + return raw_file, "" + # Find end of description + index_second_quotes = raw_file.find(triple_quotes, len_triple_quotes) + # Cut description + description = raw_file[len_triple_quotes + len_line_jump:index_second_quotes] + if description.endswith(line_jump): + description = description[:-len_line_jump] + + # The remaining text is code + code = raw_file[index_second_quotes + len_triple_quotes + len_line_jump:] + + return code, description diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/__init__.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py new file mode 100644 index 000000000..5ace921bc --- /dev/null +++ b/niryo_robot_programs_manager/src/niryo_robot_programs_manager/programs_manager_enums.py @@ -0,0 +1,11 @@ +from enum import Enum, unique + + +@unique +class LanguageEnum(Enum): + # Runnable + PYTHON2 = 1 + PYTHON3 = 2 + + # Need interpretation + BLOCKLY = 66 diff --git a/niryo_robot_programs_manager/srv/ExecuteProgram.srv b/niryo_robot_programs_manager/srv/ExecuteProgram.srv new file mode 100644 index 000000000..8b13aeade --- /dev/null +++ b/niryo_robot_programs_manager/srv/ExecuteProgram.srv @@ -0,0 +1,9 @@ +bool execute_from_string + +string name +string code_string + +niryo_robot_programs_manager/ProgramLanguage language +--- +int16 status +string message diff --git a/niryo_robot_programs_manager/srv/GetProgram.srv b/niryo_robot_programs_manager/srv/GetProgram.srv new file mode 100644 index 000000000..5fceeb418 --- /dev/null +++ b/niryo_robot_programs_manager/srv/GetProgram.srv @@ -0,0 +1,9 @@ +string name + +niryo_robot_programs_manager/ProgramLanguage language +--- +int32 status +string message + +string code +string description diff --git a/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv b/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv new file mode 100644 index 000000000..8a99ab64c --- /dev/null +++ b/niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv @@ -0,0 +1,12 @@ +--- +int32 status +string message + +niryo_robot_programs_manager/ProgramLanguage language +string name + +# Mode +int8 ONE_SHOT = 1 +int8 LOOP = 2 + +int8 mode diff --git a/niryo_robot_programs_manager/srv/GetProgramList.srv b/niryo_robot_programs_manager/srv/GetProgramList.srv new file mode 100644 index 000000000..4335ac77f --- /dev/null +++ b/niryo_robot_programs_manager/srv/GetProgramList.srv @@ -0,0 +1,6 @@ +niryo_robot_programs_manager/ProgramLanguage language +--- +string[] programs_names +niryo_robot_programs_manager/ProgramLanguageList[] list_of_language_list +string[] programs_description + diff --git a/niryo_robot_programs_manager/srv/ManageProgram.srv b/niryo_robot_programs_manager/srv/ManageProgram.srv new file mode 100644 index 000000000..596247c8c --- /dev/null +++ b/niryo_robot_programs_manager/srv/ManageProgram.srv @@ -0,0 +1,18 @@ +# Command +int32 SAVE = 1 +int32 DELETE = -1 +int8 cmd + +# Program Name +string name + +# - Creation +niryo_robot_programs_manager/ProgramLanguage language + +string code +string description + +bool allow_overwrite +--- +int16 status +string message diff --git a/niryo_robot_programs_manager/srv/SetProgramAutorun.srv b/niryo_robot_programs_manager/srv/SetProgramAutorun.srv new file mode 100644 index 000000000..5eb1b83cc --- /dev/null +++ b/niryo_robot_programs_manager/srv/SetProgramAutorun.srv @@ -0,0 +1,16 @@ +# Program language +niryo_robot_programs_manager/ProgramLanguage language + +# Program Name +string name + +# Mode +int8 DISABLE = 0 +int8 ONE_SHOT = 1 +int8 LOOP = 2 + +int8 mode + +--- +int16 status +string message diff --git a/niryo_robot_programs_manager/test/test_programs_manager.py b/niryo_robot_programs_manager/test/test_programs_manager.py new file mode 100755 index 000000000..a25763a52 --- /dev/null +++ b/niryo_robot_programs_manager/test/test_programs_manager.py @@ -0,0 +1,258 @@ +#!/usr/bin/env python + +import rospy +import rostest +import os +import unittest +import shutil + +from niryo_robot_programs_manager.msg import ProgramLanguage, ProgramLanguageList +from niryo_robot_programs_manager.srv import ExecuteProgram, ExecuteProgramRequest +from niryo_robot_programs_manager.srv import GetProgram, GetProgramRequest +from niryo_robot_programs_manager.srv import GetProgramAutorunInfos +from niryo_robot_programs_manager.srv import GetProgramList, GetProgramListRequest +from niryo_robot_programs_manager.srv import ManageProgram, ManageProgramRequest +from niryo_robot_programs_manager.srv import SetProgramAutorun, SetProgramAutorunRequest + +python_language_msg = ProgramLanguage(ProgramLanguage.PYTHON2) +blockly_language_msg = ProgramLanguage(ProgramLanguage.BLOCKLY) + + +def call_service(service_name, service_msg_type, *args): + service_timeout = 3 + # Connect to service + rospy.wait_for_service(service_name, service_timeout) + # Call service + service = rospy.ServiceProxy(service_name, service_msg_type) + response = service(*args) + return response + + +def clean_folders(): + folders_list_raw = [python2_dir, blockly_dir] + folders_list = [os.path.expanduser(folder) for folder in folders_list_raw] + for folder in folders_list: + if os.path.isdir(folder): + shutil.rmtree(folder) + os.makedirs(folder) + + +def create_python2_code(name): + TestPython2Manager.save_program(name, "niryo_robot.calib()", "") + + +class TestProgramManagerAbstract(unittest.TestCase): + language = None + code = None + description = None + + def setUp(self): + clean_folders() + + def tearDown(self): + clean_folders() + + def assertStatus(self, ret): + self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret") + self.assertTrue(ret.status > 0, msg="status : {} - message : {}".format(ret.status, ret.message)) + + def assertNotStatus(self, ret): + self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret") + self.assertTrue(ret.status < 0, msg="status : {} - message : {}".format(ret.status, ret.message)) + + @classmethod + def save_program(cls, name, code, description, allow_overwrite=False): + req = ManageProgramRequest() + req.cmd = ManageProgramRequest.SAVE + req.name = name + req.language = cls.language + req.code = code + req.description = description + req.allow_overwrite = allow_overwrite + return call_service('/niryo_robot_programs_manager/manage_program', ManageProgram, req) + + @classmethod + def delete_program(cls, name): + req = ManageProgramRequest() + req.cmd = ManageProgramRequest.DELETE + req.name = name + req.language = cls.language + return call_service('/niryo_robot_programs_manager/manage_program', ManageProgram, req) + + @classmethod + def get_program(cls, name): + req = GetProgramRequest() + req.name = name + req.language = cls.language + return call_service('/niryo_robot_programs_manager/get_program', GetProgram, req) + + @classmethod + def get_program_list(cls): + req = GetProgramListRequest() + req.language = cls.language + return call_service('/niryo_robot_programs_manager/get_program_list', GetProgramList, req) + + @classmethod + def get_program_name_list(cls): + return cls.get_program_list().programs_names + + @classmethod + def execute_program_from_name(cls, name): + return cls.execute_program(execute_from_string=False, name=name, code_string="") + + @classmethod + def execute_program_from_string(cls, string_): + return cls.execute_program(execute_from_string=True, name="", code_string=string_) + + @classmethod + def execute_program(cls, execute_from_string, name, code_string): + req = ExecuteProgramRequest() + req.execute_from_string = execute_from_string + req.name = name + req.code_string = code_string + req.language = cls.language + return call_service('/niryo_robot_programs_manager/execute_program', ExecuteProgram, req) + + # - Abstract test methods + + def abstract_no_prog(self): + self.assertEqual(self.get_program_name_list(), []) + self.assertNotStatus(self.get_program("DontExist")) # Do not exist + self.assertNotStatus(self.delete_program("DontExist")) # Do not exist + + def abstract_creation_delete_prog(self): + self.assertEqual(self.get_program_name_list(), []) + list_names = [] + for i in range(5): + name = "Test{}".format(i) + self.assertStatus(self.save_program(name, py_code, py_description)) + ret_get_prog = self.get_program(name) + self.assertStatus(ret_get_prog) + + # self.assertEqual(code, ret_get_prog.code) + self.assertEqual(self.description, ret_get_prog.description) + + list_names.append(name) + self.assertEqual(self.get_program_name_list(), list_names, "Read All Failed") + for name in list_names: + self.assertStatus(self.delete_program(name)) + self.assertEqual(self.get_program_name_list(), [], "Read All Failed") + + def abstract_overwrite(self): + name = "Test_execute" + self.assertStatus(self.save_program(name, py_code, py_description)) + + self.assertNotStatus(self.save_program(name, py_code, py_description, allow_overwrite=False)) + + self.assertStatus(self.save_program(name, py_code, py_description, allow_overwrite=True)) + + self.assertStatus(self.delete_program(name)) + + def abstract_execute_prog(self): + name = "Test_execute" + self.assertStatus(self.save_program(name, py_code, py_description)) + + self.assertStatus(self.execute_program_from_name(name)) + + self.assertStatus(self.delete_program(name)) + + self.assertStatus(self.execute_program_from_string(py_code)) + + +py_code = """ +import math +print math.pi +""" +py_description = "Display PI" + + +class TestPython2Manager(TestProgramManagerAbstract): + language = python_language_msg + code = py_code + description = py_description + + def test_python2_no_prog(self): + self.abstract_no_prog() + + def test_python2_creation_delete_prog(self): + self.abstract_creation_delete_prog() + + def test_python2_overwrite(self): + self.abstract_overwrite() + + def test_python2_execute_prog(self): + self.abstract_execute_prog() + + +class TestBlocklyManager(TestProgramManagerAbstract): + language = blockly_language_msg + code = "" + description = "" + + def test_blockly_no_prog(self): + self.abstract_no_prog() + + def test_blockly_creation_delete_prog(self): + self.abstract_creation_delete_prog() + + def test_blockly_overwrite(self): + self.abstract_overwrite() + + +class TestAllManager(TestProgramManagerAbstract): + language = ProgramLanguage(ProgramLanguage.ALL) + + def test_all_no_prog(self): + self.abstract_no_prog() + + +class TestAutorun(TestProgramManagerAbstract): + test_python2_code_name = "test_code_python2" + + @staticmethod + def set_autorun_program_from_req(req): + return call_service('/niryo_robot_programs_manager/set_program_autorun', SetProgramAutorun, req) + + @staticmethod + def get_program_autorun(): + return call_service('/niryo_robot_programs_manager/get_program_autorun_infos', GetProgramAutorunInfos) + + def test_set_autorun(self): + create_python2_code(self.test_python2_code_name) + req = SetProgramAutorunRequest() + req.language = blockly_language_msg + req.name = "unknown_name" + req.mode = SetProgramAutorunRequest.LOOP + + self.assertNotStatus(self.set_autorun_program_from_req(req)) + req.name = self.test_python2_code_name + self.assertNotStatus(self.set_autorun_program_from_req(req)) + + req.language = python_language_msg + self.assertStatus(self.set_autorun_program_from_req(req)) + + def test_get_autorun(self): + create_python2_code(self.test_python2_code_name) + req = SetProgramAutorunRequest() + req.name = self.test_python2_code_name + req.language = python_language_msg + req.mode = SetProgramAutorunRequest.ONE_SHOT + self.assertStatus(self.set_autorun_program_from_req(req)) + + infos = self.get_program_autorun() + self.assertStatus(infos) + + self.assertEqual(infos.language, python_language_msg) + self.assertEqual(infos.name, self.test_python2_code_name) + self.assertEqual(infos.mode, SetProgramAutorunRequest.ONE_SHOT) + + +if __name__ == '__main__': + while not rospy.has_param('/niryo_robot_programs_manager/initialized'): + rospy.sleep(0.10) + + programs_dir = os.path.expanduser(rospy.get_param('/niryo_robot_programs_manager/programs_dir')) + python2_dir = os.path.join(programs_dir, "python2") + blockly_dir = os.path.join(programs_dir, "blockly") + # Going to execute all unittest.TestCase subclasses in the file -> Import are also concerned + rostest.rosrun("programs_manager", "test_programs_manager", __name__) diff --git a/niryo_robot_python_ros_wrapper/CMakeLists.txt b/niryo_robot_python_ros_wrapper/CMakeLists.txt new file mode 100644 index 000000000..0f53c8fd2 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_python_ros_wrapper) + +find_package(catkin REQUIRED COMPONENTS +) +catkin_python_setup() + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +############# +## Testing ## +############# +find_package(rostest REQUIRED) + +add_rostest(launch/rpi_python_wrapper.test) +add_rostest(launch/simulation_python_wrapper.test) diff --git a/niryo_robot_python_ros_wrapper/examples/__init__.py b/niryo_robot_python_ros_wrapper/examples/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py b/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py new file mode 100644 index 000000000..191065b50 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/examples/create_ws_gazebo_world.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +from niryo_robot_python_ros_wrapper.ros_wrapper import * +import rospy + + +def create_wks_gazebo(niryo): + workspace_name = "gazebo_1" + workspace_h = 0.001 + point_1 = [0.3369, 0.087, workspace_h] + point_2 = [point_1[0], -point_1[1], workspace_h] + point_3 = [0.163, -point_1[1], workspace_h] + point_4 = [point_3[0], point_1[1], workspace_h] + niryo.save_workspace_from_points(workspace_name, [point_1, point_2, point_3, point_4]) + + +if __name__ == '__main__': + print "--- Start" + try: + rospy.init_node('niryo_robot_example_python_ros_wrapper') + n = NiryoRosWrapper() + # Calibrate robot first + # n.calibrate_auto() + # print "Calibration finished !" + + print "creating workspace ..." + create_wks_gazebo(n) + # print "Looking down ..." + # n.move_joints([0, 0, 0, 0, -1.57, 0]) + + # n.vision_pick(workspace_name, 0.1, ObjectShape.ANY, ObjectColor.BLUE) + except NiryoRosWrapperException as e: + print e + + print "--- End" diff --git a/niryo_robot_python_ros_wrapper/examples/kinematics.py b/niryo_robot_python_ros_wrapper/examples/kinematics.py new file mode 100644 index 000000000..fcab4184d --- /dev/null +++ b/niryo_robot_python_ros_wrapper/examples/kinematics.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python + +from niryo_robot_python_ros_wrapper.ros_wrapper import * +import rospy + +rospy.init_node('niryo_robot_example_python_ros_wrapper') + +print "--- Start" +n = NiryoRosWrapper() + +try: + start_pose = n.get_pose_as_list() + print "Starting Pose " + str(start_pose) + pose = n.forward_kinematics(0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + n.move_pose(*pose) + joints_target = n.inverse_kinematics(*start_pose) + print "Joints targets " + str(joints_target) + n.move_joints(*joints_target) +except NiryoRosWrapperException as e: + print e + +print "--- End" diff --git a/niryo_robot_python_ros_wrapper/examples/move.py b/niryo_robot_python_ros_wrapper/examples/move.py new file mode 100644 index 000000000..22f16ae8d --- /dev/null +++ b/niryo_robot_python_ros_wrapper/examples/move.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python + +# To use the API, copy these 4 lines on each Python file you create +from niryo_robot_python_ros_wrapper.ros_wrapper import * +import rospy +import time +import math + +rospy.init_node('niryo_robot_example_python_ros_wrapper') + +print "--- Start" + +n = NiryoRosWrapper() + +try: + # Calibrate robot first + n.calibrate_auto() + print "Calibration finished !" + + time.sleep(1) + + # Move + n.set_arm_max_velocity(30) + + joint_target = [math.radians(45), 0.2, 0.3, 1.57/2, 0.0, 0.0] + n.move_joints(*joint_target) + + n.move_pose(0.2, 0, 0.2, 0, math.radians(90), 0) + next_pose = [0.15, 0.1, 0.2, 0.0, math.radians(90), 0.0] + n.move_pose(*next_pose) + + n.shift_pose(ShiftPose.AXIS_X, 0.1) + n.shift_pose(ShiftPose.ROT_PITCH, math.radians(25)) + + n.set_learning_mode(True) + + +except NiryoRosWrapperException as e: + print e + # handle exception here + # you can also make a try/except for each command separately + +print "--- End" diff --git a/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test b/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test new file mode 100755 index 000000000..538caec61 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/launch/rpi_python_wrapper.test @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test b/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test new file mode 100755 index 000000000..702a7c31b --- /dev/null +++ b/niryo_robot_python_ros_wrapper/launch/simulation_python_wrapper.test @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/niryo_robot_python_ros_wrapper/package.xml b/niryo_robot_python_ros_wrapper/package.xml new file mode 100644 index 000000000..474e128aa --- /dev/null +++ b/niryo_robot_python_ros_wrapper/package.xml @@ -0,0 +1,19 @@ + + niryo_robot_python_ros_wrapper + 3.0.0 + Python ROS Wrapper to get Niryo Robot ROS functionalities, without knowing ROS + Remi Lux + Remi Lux + Corentin Ducatez + GPLv3 + + catkin + + actionlib_msgs + geometry_msgs + niryo_robot_commander + niryo_robot_msgs + sensor_msgs + std_msgs + + diff --git a/niryo_robot_python_ros_wrapper/setup.py b/niryo_robot_python_ros_wrapper/setup.py new file mode 100644 index 000000000..7cc21faee --- /dev/null +++ b/niryo_robot_python_ros_wrapper/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_python_ros_wrapper'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py new file mode 100644 index 000000000..f53e217d9 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/__init__.py @@ -0,0 +1,2 @@ +from .ros_wrapper_enums import * +from .ros_wrapper import NiryoRosWrapper, NiryoRosWrapperException diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py new file mode 100755 index 000000000..f9172bf80 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper.py @@ -0,0 +1,1602 @@ +#!/usr/bin/env python + +# Lib +import rospy +import actionlib + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from actionlib_msgs.msg import GoalStatus + +from geometry_msgs.msg import Pose, Point, Quaternion + +from std_msgs.msg import Bool +from std_msgs.msg import Int32 +from std_msgs.msg import String + +from sensor_msgs.msg import CameraInfo +from sensor_msgs.msg import CompressedImage +from sensor_msgs.msg import JointState + +from conveyor_interface.msg import ConveyorFeedbackArray +from niryo_robot_commander.msg import RobotCommand +from niryo_robot_msgs.msg import HardwareStatus +from niryo_robot_msgs.msg import RobotState +from niryo_robot_msgs.msg import RPY +from niryo_robot_rpi.msg import DigitalIOState + +# Services +from conveyor_interface.srv import ControlConveyor, SetConveyor, SetConveyorRequest +from niryo_robot_commander.srv import GetFK, GetIK +from niryo_robot_commander.srv import JogShift, JogShiftRequest +from niryo_robot_msgs.srv import GetNameDescriptionList, SetBool, SetInt, Trigger + +from niryo_robot_rpi.srv import GetDigitalIO, SetDigitalIO + +# Actions +from niryo_robot_commander.msg import RobotMoveAction, RobotMoveGoal + +# Enums +from niryo_robot_commander.command_enums import MoveCommandType +from niryo_robot_python_ros_wrapper.ros_wrapper_enums import * + + +class NiryoRosWrapperException(Exception): + pass + + +class NiryoRosWrapper: + def __init__(self): + # - Getting ROS parameters + self.__service_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/service_timeout") + self.__action_connection_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_connection_timeout") + self.__action_execute_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_execute_timeout") + self.__action_preempt_timeout = rospy.get_param("/niryo_robot/python_ros_wrapper/action_preempt_timeout") + self.__tool_command_list = rospy.get_param("/niryo_robot_tools/command_list") + + # - Publishers + # Highlight publisher (to highlight blocks in Blockly interface) + self.__highlight_block_publisher = rospy.Publisher('/niryo_robot_blockly/highlight_block', String, + queue_size=10) + + # Break point publisher (for break point blocks in Blockly interface) + self.__break_point_publisher = rospy.Publisher('/niryo_robot_blockly/break_point', Int32, queue_size=10) + + # -- Subscribers + # - Pose + self.__joints = None + rospy.Subscriber('/joint_states', JointState, + self.__callback_sub_joint_states) + + self.__pose = None + rospy.Subscriber('/niryo_robot/robot_state', RobotState, + self.__callback_sub_robot_state) + + # - Hardware + self.__learning_mode_on = None + rospy.Subscriber('/niryo_robot/learning_mode/state', Bool, + self.__callback_sub_learning_mode) + + self.__hw_status = None + rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', HardwareStatus, + self.__callback_sub_hardware_status) + + self.__digital_io_state = None + rospy.Subscriber('/niryo_robot_rpi/digital_io_state', DigitalIOState, + self.__callback_sub_digital_io_state) + + self.__current_tool_id = None + rospy.Subscriber('/niryo_robot_tools/current_id', Int32, + self.__callback_sub_current_tool_id) + + # - Vision + self.__compressed_image_message = None + rospy.Subscriber('/niryo_robot_vision/compressed_video_stream', CompressedImage, + self.__callback_sub_stream_video, queue_size=1) + + self.__camera_intrinsics_message = None + rospy.Subscriber('/niryo_robot_vision/camera_intrinsics', CameraInfo, + self.__callback_camera_intrinsics, queue_size=1) + + # - Conveyor + + self.__conveyors_feedback = None + rospy.Subscriber('/niryo_robot/conveyor/feedback', ConveyorFeedbackArray, + self.__callback_sub_conveyors_feedback) + + # - Action server + # Robot action + self.__robot_action_server_name = '/niryo_robot_commander/robot_action' + self.__robot_action_server_client = actionlib.SimpleActionClient(self.__robot_action_server_name, + RobotMoveAction) + + def __del__(self): + del self + + @classmethod + def wait_for_nodes_initialization(cls, simulation_mode=False): + params_checked = [ + '/niryo_robot_poses_handlers/initialized', + '/niryo_robot_commander/initialized', + ] + while not all([rospy.has_param(param) for param in params_checked]): + rospy.sleep(0.1) + if simulation_mode: + rospy.sleep(1) # Waiting to be sure Gazebo is open + + # -- Publishers + # Blockly + def highlight_block(self, block_id): + msg = String() + msg.data = block_id + self.__highlight_block_publisher.publish(msg) + + def break_point(self): + import sys + + msg = Int32() + msg.data = 1 + self.__break_point_publisher.publish(msg) + + # Close program + sys.exit() + + # -- Subscribers callbacks + + def __callback_sub_joint_states(self, joint_states): + self.__joints = list(joint_states.position[:6]) + + def __callback_sub_robot_state(self, pose): + self.__pose = pose + + def __callback_sub_learning_mode(self, learning_mode): + self.__learning_mode_on = learning_mode.data + + def __callback_sub_current_tool_id(self, msg): + self.__current_tool_id = msg.data + + def __callback_sub_hardware_status(self, hw_status): + self.__hw_status = hw_status + + def __callback_sub_digital_io_state(self, digital_io_state): + self.__digital_io_state = digital_io_state + + def __callback_sub_stream_video(self, compressed_image_message): + self.__compressed_image_message = compressed_image_message + + def __callback_camera_intrinsics(self, camera_info_message): + self.__camera_intrinsics_message = camera_info_message + + def __callback_sub_conveyors_feedback(self, conveyors_feedback): + self.__conveyors_feedback = conveyors_feedback + + # -- Service & Action executors + def __call_service(self, service_name, service_msg_type, *args): + """ + Wait for the service called service_name + Then call the service with args + + :param service_name: + :param service_msg_type: + :param args: Tuple of arguments + :raises NiryoRosWrapperException: Timeout during waiting of services + :return: Response + """ + # Connect to service + try: + rospy.wait_for_service(service_name, self.__service_timeout) + except rospy.ROSException as e: + raise NiryoRosWrapperException(e) + + # Call service + try: + service = rospy.ServiceProxy(service_name, service_msg_type) + response = service(*args) + return response + except rospy.ServiceException as e: + raise NiryoRosWrapperException(e) + + def __execute_robot_move_action(self, goal): + # Connect to server + if not self.__robot_action_server_client.wait_for_server(rospy.Duration(self.__action_connection_timeout)): + rospy.logwarn("ROS Wrapper - Failed to connect to Robot action server") + + raise NiryoRosWrapperException('Action Server is not up : {}'.format(self.__robot_action_server_name)) + + # Send goal and check response + goal_state, response = self.__send_goal_and_wait_for_completed(goal) + + if response.status == CommandStatus.GOAL_STILL_ACTIVE: + rospy.loginfo("ROS Wrapper - Command still active: try to stop it") + self.__robot_action_server_client.cancel_goal() + self.__robot_action_server_client.stop_tracking_goal() + rospy.sleep(0.2) + rospy.loginfo("ROS Wrapper - Trying to resend command ...") + goal_state, response = self.__send_goal_and_wait_for_completed(goal) + + if goal_state != GoalStatus.SUCCEEDED: + self.__robot_action_server_client.stop_tracking_goal() + + if goal_state == GoalStatus.REJECTED: + raise NiryoRosWrapperException('Goal has been rejected : {}'.format(response.message)) + elif goal_state == GoalStatus.ABORTED: + raise NiryoRosWrapperException('Goal has been aborted : {}'.format(response.message)) + elif goal_state != GoalStatus.SUCCEEDED: + raise NiryoRosWrapperException('Error when processing goal : {}'.format(response.message)) + + return response.status, response.message + + def __send_goal_and_wait_for_completed(self, goal): + self.__robot_action_server_client.send_goal(goal) + + if not self.__robot_action_server_client.wait_for_result(timeout=rospy.Duration(self.__action_execute_timeout)): + self.__robot_action_server_client.cancel_goal() + self.__robot_action_server_client.stop_tracking_goal() + raise NiryoRosWrapperException('Action Server timeout : {}'.format(self.__robot_action_server_name)) + + goal_state = self.__robot_action_server_client.get_state() + response = self.__robot_action_server_client.get_result() + + return goal_state, response + + # --- Functions interface + def __classic_return_w_check(self, result): + self.__check_result_status(result) + return result.status, result.message + + @staticmethod + def __check_result_status(result): + if result.status < 0: + raise NiryoRosWrapperException("Error Code : {}\nMessage : {}".format(result.status, result.message)) + + @staticmethod + def return_success(message=""): + return CommandStatus.SUCCESS, message + + # -- Main Purpose + def request_new_calibration(self): + """ + Call service to set the request calibration value. If failed, raise NiryoRosWrapperException. + + :return: status, message + :rtype: (int, str) + """ + try: + return self.__call_service('/niryo_robot/joints_interface/request_new_calibration', Trigger) + except rospy.ROSException as e: + raise NiryoRosWrapperException(str(e)) + + def calibrate_auto(self): + """ + Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException + + :return: status, message + :rtype: (int, str) + """ + return self.__calibrate(calib_type_int=1) + + def calibrate_manual(self): + """ + Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException + + :return: status, message + :rtype: (int, str) + """ + return self.__calibrate(calib_type_int=2) + + def __calibrate(self, calib_type_int): + """ + Call service to calibrate motors then wait for its end. If failed, raise NiryoRosWrapperException + + :param calib_type_int: 1 for auto-calibration & 2 for manual calibration + :return: status, message + :rtype: (int, str) + """ + hw_status = rospy.wait_for_message('/niryo_robot_hardware_interface/hardware_status', + HardwareStatus, timeout=5) + if not hw_status.calibration_needed: + return self.return_success("Calibration not needed") + + result = self.__call_service('/niryo_robot/joints_interface/calibrate_motors', + SetInt, calib_type_int) + self.__check_result_status(result) + # Wait until calibration start + rospy.sleep(0.2) + calibration_finished = False + while not calibration_finished: + try: + hw_status = rospy.wait_for_message('/niryo_robot_hardware_interface/hardware_status', + HardwareStatus, timeout=5) + if not (hw_status.calibration_needed or hw_status.calibration_in_progress): + calibration_finished = True + else: + rospy.sleep(0.1) + except rospy.ROSException as e: + raise NiryoRosWrapperException(str(e)) + # Little delay to be sure calibration is over + rospy.sleep(0.5) + return result.status, result.message + + def get_learning_mode(self): + """ + Use /niryo_robot/learning_mode/state topic subscriber to get learning mode status + + :return: ``True`` if activate else ``False`` + :rtype: bool + """ + timeout = rospy.get_time() + 2.0 + while self.__learning_mode_on is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException('Timeout: could not get learning mode ' + '(/niryo_robot/learning_mode/state topic)') + return self.__learning_mode_on + + def set_learning_mode(self, set_bool): + """ + Call service to set_learning_mode according to set_bool. If failed, raise NiryoRosWrapperException + + :param set_bool: ``True`` to activate, ``False`` to deactivate + :type set_bool: bool + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot/learning_mode/activate', + SetBool, set_bool) + rospy.sleep(0.1) + return self.__classic_return_w_check(result) + + def set_arm_max_velocity(self, percentage): + """ + Set relative max velocity (in %) + + :param percentage: Percentage of max velocity + :type percentage: int + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot_commander/set_max_velocity_scaling_factor', + SetInt, percentage) + return self.__classic_return_w_check(result) + + # - Useful functions + @staticmethod + def wait(time_sleep): + rospy.sleep(time_sleep) + + # -- Move + + # - Pose + + def get_joints(self): + """ + Use /joint_states topic to get joints status + + :return: list of joints value + :rtype: list[float] + """ + timeout = rospy.get_time() + 2.0 + while self.__joints is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException('Timeout: could not get joints (/joint_states topic)') + return self.__joints + + def get_pose(self): + """ + Use /niryo_robot/robot_state topic to get pose status + + :return: RobotState object (position.x/y/z && rpy.roll/pitch/yaw && orientation.x/y/z/w) + :rtype: RobotState + """ + timeout = rospy.get_time() + 2.0 + while self.__pose is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException('Timeout: could not get pose (/niryo_robot/robot_state topic)') + return self.__pose + + def get_pose_as_list(self): + """ + Use /niryo_robot/robot_state topic to get pose status + + :return: list corresponding to [x, y, z, roll, pitch, yaw] + :rtype: list[float] + """ + p = self.get_pose() + return [p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw] + + def move_joints(self, j1, j2, j3, j4, j5, j6): + """ + Execute Move joints action + + :param j1: + :type j1: float + :param j2: + :type j2: float + :param j3: + :type j3: float + :param j4: + :type j4: float + :param j5: + :type j5: float + :param j6: + :type j6: float + :return: status, message + :rtype: (int, str) + """ + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.JOINTS + goal.cmd.arm_cmd.joints = [j1, j2, j3, j4, j5, j6] + return self.__execute_robot_move_action(goal) + + def move_to_sleep_pose(self): + """ + Move to Sleep pose which allows the user to activate the learning mode without the risk + of the robot hitting something because of gravity + + :return: status, message + :rtype: (int, str) + """ + return self.move_joints(0.0, 0.50, -1.25, 0.0, 0.0, 0.0) + + def move_pose(self, x, y, z, roll, pitch, yaw): + """ + Move robot end effector pose to a (x, y, z, roll, pitch, yaw) pose. + + :param x: + :type x: float + :param y: + :type y: float + :param z: + :type z: float + :param roll: + :type roll: float + :param pitch: + :type pitch: float + :param yaw: + :type yaw: float + :return: status, message + :rtype: (int, str) + """ + + return self.__move_pose_with_cmd(MoveCommandType.POSE, x, y, z, roll, pitch, yaw) + + def move_pose_saved(self, pose_name): + """ + Move robot end effector pose to a pose saved + + :param pose_name: + :type pose_name: str + :return: status, message + :rtype: (int, str) + """ + x, y, z, roll, pitch, yaw = self.get_pose_saved(pose_name) + return self.__move_pose_with_cmd(MoveCommandType.POSE, x, y, z, roll, pitch, yaw) + + def __move_pose_with_cmd(self, cmd_type, *pose): + """ + Execute Move pose action + + :param cmd_type: Command Type + :type cmd_type: MoveCommandType -> POSE, LINEAR_POSE + :param pose: tuple corresponding to x, y, z, roll, pitch, yaw + :return: status, message + :rtype: (int, str) + """ + x, y, z, roll, pitch, yaw = pose + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = cmd_type + goal.cmd.arm_cmd.position.x = x + goal.cmd.arm_cmd.position.y = y + goal.cmd.arm_cmd.position.z = z + goal.cmd.arm_cmd.rpy.roll = roll + goal.cmd.arm_cmd.rpy.pitch = pitch + goal.cmd.arm_cmd.rpy.yaw = yaw + return self.__execute_robot_move_action(goal) + + def shift_pose(self, axis, value): + """ + Execute Shift pose action + + :param axis: Value of RobotAxis enum corresponding to where the shift happens + :type axis: ShiftPose + :param value: shift value + :type value: float + :return: status, message + :rtype: (int, str) + """ + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.SHIFT_POSE + goal.cmd.arm_cmd.shift.axis_number = axis + goal.cmd.arm_cmd.shift.value = value + return self.__execute_robot_move_action(goal) + + def move_linear_pose(self, x, y, z, roll, pitch, yaw): + return self.__move_pose_with_cmd(MoveCommandType.LINEAR_POSE, x, y, z, roll, pitch, yaw) + + def set_jog_use_state(self, state): + """ + Turn jog controller On or Off + + :param state: ``True`` to turn on, else ``False`` + :type state: bool + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot/jog_interface/enable', SetBool, state) + return self.__classic_return_w_check(result) + + def jog_joints_shift(self, shift_values): + """ + Make a Jog on joints position + + :param shift_values: list corresponding to the shift to be applied to each joint + :type shift_values: list[float] + :return: status, message + :rtype: (int, str) + """ + return self.__jog_shift(JogShiftRequest.JOINTS_SHIFT, shift_values) + + def jog_pose_shift(self, shift_values): + """ + Make a Jog on end-effector position + + :param shift_values: list corresponding to the shift to be applied to each joint + :type shift_values: list[float] + :return: status, message + :rtype: (int, str) + """ + return self.__jog_shift(JogShiftRequest.POSE_SHIFT, shift_values) + + def __jog_shift(self, cmd, shift_values): + result = self.__call_service('/niryo_robot/jog_interface/jog_shift_commander', JogShift, cmd, shift_values) + + return self.__classic_return_w_check(result) + + def forward_kinematics(self, j1, j2, j3, j4, j5, j6): + """ + Compute forward kinematics + + :param j1: + :type j1: float + :param j2: + :type j2: float + :param j3: + :type j3: float + :param j4: + :type j4: float + :param j5: + :type j5: float + :param j6: + :type j6: float + :return: list corresponding to [x, y, z, roll, pitch, yaw] + :rtype: list[float] + """ + joints = [j1, j2, j3, j4, j5, j6] + result = self.__call_service('/niryo_robot/kinematics/forward', GetFK, joints) + return self.robot_state_msg_to_list(result.pose) + + def inverse_kinematics(self, x, y, z, roll, pitch, yaw): + """ + Compute inverse kinematics + + :param x: + :type x: float + :param y: + :type y: float + :param z: + :type z: float + :param roll: + :type roll: float + :param pitch: + :type pitch: float + :param yaw: + :type yaw: float + :return: list of joints value + :rtype: list[float] + """ + state = RobotState() + state.position = Point(x, y, z) + state.rpy = RPY(roll, pitch, yaw) + result = self.__call_service('/niryo_robot/kinematics/inverse', GetIK, state) + if not result.success: + raise NiryoRosWrapperException("Failed to perform invert kinematic") + + return result.joints + + # - Saved Pose + + def get_pose_saved(self, pose_name): + """ + Get saved pose from robot intern storage + Will raise error if position does not exist + + :param pose_name: Pose Name + :type pose_name: str + :return: x, y, z, roll, pitch, yaw + :rtype: tuple[float] + """ + from niryo_robot_poses_handlers.srv import GetPose + + result = self.__call_service('/niryo_robot_poses_handlers/get_pose', GetPose, pose_name) + self.__check_result_status(result) + pose = result.pose + x, y, z = pose.position.x, pose.position.y, pose.position.z + roll, pitch, yaw = pose.rpy.roll, pose.rpy.pitch, pose.rpy.yaw + return x, y, z, roll, pitch, yaw + + def save_pose(self, name, x, y, z, roll, pitch, yaw): + """ + Save pose in robot's memory + + :param name: + :type name: str + :param x: + :type x: float + :param y: + :type y: float + :param z: + :type z: float + :param roll: + :type roll: float + :param pitch: + :type pitch: float + :param yaw: + :type yaw: float + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest + + req = ManagePoseRequest() + req.cmd = ManagePoseRequest.SAVE + req.pose.name = name + req.pose.position = Point(x, y, z) + req.pose.rpy = RPY(roll, pitch, yaw) + + result = self.__call_service('/niryo_robot_poses_handlers/manage_pose', + ManagePose, req) + return self.__classic_return_w_check(result) + + def delete_pose(self, name): + """ + Send delete command to the pose manager service + + :param name: + :type name: str + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManagePose, ManagePoseRequest + + req = ManagePoseRequest() + req.cmd = ManagePoseRequest.DELETE + req.pose.name = name + result = self.__call_service('/niryo_robot_poses_handlers/manage_pose', + ManagePose, req) + return self.__classic_return_w_check(result) + + def get_saved_pose_list(self): + """ + Ask the pose manager service which positions are available + + :return: list of positions name + :rtype: list[str] + """ + result = self.__call_service('/niryo_robot_poses_handlers/get_pose_list', + GetNameDescriptionList) + return result.name_list + + # - Pick/Place + + def pick_from_pose(self, x, y, z, roll, pitch, yaw): + """ + Execute a picking from a position. If an error happens during the movement, error will be raised. + A picking is described as : + - going over the object + - going down until height = z + - grasping with tool + - going back over the object + + :param x: + :type x: float + :param y: + :type y: float + :param z: + :type z: float + :param roll: + :type roll: float + :param pitch: + :type pitch: float + :param yaw: + :type yaw: float + :return: status, message + :rtype: (int, str) + """ + self.release_with_tool() + + self.move_pose(x, y, z + 0.05, roll, pitch, yaw) + self.move_pose(x, y, z, roll, pitch, yaw) + + self.grasp_with_tool() + + return self.move_pose(x, y, z + 0.05, roll, pitch, yaw) + + def place_from_pose(self, x, y, z, roll, pitch, yaw): + """ + Execute a placing from a position. If an error happens during the movement, error will be raised. + A placing is described as : + - going over the place + - going down until height = z + - releasing the object with tool + - going back over the place + + :param x: + :type x: float + :param y: + :type y: float + :param z: + :type z: float + :param roll: + :type roll: float + :param pitch: + :type pitch: float + :param yaw: + :type yaw: float + :return: status, message + :rtype: (int, str) + """ + self.move_pose(x, y, z + 0.05, roll, pitch, yaw) + self.move_pose(x, y, z, roll, pitch, yaw) + + self.release_with_tool() + + return self.move_pose(x, y, z + 0.05, roll, pitch, yaw) + + def pick_and_place(self, pick_pose, place_pose, dist_smoothing=0.0): + """ + Execute a pick and place. If an error happens during the movement, error will be raised. + -> Args param is for development purposes + + :param pick_pose: + :type pick_pose: list[float] + :param place_pose: + :type place_pose: list[float] + :param dist_smoothing: Distance from waypoints before smoothing trajectory + :type dist_smoothing: float + :return: status, message + :rtype: (int, str) + """ + self.release_with_tool() + + pick_pose_high = self.copy_position_with_offsets(pick_pose, z_offset=0.05) + place_pose_high = self.copy_position_with_offsets(place_pose, z_offset=0.05) + + self.execute_trajectory_from_poses([pick_pose_high, pick_pose], dist_smoothing) + self.grasp_with_tool() + + self.execute_trajectory_from_poses([pick_pose_high, place_pose_high, place_pose], dist_smoothing) + + self.release_with_tool() + + return self.move_pose(*place_pose_high) + + # - Trajectories + + def get_trajectory_saved(self, trajectory_name): + """ + Get saved trajectory from robot intern storage + Will raise error if position does not exist + + :param trajectory_name: + :type trajectory_name: str + :raises NiryoRosWrapperException: If trajectory file doesn't exist + :return: list of [x, y, z, qx, qy, qz, qw] + :rtype: list[list[float]] + """ + from niryo_robot_poses_handlers.srv import GetTrajectory + + result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory', + GetTrajectory, trajectory_name) + self.__check_result_status(result) + list_poses = result.list_poses + list_poses_raw = [] + for p in list_poses: + pose_raw = [p.position.x, p.position.y, p.position.z, + p.orientation.x, p.orientation.y, p.orientation.z, p.orientation.w] + list_poses_raw.append(pose_raw) + return list_poses_raw + + def execute_trajectory_saved(self, trajectory_name): + """ + Execute trajectory saved in Robot internal storage + + :param trajectory_name: + :type trajectory_name: str + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import GetTrajectory + + result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory', + GetTrajectory, trajectory_name) + list_poses = result.list_poses + return self.__execute_trajectory_from_formatted_poses(list_poses) + + def execute_trajectory_from_poses(self, list_poses_raw, dist_smoothing=0.0): + """ + Execute trajectory from a list of pose + + :param list_poses_raw: list of [x, y, z, qx, qy, qz, qw] + :type list_poses_raw: list[list[float]] + :param dist_smoothing: Distance from waypoints before smoothing trajectory + :type dist_smoothing: float + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.transform_functions import quaternion_from_euler + + if len(list_poses_raw) < 2: + return "Give me at least 2 points" + list_poses = [] + for pose in list_poses_raw: + point = Point(*pose[:3]) + angle = pose[3:] + if len(angle) == 3: + quaternion = quaternion_from_euler(*angle) + else: + quaternion = angle + orientation = Quaternion(*quaternion) + list_poses.append(Pose(point, orientation)) + return self.__execute_trajectory_from_formatted_poses(list_poses, dist_smoothing) + + def save_trajectory(self, trajectory_name, list_poses_raw): + """ + Save trajectory object and send it to the trajectory manager service + + :param trajectory_name: name which will have the trajectory + :type trajectory_name: str + :param list_poses_raw: list of [x, y, z, qx, qy, qz, qw] + :type list_poses_raw: list[list[float]] + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest + + req = ManageTrajectoryRequest() + req.cmd = ManageTrajectoryRequest.SAVE + req.name = trajectory_name + list_poses = [] + for pose in list_poses_raw: + list_poses.append(Pose(Point(*pose[:3]), Quaternion(*pose[3:]))) + req.poses = list_poses + + result = self.__call_service('/niryo_robot_poses_handlers/manage_trajectory', + ManageTrajectory, req) + return self.__classic_return_w_check(result) + + def draw_spiral(self, radius, angle_step, total_steps): + """ + Call robot action service to draw a spiral trajectory + + :param radius: maximum distance between the spiral and the starting point + :param angle_step: rotation between each waypoint creation + :param total_steps: number of waypoints from the beginning to the end of the spiral + :return: status, message + :rtype: (int, str) + """ + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.DRAW_SPIRAL + goal.cmd.arm_cmd.args = [str(radius), str(angle_step), str(total_steps)] + return self.__execute_robot_move_action(goal) + + def __execute_trajectory_from_formatted_poses(self, list_poses, dist_smoothing=0.0): + + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.MOVE_ONLY + goal.cmd.arm_cmd.cmd_type = MoveCommandType.EXECUTE_TRAJ + goal.cmd.arm_cmd.list_poses = list_poses + goal.cmd.arm_cmd.dist_smoothing = dist_smoothing + return self.__execute_robot_move_action(goal) + + def delete_trajectory(self, trajectory_name): + """ + Send delete command to the trajectory manager service + + :param trajectory_name: name + :type trajectory_name: str + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManageTrajectory, ManageTrajectoryRequest + req = ManageTrajectoryRequest() + req.cmd = ManageTrajectoryRequest.DELETE + req.name = trajectory_name + result = self.__call_service('/niryo_robot_poses_handlers/manage_trajectory', + ManageTrajectory, req) + return self.__classic_return_w_check(result) + + def get_saved_trajectory_list(self): + """ + Ask the pose trajectory service which trajectories are available + + :return: list of trajectory name + :rtype: list[str] + """ + result = self.__call_service('/niryo_robot_poses_handlers/get_trajectory_list', + GetNameDescriptionList) + return result.name_list + + # - Useful Pose functions + + @staticmethod + def copy_position_with_offsets(copied_pose, x_offset=0.0, y_offset=0.0, z_offset=0.0): + """ + Copy a position and add offset to some coordinates + """ + new_pose = [v for v in copied_pose] # Copying all values + new_pose[0] += x_offset # adjust x + new_pose[1] += y_offset # adjust y + new_pose[2] += z_offset # adjust z + return new_pose + + @staticmethod + def list_to_robot_state_msg(x, y, z, roll, pitch, yaw): + """ + Translate (x, y, z, roll, pitch, yaw) to a RobotState Object + """ + r = RobotState() + r.position.x = x + r.position.y = y + r.position.z = z + r.rpy.roll = roll + r.rpy.pitch = pitch + r.rpy.yaw = yaw + return r + + @staticmethod + def robot_state_msg_to_list(robot_state): + """ + Translate a RobotState Object to (x, y, z, roll, pitch, yaw) + """ + return (robot_state.position.x, robot_state.position.y, robot_state.position.z, + robot_state.rpy.roll, robot_state.rpy.pitch, robot_state.rpy.yaw) + + # -- Tools + + def get_current_tool_id(self): + """ + Use /niryo_robot_hardware/tools/current_id topic to get current tool id + + :return: Tool Id + :rtype: ToolID + """ + timeout = rospy.get_time() + 2.0 + while self.__current_tool_id is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not get current tool id (/niryo_robot_tools/current_id topic)') + return self.__current_tool_id + + def update_tool(self): + """ + Call service niryo_robot_tools/update_tool to update tool + + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot_tools/update_tool', Trigger) + return self.__classic_return_w_check(result) + + def grasp_with_tool(self, pin_id=-1): + """ + Grasp with the tool linked to tool_id. + This action correspond to + - Close gripper for Grippers + - Pull Air for Vacuum pump + - Activate for Electromagnet + + :param pin_id: [Only required for electromagnet] Pin ID of the electromagnet + :type pin_id: PinID + :return: status, message + :rtype: (int, str) + """ + tool_id = self.get_current_tool_id() + + if tool_id in (ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4): + return self.close_gripper() + elif tool_id == ToolID.VACUUM_PUMP_1: + return self.pull_air_vacuum_pump() + elif tool_id == ToolID.ELECTROMAGNET_1: + return self.activate_electromagnet(pin_id) + + def release_with_tool(self, pin_id=-1): + """ + Release with the tool associated to tool_id. + This action correspond to + - Open gripper for Grippers + - Push Air for Vacuum pump + - Deactivate for Electromagnet + + :param pin_id: [Only required for electromagnet] Pin ID of the electromagnet + :type pin_id: PinID + :return: status, message + :rtype: (int, str) + """ + tool_id = self.get_current_tool_id() + + if tool_id in (ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4): + return self.open_gripper() + elif tool_id == ToolID.VACUUM_PUMP_1: + return self.push_air_vacuum_pump() + elif tool_id == ToolID.ELECTROMAGNET_1: + return self.deactivate_electromagnet(pin_id) + + # - Gripper + def open_gripper(self, speed=500): + """ + Open gripper with a speed 'speed' + + :param speed: Default -> 500 + :type speed: int + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_gripper(speed, "open_gripper") + + def close_gripper(self, speed=500): + """ + Close gripper with a speed 'speed' + + :param speed: Default -> 500 + :type speed: int + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_gripper(speed, "close_gripper") + + def __deal_with_gripper(self, speed, command_str): + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.TOOL_ONLY + goal.cmd.tool_cmd.tool_id = self.get_current_tool_id() + goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str] + if "open" in command_str: + goal.cmd.tool_cmd.gripper_open_speed = speed + else: + goal.cmd.tool_cmd.gripper_close_speed = speed + return self.__execute_robot_move_action(goal) + + # - Vacuum + def pull_air_vacuum_pump(self): + """ + Pull air + + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_vacuum_pump("pull_air_vacuum_pump") + + def push_air_vacuum_pump(self): + """ + Pull air + + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_vacuum_pump("push_air_vacuum_pump") + + def __deal_with_vacuum_pump(self, command_str): + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.TOOL_ONLY + goal.cmd.tool_cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = ToolID.VACUUM_PUMP_1 + goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str] + return self.__execute_robot_move_action(goal) + + # - Electromagnet + def setup_electromagnet(self, pin_id): + """ + Setup electromagnet on pin + + :param pin_id: Pin ID + :type pin_id: PinID + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot_tools/equip_electromagnet', + SetInt, ToolID.ELECTROMAGNET_1) + + if result.status != CommandStatus.SUCCESS: + return result.status, result.message + + return self.__deal_with_electromagnet(pin_id, 'setup_digital_io') + + def activate_electromagnet(self, pin_id): + """ + Activate electromagnet associated to electromagnet_id on pin_id + + :param pin_id: Pin ID + :type pin_id: PinID + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_electromagnet(pin_id, 'activate_digital_io') + + def deactivate_electromagnet(self, pin_id): + """ + Deactivate electromagnet associated to electromagnet_id on pin_id + + :param pin_id: Pin ID + :type pin_id: PinID + :return: status, message + :rtype: (int, str) + """ + return self.__deal_with_electromagnet(pin_id, 'deactivate_digital_io') + + def __deal_with_electromagnet(self, pin, command_str): + goal = RobotMoveGoal() + goal.cmd.cmd_type = RobotCommand.TOOL_ONLY + goal.cmd.tool_cmd.cmd_type = MoveCommandType.TOOL + goal.cmd.tool_cmd.tool_id = ToolID.ELECTROMAGNET_1 + goal.cmd.tool_cmd.cmd_type = self.__tool_command_list[command_str] + goal.cmd.tool_cmd.gpio = pin + return self.__execute_robot_move_action(goal) + + # - Hardware + + def set_pin_mode(self, pin_id, pin_mode): + """ + Set pin number pin_id to mode pin_mode + + :param pin_id: + :type pin_id: PinID + :param pin_mode: + :type pin_mode: PinMode + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot_rpi/set_digital_io_mode', + SetDigitalIO, pin_id, pin_mode) + return self.__classic_return_w_check(result) + + def digital_write(self, pin_id, digital_state): + """ + Set pin_id state to pin_state + + :param pin_id: + :type pin_id: PinID + :param digital_state: + :type digital_state: PinState + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot_rpi/set_digital_io_state', + SetDigitalIO, pin_id, digital_state) + return self.__classic_return_w_check(result) + + def digital_read(self, pin_id): + """ + Read pin number pin_id and return its state + + :param pin_id: + :type pin_id: PinID + :return: state + :rtype: PinState + """ + result = self.__call_service('/niryo_robot_rpi/get_digital_io', + GetDigitalIO, pin_id) + self.__check_result_status(result) + + if result.state == 0: + return PinState.LOW + else: + return PinState.HIGH + + def get_hardware_status(self): + """ + Get hardware status : Temperature, Hardware version, motors names & types ... + + :return: Infos contains in a HardwareStatus object (see niryo_robot_msgs) + :rtype: HardwareStatus + """ + timeout = rospy.get_time() + 2.0 + while self.__hw_status is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not get hardware status (/niryo_robot_hardware_interface/hardware_status topic)') + return self.__hw_status + + def get_digital_io_state(self): + """ + Get Digital IO state : Names, modes, states + + :return: Infos contains in a DigitalIOState object (see niryo_robot_msgs) + :rtype: DigitalIOState + """ + timeout = rospy.get_time() + 2.0 + while self.__digital_io_state is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not get digital io state (/niryo_robot_rpi/digital_io_state topic)') + return self.__digital_io_state + + # - Conveyor + + def set_conveyor(self): + """ + Scan for conveyor on can bus. If conveyor detected, return the conveyor ID + + :raises NiryoRosWrapperException: + :return: ID + :rtype: ConveyorID + """ + req = SetConveyorRequest() + req.cmd = SetConveyorRequest.ADD + result = self.__call_service('/niryo_robot/conveyor/ping_and_set_conveyor', + SetConveyor, req) + + # If no new conveyor is detected, it should not crash + if result.status in [CommandStatus.NO_CONVEYOR_LEFT, CommandStatus.NO_CONVEYOR_FOUND]: + rospy.logwarn_throttle(1, 'ROS Wrapper - No new conveyor found') + else: + self.__check_result_status(result) + return result.id + + def unset_conveyor(self, conveyor_id): + """ + Remove specific conveyor. + + :param conveyor_id: Basically, ConveyorID.ONE or ConveyorID.TWO + :type conveyor_id: ConveyorID + :raises NiryoRosWrapperException: + :return: status, message + :rtype: (int, str) + """ + req = SetConveyorRequest() + req.cmd = SetConveyorRequest.REMOVE + req.id = conveyor_id + result = self.__call_service('/niryo_robot/conveyor/ping_and_set_conveyor', + SetConveyor, req) + return self.__classic_return_w_check(result) + + def control_conveyor(self, conveyor_id, bool_control_on, speed, direction): + """ + Control conveyor associated to conveyor_id. + Then stops it if bool_control_on is False, else refreshes it speed and direction + + :param conveyor_id: ConveyorID.ID_1 or ConveyorID.ID_2 + :type conveyor_id: ConveyorID + :param bool_control_on: True for activate, False for deactivate + :type bool_control_on: bool + :param speed: target speed + :type speed: int + :param direction: Target direction + :type direction: ConveyorDirection + :return: status, message + :rtype: (int, str) + """ + result = self.__call_service('/niryo_robot/conveyor/control_conveyor', + ControlConveyor, conveyor_id, bool_control_on, speed, direction) + return self.__classic_return_w_check(result) + + def get_conveyors_feedback(self): + """ + Give conveyors feedback + + :return: List[ID, connection_state, running, speed, direction] + :rtype: List(int, bool, bool, int, int) + """ + timeout = rospy.get_time() + 2.0 + while self.__conveyors_feedback is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not get conveyor 1 feedback (/niryo_robot/conveyor/feedback topic)') + fb = self.__conveyors_feedback + return fb.conveyors + + # - Vision + + def get_compressed_image(self): + """ + Get last stream image in a compressed format + + :return: string containing a JPEG compressed image + :rtype: str + """ + timeout = rospy.get_time() + 2.0 + while self.__compressed_image_message is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not video stream message (/niryo_robot_vision/compressed_video_stream topic)') + return self.__compressed_image_message.data + + def get_target_pose_from_rel(self, workspace_name, height_offset, x_rel, y_rel, yaw_rel): + """ + Given a pose (x_rel, y_rel, yaw_rel) relative to a workspace, this function + returns the robot pose in which the current tool will be able to pick an object at this pose. + The height_offset argument (in m) defines how high the tool will hover over the workspace. If height_offset = 0, + the tool will nearly touch the workspace. + + :param workspace_name: name of the workspace + :type workspace_name: str + :param height_offset: offset between the workspace and the target height + :type height_offset: float + :param x_rel: + :type x_rel: float + :param y_rel: + :type y_rel: float + :param yaw_rel: + :type yaw_rel: float + :return: target_pose + :rtype: RobotState + """ + from niryo_robot_poses_handlers.srv import GetTargetPose, GetTargetPoseRequest + + result = self.__call_service('/niryo_robot_poses_handlers/get_target_pose', GetTargetPose, + workspace_name, GetTargetPoseRequest.GRIP_AUTO, self.get_current_tool_id(), + height_offset, x_rel, y_rel, yaw_rel) + self.__check_result_status(result) + return result.target_pose + + def get_target_pose_from_cam(self, workspace_name, height_offset, shape, color): + """ + First detects the specified object using the camera and then returns the robot pose in which the object can + be picked with the current tool + + :param workspace_name: name of the workspace + :type workspace_name: str + :param height_offset: offset between the workspace and the target height + :type height_offset: float + :param shape: shape of the target + :type shape: ObjectShape + :param color: color of the target + :type color: ObjectColor + :return: object_found, object_pose, object_shape, object_color + :rtype: (bool, RobotState, str, str) + """ + object_found, rel_pose, obj_shape, obj_color = self.detect_object(workspace_name, shape, color) + if not object_found: + return False, None, "", "" + obj_pose = self.get_target_pose_from_rel( + workspace_name, height_offset, rel_pose.x, rel_pose.y, rel_pose.yaw) + return True, obj_pose, obj_shape, obj_color + + def vision_pick_w_obs_joints(self, workspace_name, height_offset, shape, color, observation_joints): + """ + Move Joints to observation_joints, then execute a vision pick + """ + self.move_joints(*observation_joints) + return self.vision_pick(workspace_name, height_offset, shape, color) + + def vision_pick_w_obs_pose(self, workspace_name, height_offset, shape, color, observation_pose_list): + """ + Move Pose to observation_pose, then execute a vision pick + """ + self.move_pose(*observation_pose_list) + return self.vision_pick(workspace_name, height_offset, shape, color) + + def vision_pick(self, workspace_name, height_offset, shape, color): + """ + Picks the specified object from the workspace. This function has multiple phases: + 1. detect object using the camera + 2. prepare the current tool for picking + 3. approach the object + 4. move down to the correct picking pose + 5. actuate the current tool + 6. lift the object + + :param workspace_name: name of the workspace + :type workspace_name: str + :param height_offset: offset between the workspace and the target height + :type height_offset: float + :param shape: shape of the target + :type shape: ObjectShape + :param color: color of the target + :type color: ObjectColor + :return: object_found, object_shape, object_color + :rtype: (bool, ObjectShape, ObjectColor) + """ + object_found, rel_pose, obj_shape, obj_color = self.detect_object(workspace_name, shape, color) + if not object_found: + return False, "", "" + + pick_pose = self.get_target_pose_from_rel( + workspace_name, height_offset, rel_pose.x, rel_pose.y, rel_pose.yaw) + approach_pose = self.get_target_pose_from_rel( + workspace_name, height_offset + 0.05, rel_pose.x, rel_pose.y, rel_pose.yaw) + + self.release_with_tool() + + self.move_pose(*self.robot_state_msg_to_list(approach_pose)) + self.move_pose(*self.robot_state_msg_to_list(pick_pose)) + + self.grasp_with_tool() + + self.move_pose(*self.robot_state_msg_to_list(approach_pose)) + return True, obj_shape, obj_color + + def move_to_object(self, workspace, height_offset, shape, color): + """ + Same as `get_target_pose_from_cam` but directly moves to this position + + :param workspace: name of the workspace + :type workspace: str + :param height_offset: offset between the workspace and the target height + :type height_offset: float + :param shape: shape of the target + :type shape: ObjectShape + :param color: color of the target + :type color: ObjectColor + :return: object_found, object_shape, object_color + :rtype: (bool, ObjectShape, ObjectColor) + """ + obj_found, obj_pose, obj_shape, obj_color = self.get_target_pose_from_cam( + workspace, height_offset, shape, color) + if not obj_found: + return False, "", "" + self.move_pose(*self.robot_state_msg_to_list(obj_pose)) + return True, obj_shape, obj_color + + def detect_object(self, workspace_name, shape, color): + """ + + :param workspace_name: name of the workspace + :type workspace_name: str + :param shape: shape of the target + :type shape: ObjectShape + :param color: color of the target + :type color: ObjectColor + :return: object_found, object_pose, object_shape, object_color + :rtype: (bool, RobotState, str, str) + """ + from niryo_robot_vision.srv import ObjDetection + + ratio = self.get_workspace_ratio(workspace_name) + response = self.__call_service("/niryo_robot_vision/obj_detection_rel", ObjDetection, + shape, color, ratio, False) + if response.status == CommandStatus.SUCCESS: + return True, response.obj_pose, response.obj_type, response.obj_color + elif response.status == CommandStatus.MARKERS_NOT_FOUND: + rospy.logwarn_throttle(1, 'ROS Wrapper - Markers Not Found') + elif response.status == CommandStatus.VIDEO_STREAM_NOT_RUNNING: + rospy.logwarn_throttle(1, 'Video Stream not running') + return False, None, "", "" + + def get_camera_intrinsics(self): + """ + Get calibration object: camera intrinsics, distortions coefficients + + :return: raw camera intrinsics, distortions coefficients + :rtype: (list, list) + """ + timeout = rospy.get_time() + 2.0 + while self.__camera_intrinsics_message is None: + rospy.sleep(0.05) + if rospy.get_time() > timeout: + raise NiryoRosWrapperException( + 'Timeout: could not video stream message (/niryo_robot_vision/camera_intrinsics topic)') + return self.__camera_intrinsics_message.K, self.__camera_intrinsics_message.D + + # - Workspace + def save_workspace_from_poses(self, name, list_poses_raw): + """ + Save workspace by giving the poses of the robot to point its 4 corners + with the calibration Tip. Corners should be in the good order + + :param name: workspace name + :type name: str + :param list_poses_raw: list of 4 corners pose + :type list_poses_raw: list[list] + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest + + list_poses = [self.list_to_robot_state_msg(*pose) for pose in list_poses_raw] + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.SAVE + req.workspace.name = name + req.workspace.poses = list_poses + result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace', + ManageWorkspace, req) + return self.__classic_return_w_check(result) + + def save_workspace_from_points(self, name, list_points_raw): + """ + Save workspace by giving the poses of its 4 corners in the good order + + :param name: workspace name + :type name: str + :param list_points_raw: list of 4 corners [x, y, z] + :type list_points_raw: list[list[float]] + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest + + list_points = [Point(*point) for point in list_points_raw] + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.SAVE_WITH_POINTS + req.workspace.name = name + req.workspace.points = list_points + result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace', + ManageWorkspace, req) + return self.__classic_return_w_check(result) + + def delete_workspace(self, name): + """ + Call workspace manager to delete a certain workspace + + :param name: workspace name + :type name: str + :return: status, message + :rtype: (int, str) + """ + from niryo_robot_poses_handlers.srv import ManageWorkspace, ManageWorkspaceRequest + + req = ManageWorkspaceRequest() + req.cmd = ManageWorkspaceRequest.DELETE + req.workspace.name = name + result = self.__call_service('/niryo_robot_poses_handlers/manage_workspace', + ManageWorkspace, req) + return self.__classic_return_w_check(result) + + def get_workspace_poses(self, name): + """ + Get the 4 workspace poses of the workspace called 'name' + + :param name: workspace name + :type name: str + :return: List of the 4 workspace poses + :rtype: list[list] + """ + from niryo_robot_poses_handlers.srv import GetWorkspaceRobotPoses + + result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_poses', GetWorkspaceRobotPoses, name) + self.__check_result_status(result) + + poses = result.poses + list_p_raw = [] + for p in poses: + pose = [p.position.x, p.position.y, p.position.z, p.rpy.roll, p.rpy.pitch, p.rpy.yaw] + list_p_raw.append(pose) + return list_p_raw + + def get_workspace_ratio(self, name): + """ + Give the length over width ratio of a certain workspace + + :param name: workspace name + :type name: str + :return: ratio + :rtype: float + """ + from niryo_robot_poses_handlers.srv import GetWorkspaceRatio + + result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_ratio', + GetWorkspaceRatio, name) + self.__check_result_status(result) + return result.ratio + + def get_workspace_list(self): + """ + Ask the workspace manager service names of the available workspace + + :return: list of workspaces name + :rtype: list[str] + """ + result = self.__call_service('/niryo_robot_poses_handlers/get_workspace_list', + GetNameDescriptionList) + return result.name_list diff --git a/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py new file mode 100644 index 000000000..e7c734311 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/src/niryo_robot_python_ros_wrapper/ros_wrapper_enums.py @@ -0,0 +1,209 @@ +from enum import Enum, unique + + +class ShiftPose: + def __init__(self): + pass + + AXIS_X = 0 + AXIS_Y = 1 + AXIS_Z = 2 + ROT_ROLL = 3 + ROT_PITCH = 4 + ROT_YAW = 5 + + +class ToolID: + """ + Tools IDs (need to match tools ids in niryo_robot_tools package) + """ + + def __init__(self): + pass + + NONE = 0 + # CALIBRATION_TIP = 1 + GRIPPER_1 = 11 + GRIPPER_2 = 12 + GRIPPER_3 = 13 + GRIPPER_4 = 14 + ELECTROMAGNET_1 = 30 + VACUUM_PUMP_1 = 31 + + +class PinMode: + """ + Pin Mode is either OUTPUT or INPUT + """ + + def __init__(self): + pass + + OUTPUT = 0 + INPUT = 1 + + +class PinState: + """ + Pin State is either LOW or HIGH + """ + + def __init__(self): + pass + + LOW = 0 + HIGH = 1 + + +class PinID: + """ + Pins ID + """ + + def __init__(self): + pass + + GPIO_1A = 2 + GPIO_1B = 3 + GPIO_1C = 16 + GPIO_2A = 26 + GPIO_2B = 19 + GPIO_2C = 6 + + SW_1 = 12 + SW_2 = 13 + + +# - Conveyor + +class ConveyorID: + def __init__(self): + pass + + NONE = 0 + ID_1 = 12 + ID_2 = 13 + + +class ConveyorDirection: + def __init__(self): + pass + + FORWARD = 1 + BACKWARD = -1 + + +# - Vision + +class ObjectColor: + def __init__(self): + pass + + RED = "RED" + GREEN = "GREEN" + BLUE = "BLUE" + ANY = "ANY" + + +class ObjectShape: + def __init__(self): + pass + + CIRCLE = "CIRCLE" + SQUARE = "SQUARE" + ANY = "ANY" + + +@unique +class CommandEnum(Enum): + """ + Enumeration of all commands used + """ + # Main purpose + CALIBRATE = 0 + SET_LEARNING_MODE = 1 + GET_LEARNING_MODE = 2 + SET_ARM_MAX_VELOCITY = 3 + SET_JOG_CONTROL = 4 + + # - Move + # Pose + + GET_JOINTS = 10 + GET_POSE = 11 + GET_POSE_QUAT = 12 + + MOVE_JOINTS = 20 + MOVE_POSE = 21 + SHIFT_POSE = 22 + + MOVE_LINEAR_POSE = 23 + + JOG_JOINTS = 25 + JOG_POSE = 26 + + FORWARD_KINEMATICS = 27 + INVERSE_KINEMATICS = 28 + + # Saved Pose + GET_POSE_SAVED = 50 + SAVE_POSE = 51 + DELETE_POSE = 52 + GET_SAVED_POSE_LIST = 53 + + # Pick & Place + + PICK_FROM_POSE = 60 + PLACE_FROM_POSE = 61 + PICK_AND_PLACE = 62 + + # Trajectories + GET_TRAJECTORY_SAVED = 80 + EXECUTE_TRAJECTORY_FROM_POSES = 81 + EXECUTE_TRAJECTORY_SAVED = 82 + SAVE_TRAJECTORY = 83 + DELETE_TRAJECTORY = 84 + GET_SAVED_TRAJECTORY_LIST = 85 + + # - Tools + UPDATE_TOOL = 120 + OPEN_GRIPPER = 121 + CLOSE_GRIPPER = 122 + PULL_AIR_VACUUM_PUMP = 123 + PUSH_AIR_VACUUM_PUMP = 124 + SETUP_ELECTROMAGNET = 125 + ACTIVATE_ELECTROMAGNET = 126 + DEACTIVATE_ELECTROMAGNET = 127 + GET_CURRENT_TOOL_ID = 128 + GRASP_WITH_TOOL = 129 + RELEASE_WITH_TOOL = 130 + + # - Hardware + SET_PIN_MODE = 150 + DIGITAL_WRITE = 151 + DIGITAL_READ = 152 + GET_DIGITAL_IO_STATE = 153 + GET_HARDWARE_STATUS = 154 + + # - Conveyor + SET_CONVEYOR = 180 + UNSET_CONVEYOR = 181 + CONTROL_CONVEYOR = 182 + GET_CONNECTED_CONVEYORS_ID = 183 + + # - Vision + GET_IMAGE_COMPRESSED = 200 + GET_TARGET_POSE_FROM_REL = 201 + GET_TARGET_POSE_FROM_CAM = 202 + + VISION_PICK = 203 + MOVE_TO_OBJECT = 205 + DETECT_OBJECT = 204 + + GET_CAMERA_INTRINSICS = 210 + + SAVE_WORKSPACE_FROM_POSES = 220 + SAVE_WORKSPACE_FROM_POINTS = 221 + DELETE_WORKSPACE = 222 + GET_WORKSPACE_RATIO = 223 + GET_WORKSPACE_LIST = 224 diff --git a/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py b/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py new file mode 100755 index 000000000..e7b6f04d4 --- /dev/null +++ b/niryo_robot_python_ros_wrapper/test/test_python_ros_wrapper.py @@ -0,0 +1,327 @@ +#!/usr/bin/env python + +import rospy + +import rostest +import unittest + +from niryo_robot_python_ros_wrapper import * + +import os +import shutil +import numpy as np +import math + +# Pins +list_pins = [PinID.GPIO_1A, PinID.GPIO_1B, PinID.GPIO_1C, PinID.GPIO_2A, PinID.GPIO_2B, PinID.GPIO_2C] + +# Some Poses +pose_1 = [0.25, -0.05, 0.2, 0.0, 0.7, 0.0] +pose_2 = [0.17, 0.15, 0.25, 0.0, 0.7, 0.0] +pose_3 = [0.15, 0.10, 0.2, 0.0, 0.7, 0.0] + +pose_q_1 = [0.25, 0.0, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2] +pose_q_2 = [0.17, 0.15, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2] +pose_q_3 = [0.15, 0.10, 0.2, 0, math.sqrt(2) / 2, 0, math.sqrt(2) / 2] + +position_dir = trajectory_dir = workspace_dir = None +simulation_mode = use_gripper_n_camera = None + + +def clean_folders(): + folders_list_raw = [position_dir, trajectory_dir, workspace_dir] + folders_list = [os.path.expanduser(folder) for folder in folders_list_raw] + for folder in folders_list: + if os.path.isdir(folder): + shutil.rmtree(folder) + os.makedirs(folder) + + +class TestPythonWrapper(unittest.TestCase): + """ + This class contains functions that are available whether you are on simulation + or on reality, with or without camera/gripper + """ + + @staticmethod + def assertAlmostEqualVector(a, b, decimal=1): + np.testing.assert_almost_equal(a, b, decimal) + + def assertStatus(self, ret): + self.assertIsNotNone(ret, msg="Assert Status cannot operate on None ret") + self.assertTrue(ret[0] > 0, msg="status : {} - message : {}".format(ret[0], ret[1])) + + def assertNotStatus(self, ret): + self.assertIsNotNone(ret, msg="AssertNotStatus cannot operate on None ret") + self.assertTrue(ret[0] < 0, msg="status : {} - message : {}".format(ret[0], ret[1])) + + def setUp(self): + clean_folders() + self.niryo_robot = NiryoRosWrapper() + + def tearDown(self): + del self.niryo_robot + clean_folders() + + # -- Move + + # - Main Purpose + def test_calibrate(self): + if simulation_mode: + self.assertStatus(self.niryo_robot.calibrate_manual()) + self.assertStatus(self.niryo_robot.calibrate_auto()) + + def test_learning_mode(self): + self.assertStatus(self.niryo_robot.set_learning_mode(True)) + self.assertTrue(self.niryo_robot.get_learning_mode()) + self.assertStatus(self.niryo_robot.set_learning_mode(False)) + self.assertFalse(self.niryo_robot.get_learning_mode()) + + def test_set_arm_max_velocity(self): + self.assertStatus(self.niryo_robot.set_arm_max_velocity(58)) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.set_arm_max_velocity(200) + + # - Pose + + def test_joints(self): + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) + self.assertAlmostEqualVector(self.niryo_robot.get_joints(), (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) + self.assertStatus(self.niryo_robot.move_to_sleep_pose()) + + def test_pose(self): + target_pose = [0.15, 0.0, 0.15, 0.0, 1.0, 0.0] + self.assertStatus(self.niryo_robot.move_pose(*target_pose)) + new_pose = self.niryo_robot.get_pose_as_list() + self.assertAlmostEqualVector(new_pose[:3], target_pose[:3], decimal=1) + self.assertAlmostEqualVector(new_pose[3:], target_pose[3:], decimal=1) + self.assertStatus(self.niryo_robot.move_to_sleep_pose()) + + def test_kinematics(self): + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) + initial_pose = self.niryo_robot.get_pose_as_list() + # Forward Kinematics + joints_target = [0.2, 0.0, -0.4, 0.0, 0.0, 0.0] + pose_target = self.niryo_robot.forward_kinematics(*joints_target) + self.assertStatus(self.niryo_robot.move_pose(*pose_target)) + joints_reached = self.niryo_robot.get_joints() + self.assertAlmostEqualVector(joints_target, joints_reached) + # Inverse Kinematics + joints_target_to_initial_pose = self.niryo_robot.inverse_kinematics(*initial_pose) + self.assertStatus(self.niryo_robot.move_joints(*joints_target_to_initial_pose)) + pose_reached = self.niryo_robot.get_pose_as_list() + self.assertAlmostEqualVector(initial_pose, pose_reached) + + def test_pose_saved(self): + self.assertEqual(self.niryo_robot.get_saved_pose_list(), []) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.delete_pose("NotExistent") # Do not exist + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.get_pose_saved("NotExistent") # Do not exist + list_names = [] + for i in range(3): + name = "Test{}".format(i) + self.assertStatus(self.niryo_robot.save_pose(name, *pose_1)) + self.assertEqual(self.niryo_robot.get_pose_saved(name), tuple(pose_1)) + list_names.append(name) + self.assertEqual(self.niryo_robot.get_saved_pose_list(), list_names) + self.assertStatus(self.niryo_robot.move_pose_saved("Test0")) + for name in list_names: + self.assertStatus(self.niryo_robot.delete_pose(name)) + self.assertEqual(self.niryo_robot.get_saved_pose_list(), []) + + def test_trajectory(self): + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) + self.assertStatus(self.niryo_robot.shift_pose(ShiftPose.AXIS_Z, -0.04)) + self.assertStatus(self.niryo_robot.move_pose(*pose_1)) + self.assertStatus(self.niryo_robot.move_linear_pose(*pose_2)) + new_pose = self.niryo_robot.get_pose_as_list() + self.assertAlmostEqualVector(new_pose[:3], pose_2[:3]) + new_pose = self.niryo_robot.get_pose_as_list() + self.assertAlmostEqualVector(new_pose[:3], pose_3[:3]) + self.assertStatus(self.niryo_robot.execute_trajectory_from_poses([pose_1, pose_2, pose_3])) + self.assertAlmostEqualVector(new_pose[:3], pose_3[:3]) + + def test_trajectory_saved(self): + self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), []) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.delete_trajectory("NotExistent") # Do not exist + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.get_trajectory_saved("NotExistent") # Do not exist + list_names = [] + for i in range(3): + name = "Test{}".format(i) + self.assertStatus(self.niryo_robot.save_trajectory(name, [pose_q_1, pose_q_2, pose_q_3])) + self.assertEqual(self.niryo_robot.get_trajectory_saved(name), [pose_q_1, pose_q_2, pose_q_3]) + list_names.append(name) + self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), list_names) + for name in list_names: + self.assertStatus(self.niryo_robot.delete_trajectory(name)) + self.assertEqual(self.niryo_robot.get_saved_trajectory_list(), []) + + def test_jog_controller(self): + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)) + rospy.sleep(.4) # Making sure the previous command stopped + self.assertStatus(self.niryo_robot.set_jog_use_state(True)) + self.assertStatus(self.niryo_robot.set_jog_use_state(False)) + self.assertStatus(self.niryo_robot.set_jog_use_state(True)) + + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.move_joints(0.01, 0.0, 0.0, 0.0, 0.0, 0.0) # Should not be allowed + + self.assertStatus(self.niryo_robot.jog_pose_shift([0.02, 0.0, 0.0, 0.0, 0.0, 0.0])) + rospy.sleep(1) + self.assertStatus(self.niryo_robot.jog_pose_shift([0.00, -0.02, -0.01, 0.0, 0.0, 0.0])) + rospy.sleep(1) + self.assertStatus(self.niryo_robot.jog_joints_shift([-0.01, -0.02, 0.0, 0.0, 0.0, 0.0])) + rospy.sleep(1) + self.assertStatus(self.niryo_robot.set_jog_use_state(False)) + + # - Workspace + def test_workspace(self): + self.assertEqual(self.niryo_robot.get_workspace_list(), []) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.delete_workspace("NotExistent") # Do not exist + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.get_workspace_poses("NotExistent") # Do not exist + points = [[0.278, 0.104, 0.058], [0.275, -0.036, 0.058], + [0.125, -0.040, 0.059], [0.127, 0.109, 0.059]] + robot_poses = [[0.281, 0.102, 0.083, 2.200, 1.439, 2.367], + [0.276, -0.03, 0.083, 2.058, 1.473, 1.704], + [0.123, -0.04, 0.084, 0.132, 1.499, -0.12], + [0.121, 0.110, 0.083, -0.19, 1.339, -0.19]] + list_names = [] + for i in range(3): + name = "Test{}".format(2 * i) + self.assertStatus(self.niryo_robot.save_workspace_from_poses(name, robot_poses)) + self.assertEqual(self.niryo_robot.get_workspace_poses(name), robot_poses) + name2 = "Test{}".format(2 * i + 1) + self.assertStatus(self.niryo_robot.save_workspace_from_points(name2, points)) + + list_names.append(name) + list_names.append(name2) + self.assertEqual(self.niryo_robot.get_workspace_list(), list_names) + + for name in list_names: + self.assertStatus(self.niryo_robot.delete_workspace(name)) + self.assertEqual(self.niryo_robot.get_workspace_list(), []) + + +class TestPythonWrapperSimulation(TestPythonWrapper): + """ + Simulation test -> used on Rviz + """ + pass + + +# noinspection PyTypeChecker +class TestPythonWrapperSimulationWithGripperAndCamera(TestPythonWrapperSimulation): + """ + Simulation test with gripper and tool -> Used on Gazebo + """ + + def test_tool(self): + self.assertStatus(self.niryo_robot.update_tool()) + self.assertStatus(self.niryo_robot.grasp_with_tool()) + self.assertStatus(self.niryo_robot.release_with_tool()) + + # - Vision + def test_vision(self): + self.assertIsNotNone(self.niryo_robot.get_camera_intrinsics()) + workspace_name = "gazebo_1" + workspace_h = 0.001 + point_1 = [0.3369, 0.087, workspace_h] + point_2 = [point_1[0], -point_1[1], workspace_h] + point_3 = [0.163, -point_1[1], workspace_h] + point_4 = [point_3[0], point_1[1], workspace_h] + self.assertStatus(self.niryo_robot.save_workspace_from_points( + workspace_name, [point_1, point_2, point_3, point_4])) + + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, -1.57, 0.0)) + self.assertStatus(self.niryo_robot.update_tool()) + self.assertIsNotNone(self.niryo_robot.get_target_pose_from_rel(workspace_name, 0.1, 0.5, 0.5, 0.0)) + self.assertIsNotNone(self.niryo_robot.get_target_pose_from_cam( + workspace_name, 0.1, ObjectShape.ANY, ObjectColor.ANY)) + self.assertIsNotNone(self.niryo_robot.detect_object(workspace_name, ObjectShape.ANY, ObjectColor.RED)) + + self.assertIsNotNone(self.niryo_robot.move_to_object(workspace_name, 0.03, ObjectShape.ANY, ObjectColor.GREEN)) + + self.assertStatus(self.niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, -1.57, 0.0)) + self.assertIsNotNone(self.niryo_robot.vision_pick(workspace_name, 0.002, ObjectShape.ANY, ObjectColor.BLUE)) + + +class TestPythonWrapperRasp(TestPythonWrapper): + """ + Test on Raspberry + """ + + def setUp(self): + super(TestPythonWrapperRasp, self).setUp() + self.assertStatus(self.niryo_robot.calibrate_auto()) + rospy.sleep(0.5) + + def tearDown(self): + self.assertStatus(self.niryo_robot.set_learning_mode(True)) + super(TestPythonWrapperRasp, self).tearDown() + + # - Hardware + def test_hardware(self): + for pin in list_pins: + self.assertStatus(self.niryo_robot.set_pin_mode(pin, PinMode.OUTPUT)) + self.assertStatus(self.niryo_robot.digital_write(pin, PinState.LOW)) + self.assertEqual(self.niryo_robot.digital_read(pin), PinState.LOW) + self.assertStatus(self.niryo_robot.digital_write(pin, PinState.HIGH)) + self.assertEqual(self.niryo_robot.digital_read(pin), PinState.HIGH) + + self.assertStatus(self.niryo_robot.set_pin_mode(pin, PinMode.INPUT)) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.digital_write(pin, PinState.LOW) + + +# noinspection PyTypeChecker +class TestPythonWrapperRaspWithConveyor(TestPythonWrapperRasp): + """ + Test on Raspberry with conveyor + """ + + def test_conveyor(self): + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.unset_conveyor(ConveyorID.ID_1) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.unset_conveyor(-1) + with self.assertRaises(NiryoRosWrapperException): + self.niryo_robot.control_conveyor(ConveyorID.ID_1, True, speed=50, + direction=ConveyorDirection.FORWARD) + + conveyor_id = self.niryo_robot.set_conveyor() + assert conveyor_id in [ConveyorID.ID_1, ConveyorID.ID_2] + self.assertStatus(self.niryo_robot.control_conveyor(conveyor_id, bool_control_on=True, speed=50, + direction=ConveyorDirection.FORWARD)) + self.assertStatus(self.niryo_robot.control_conveyor(conveyor_id, bool_control_on=False, speed=50, + direction=ConveyorDirection.BACKWARD)) + self.assertStatus(self.niryo_robot.unset_conveyor(conveyor_id)) + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_test_python_ros_wrapper') + simulation_mode = rospy.get_param('~simulation_mode') + use_gripper_n_camera = rospy.get_param('~gripper_n_camera') + use_conveyor = rospy.get_param('~conveyor') + + NiryoRosWrapper.wait_for_nodes_initialization(simulation_mode) + + position_dir = rospy.get_param('/niryo_robot_poses_handlers/poses_dir') + trajectory_dir = rospy.get_param('/niryo_robot_poses_handlers/trajectories_dir') + workspace_dir = rospy.get_param('/niryo_robot_poses_handlers/workspace_dir') + + if simulation_mode: + if use_gripper_n_camera: + rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_simulation", + TestPythonWrapperSimulationWithGripperAndCamera) + else: + rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_simulation", TestPythonWrapperSimulation) + else: + if use_conveyor: + rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_Rasp", TestPythonWrapperRaspWithConveyor) + else: + rostest.rosrun("python_ros_wrapper", "test_python_ros_wrapper_Rasp", TestPythonWrapperRasp) diff --git a/niryo_robot_rpi/CMakeLists.txt b/niryo_robot_rpi/CMakeLists.txt new file mode 100644 index 000000000..a3bebf51d --- /dev/null +++ b/niryo_robot_rpi/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_rpi) + +find_package(catkin REQUIRED COMPONENTS + actionlib_msgs + sensor_msgs + niryo_robot_msgs + rospy + roscpp + std_msgs +) + +add_message_files( + FILES + DigitalIOState.msg + LogStatus.msg +) + +add_service_files( + DIRECTORY srv + FILES + ChangeMotorConfig.srv + GetDigitalIO.srv + LedBlinker.srv + SetDigitalIO.srv +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES + niryo_robot_msgs + std_msgs + actionlib_msgs + sensor_msgs +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_rpi/config/rpi_config.yaml b/niryo_robot_rpi/config/rpi_config.yaml new file mode 100644 index 000000000..fe48173ed --- /dev/null +++ b/niryo_robot_rpi/config/rpi_config.yaml @@ -0,0 +1,16 @@ +fans: + - gpio: 27 + temperature_on_threshold: 45 + temperature_off_threshold: 40 + - gpio: 23 + temperature_on_threshold: 50 + temperature_off_threshold: 45 + +led: + gpio_r: 18 + gpio_g: 24 + gpio_b: 22 + +button: + gpio: 4 + diff --git a/niryo_robot_rpi/launch/base_rpi.launch.xml b/niryo_robot_rpi/launch/base_rpi.launch.xml new file mode 100644 index 000000000..183f01a3b --- /dev/null +++ b/niryo_robot_rpi/launch/base_rpi.launch.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/niryo_robot_rpi/launch/rpi_4.launch b/niryo_robot_rpi/launch/rpi_4.launch new file mode 100644 index 000000000..6e73fbf31 --- /dev/null +++ b/niryo_robot_rpi/launch/rpi_4.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/niryo_robot_rpi/launch/rpi_simulation.launch b/niryo_robot_rpi/launch/rpi_simulation.launch new file mode 100644 index 000000000..0884bc7f2 --- /dev/null +++ b/niryo_robot_rpi/launch/rpi_simulation.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/niryo_robot_rpi/msg/DigitalIOState.msg b/niryo_robot_rpi/msg/DigitalIOState.msg new file mode 100644 index 000000000..229685d47 --- /dev/null +++ b/niryo_robot_rpi/msg/DigitalIOState.msg @@ -0,0 +1,8 @@ +# GPIO pin +int32[] pins +# PIN names seen by user to make it simpler +string[] names +# IN/OUT +int32[] modes +# HIGH/LOW +int32[] states diff --git a/niryo_robot_rpi/msg/LogStatus.msg b/niryo_robot_rpi/msg/LogStatus.msg new file mode 100644 index 000000000..e86b71464 --- /dev/null +++ b/niryo_robot_rpi/msg/LogStatus.msg @@ -0,0 +1,6 @@ +std_msgs/Header header + +# in MB +int32 log_size +int32 available_disk_size +bool purge_log_on_startup diff --git a/niryo_robot_rpi/package.xml b/niryo_robot_rpi/package.xml new file mode 100644 index 000000000..96cafa2cc --- /dev/null +++ b/niryo_robot_rpi/package.xml @@ -0,0 +1,24 @@ + + niryo_robot_rpi + 3.0.0 + Specific utilities for Ned RPI + custom Ned shield + Edouard Renard + Valentin Pitre + Valentin Pitre + GPLv3 + + catkin + rospy + std_msgs + niryo_robot_msgs + rospy + std_msgs + niryo_robot_msgs + + + python-flask + python-rpi.gpio + + + + diff --git a/niryo_robot_rpi/scripts/button_manager.py b/niryo_robot_rpi/scripts/button_manager.py new file mode 100755 index 000000000..c5efda4ac --- /dev/null +++ b/niryo_robot_rpi/scripts/button_manager.py @@ -0,0 +1,279 @@ +#!/usr/bin/env python + +import rospy +import RPi.GPIO as GPIO +from threading import Thread, Timer +import rosnode + +from niryo_robot_rpi.rpi_ros_utils import * + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from std_msgs.msg import Int32, Bool, Int8 +from niryo_robot_commander.msg import PausePlanExecution + +# Services +from std_srvs.srv import Empty +from niryo_robot_msgs.srv import Trigger, SetInt +from niryo_robot_rpi.srv import LedBlinker, LedBlinkerRequest + + +class ButtonMode: + def __init__(self): + pass + + DO_NOTHING = 0 + TRIGGER_SEQUENCE_AUTORUN = 1 + BLOCKLY_SAVE_POINT = 2 + + +class NiryoButton: + def __init__(self): + self.pin = rospy.get_param("~button/gpio") + GPIO.setmode(GPIO.BCM) + GPIO.setup(self.pin, GPIO.IN, pull_up_down=GPIO.PUD_UP) + rospy.loginfo("GPIO setup : " + str(self.pin) + " as input") + rospy.sleep(0.1) + + self.debug_loop_repetition = 5 + + self.activated = True + + self.last_time_button_pressed = rospy.Time.from_sec(0) + self.last_time_button_released = rospy.Time.from_sec(0) + self.pause = None + self.resume = None + + self.__program_manager_is_running = False + rospy.Subscriber('/niryo_robot_programs_manager/program_is_running', + Bool, self.__callback_program_is_running) + + rospy.Subscriber('/niryo_robot/rpi/led_state', + Int8, self.__callback_led_state) + + self.__motor_debug_server_start = rospy.ServiceProxy('/niryo_robot_commander/motor_debug_start', SetInt) + self.__motor_debug_server_stop = rospy.ServiceProxy('/niryo_robot_commander/motor_debug_stop', Empty) + self.__motor_debug_thread = Thread(target=self.__motor_debug_server_start, name="motor_debug_button_thread", + args=(self.debug_loop_repetition,)) + + self.button_mode = ButtonMode.TRIGGER_SEQUENCE_AUTORUN + rospy.Service("/niryo_robot/rpi/change_button_mode", + SetInt, self.callback_change_button_mode) + + self.__set_led_state_service = rospy.ServiceProxy('/niryo_robot_rpi/set_led_custom_blinker', + LedBlinker) + + self.last_time_button_mode_changed = rospy.Time.now() + + # - Publishers + self.__pause_movement_publisher = rospy.Publisher('~pause_state', + PausePlanExecution, latch=True, queue_size=1) + + self._pause_state = None + self.send_pause_state(PausePlanExecution.STANDBY) + + # Publisher used to send info to Niryo Studio, so the user can add a move block + # by pressing the button + self.save_point_publisher = rospy.Publisher( + "/niryo_robot/blockly/save_current_point", Int32, queue_size=10) + + self.__button_state_publisher = rospy.Publisher( + "/niryo_robot/rpi/is_button_pressed", Bool, latch=True, queue_size=1) + + # Seems to be overkill over that value due to reading IO time + self.timer_frequency = 10 + self.__button_state = None + rospy.Timer(rospy.Duration.from_sec(1.0 / self.timer_frequency), self.check_button) + self.__button_state = self.read_value() + + rospy.on_shutdown(self.shutdown) + rospy.loginfo("Niryo Button started") + + self.__led_state = LedState.OK + self.__cancel_or_resume_thread = Timer(1.0, self.cancel_or_resume) + + def __del__(self): + pass + + def read_value(self): + try: + value = GPIO.input(self.pin) + except RuntimeError: + return False + self.__button_state = value + + self.__button_state_publisher.publish(self.__is_button_pressed()) + return self.__button_state + + def __is_button_pressed(self): + return not self.__button_state + + def __callback_program_is_running(self, msg): + self.__program_manager_is_running = msg.data + + def __callback_led_state(self, msg): + self.__led_state = msg.data + + def __is_prog_running(self): + if self.__program_manager_is_running: + python_prog_is_running = True + else: + python_prog_running_nodes = [s for s in rosnode.get_node_names() if "ros_wrapper" in s] + python_prog_is_running = bool(python_prog_running_nodes) + + #Deal with new state + if not python_prog_is_running: + # if the state is paused, it means that the pause timout has appeared. + # Otherwise it's a program that has ended. + if self._pause_state == PausePlanExecution.PAUSE: + activate_learning_mode(True) + self.__set_led_state_service(False, 0, 0, 0) + self.send_pause_state(PausePlanExecution.STANDBY) + + elif self._pause_state not in [PausePlanExecution.PLAY, PausePlanExecution.PAUSE]: + # detect a new execution of a program + self.send_pause_state(PausePlanExecution.PLAY) + self.__set_led_state_service(False, 0, 0, 0) + + return python_prog_is_running + + + def check_button(self, _event): + button_was_pressed = self.__is_button_pressed() + self.read_value() + if self.__is_button_pressed(): + if not button_was_pressed: + self.last_time_button_pressed = rospy.Time.now() + self.led_advertiser() + # Was pressed and is not anymore (release) + elif button_was_pressed: + previous_released_time = self.last_time_button_released + self.last_time_button_released = rospy.Time.now() + elapsed_seconds = (self.last_time_button_released - self.last_time_button_pressed).to_sec() + + # Check if there is an action to do + if elapsed_seconds >= 15: + pass + elif elapsed_seconds >= 6: + send_hotspot_command() + elif elapsed_seconds >= 3: + send_shutdown_command() + elif 0.02 < elapsed_seconds < 3: + # Detect if a prog is running + python_prog_is_running = self.__is_prog_running() + # If a programm is running + if python_prog_is_running: + self.__manage_python_program() + elif self.button_mode == ButtonMode.BLOCKLY_SAVE_POINT: + self.__trigger_blockly_save_point() + elif self.button_mode == ButtonMode.TRIGGER_SEQUENCE_AUTORUN: + self.__trigger_sequence_autorun() + + def __manage_python_program(self): + # Pause the current move + if self._pause_state in [PausePlanExecution.PLAY]: + rospy.loginfo("Button Manager - Sequence paused") + self.pause = rospy.Time.now() + self.send_pause_state(PausePlanExecution.PAUSE) + # Pause led advertiser + self.__set_led_state_service(True, 5, LedBlinkerRequest.LED_WHITE, 0) + # Double press on pause: activate learning mode + elif self._pause_state == PausePlanExecution.PAUSE and ( + rospy.Time.now() - self.pause).to_sec() < 1: + activate_learning_mode(True) + self.__set_led_state_service(True, 5, LedBlinkerRequest.LED_WHITE, 0) + rospy.loginfo("Button Manager - Sequence paused with learning mode") + # Programm paused: resume or cancel + elif self._pause_state == PausePlanExecution.PAUSE: + # wait if double clic occurs + if not self.__cancel_or_resume_thread.is_alive(): + self.__cancel_or_resume_thread = Timer(1, self.cancel_or_resume) + self.__cancel_or_resume_thread.start() + + def __trigger_blockly_save_point(self): + self.blockly_save_current_point() + + def __trigger_sequence_autorun(self): + rospy.loginfo("Button Manager - Run Auto-sequence") + self.send_pause_state(PausePlanExecution.PLAY) + if self.__motor_debug_thread.is_alive(): + self.__motor_debug_server_stop() + _status, _message = send_trigger_program_autorun() + else: + status, message = send_trigger_program_autorun() + if status != CommandStatus.SUCCESS: + try: + rospy.wait_for_service("/niryo_robot_commander/motor_debug_start", timeout=0.5) + self.__motor_debug_thread = Thread(target=self.__motor_debug_server_start, + name="motor_debug_button_thread", + args=(self.debug_loop_repetition,)) + self.__motor_debug_thread.start() + except rospy.ROSException: + pass + + def cancel_or_resume(self): + # if double clic + double_clic = (rospy.Time.now() - self.last_time_button_pressed).to_sec() < 1 + + activate_learning_mode(double_clic) + self.__set_led_state_service(False, 0, 0, 0) + if double_clic: + rospy.logwarn("Button Manager - Cancel sequence") + self.send_pause_state(PausePlanExecution.CANCEL) + if self.__program_manager_is_running: + self.cancel_program_from_program_manager() + else: + rospy.loginfo("Button Manager - Resume sequence") + rospy.sleep(0.1) + self.send_pause_state(PausePlanExecution.RESUME) + self._pause_state = PausePlanExecution.PLAY + + @staticmethod + def cancel_program_from_program_manager(): + srv = rospy.ServiceProxy('/niryo_robot_programs_manager/stop_program', Trigger) + resp = srv() + return resp.status, resp.message + + def led_advertiser(self): + elapsed_seconds = (rospy.Time.now() - self.last_time_button_pressed).to_sec() + + # Use LED to help user know which action to execute + if elapsed_seconds >= 15: + pass + elif elapsed_seconds >= 6: + self.__led_state = LedState.WAIT_HOTSPOT + send_led_state(LedState.WAIT_HOTSPOT) + elif elapsed_seconds >= 3: + self.__led_state = LedState.SHUTDOWN + send_led_state(LedState.SHUTDOWN) + + @staticmethod + def shutdown(): + rospy.loginfo("Button Manager - Shutdown cleanup GPIO") + rospy.sleep(0.5) + GPIO.cleanup() + + def blockly_save_current_point(self): + msg = Int32() + msg.data = 1 + self.save_point_publisher.publish(msg) + + def callback_change_button_mode(self, req): + # message = "" + if req.value == ButtonMode.TRIGGER_SEQUENCE_AUTORUN: + message = "Successfully changed button mode to trigger sequence autorun" + elif req.value == ButtonMode.BLOCKLY_SAVE_POINT: + message = "Successfully changed button mode to save point" + elif req.value == ButtonMode.DO_NOTHING: + message = "Successfully changed button mode to disabled" + else: + return {"status": CommandStatus.BUTTON_ERROR, "message": "Incorrect button mode."} + self.button_mode = req.value + self.last_time_button_mode_changed = rospy.Time.now() + return {"status": CommandStatus.SUCCESS, "message": message} + + def send_pause_state(self, state): + self._pause_state = state + self.__pause_movement_publisher.publish(self._pause_state) diff --git a/niryo_robot_rpi/scripts/digital_io_panel.py b/niryo_robot_rpi/scripts/digital_io_panel.py new file mode 100755 index 000000000..bb6f5f2a7 --- /dev/null +++ b/niryo_robot_rpi/scripts/digital_io_panel.py @@ -0,0 +1,211 @@ +#!/usr/bin/env python + +# digital_io_panel.py +# Copyright (C) 2017 Niryo +# All rights reserved. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +import rospy +import RPi.GPIO as GPIO +from threading import Lock + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +from niryo_robot_rpi.msg import DigitalIOState +from niryo_robot_rpi.srv import GetDigitalIO +from niryo_robot_rpi.srv import SetDigitalIO + +GPIO_1_A = 2 +GPIO_1_B = 3 +GPIO_1_C = 16 +GPIO_2_A = 26 +GPIO_2_B = 19 +GPIO_2_C = 6 + +SW_1 = 12 +SW_2 = 13 + +GPIO_1_A_NAME = '1A' +GPIO_1_B_NAME = '1B' +GPIO_1_C_NAME = '1C' +GPIO_2_A_NAME = '2A' +GPIO_2_B_NAME = '2B' +GPIO_2_C_NAME = '2C' + +SW_1_NAME = 'SW1' +SW_2_NAME = 'SW2' + + +class DigitalPin: + + def __init__(self, lock, pin, name, mode=GPIO.IN, state=GPIO.LOW): + self.lock = lock + self.pin = pin + self.name = name + self.mode = mode + self.set_mode(mode) + rospy.sleep(0.01) + if self.mode == GPIO.OUT: + self.state = state + GPIO.output(self.pin, self.state) + else: + self.state = GPIO.input(self.pin) + + def set_mode(self, mode): + self.mode = mode + if mode == GPIO.OUT: + with self.lock: + GPIO.setup(self.pin, GPIO.OUT) + rospy.sleep(0.01) + self.set_state(GPIO.LOW) + else: + with self.lock: + GPIO.setup(self.pin, GPIO.IN, pull_up_down=GPIO.PUD_UP) + + def get_mode(self): + return self.mode + + def set_state(self, state): + if self.mode != GPIO.OUT: + return False + self.state = state + with self.lock: + GPIO.output(self.pin, self.state) + return True + + def get_state(self): + if self.mode == GPIO.IN: + with self.lock: + self.state = GPIO.input(self.pin) + return self.state + + def __str__(self): + return self.name + + +class DigitalIOPanel: + + def __init__(self): + GPIO.setwarnings(False) + GPIO.setmode(GPIO.BCM) + + lock = Lock() + + self.publish_io_state_frequency = rospy.get_param("~publish_io_state_frequency") + self.digitalIOs = [DigitalPin(lock, GPIO_1_A, GPIO_1_A_NAME), DigitalPin(lock, GPIO_1_B, GPIO_1_B_NAME), + DigitalPin(lock, GPIO_1_C, GPIO_1_C_NAME), + DigitalPin(lock, GPIO_2_A, GPIO_2_A_NAME), DigitalPin(lock, GPIO_2_B, GPIO_2_B_NAME), + DigitalPin(lock, GPIO_2_C, GPIO_2_C_NAME), + DigitalPin(lock, SW_1, SW_1_NAME, mode=GPIO.OUT), + DigitalPin(lock, SW_2, SW_2_NAME, mode=GPIO.OUT)] + + self.digital_io_publisher = rospy.Publisher('/niryo_robot_rpi/digital_io_state', DigitalIOState, queue_size=1) + rospy.Timer(rospy.Duration(1.0 / self.publish_io_state_frequency), self.publish_io_state) + + self.get_io_server = rospy.Service('/niryo_robot_rpi/get_digital_io', GetDigitalIO, self.callback_get_io) + self.set_io_mode_server = rospy.Service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO, + self.callback_set_io_mode) + self.set_io_state_server = rospy.Service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO, + self.callback_set_io_state) + + def publish_io_state(self, event): + msg = DigitalIOState() + pins = [] + names = [] + modes = [] + states = [] + for io in self.digitalIOs: + pins.append(io.pin) + names.append(io.name) + modes.append(io.mode) + try: + states.append(io.get_state()) + except RuntimeError: + return + msg.pins = pins + msg.names = names + msg.modes = modes + msg.states = states + try: + self.digital_io_publisher.publish(msg) + except rospy.ROSException: + return + + @staticmethod + def create_response(status, message): + return {'status': status, 'message': message} + + def callback_get_io(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + return { + 'status': CommandStatus.SUCCESS, + 'message': 'OK', + 'pin': io.pin, + 'name': io.name, + 'mode': io.get_mode(), + 'state': io.get_state() + } + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + def callback_set_io_mode(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + if io.name.startswith('SW'): + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "Can't change mode for switch pin, mode is fixed to OUTPUT") + # Set mode + if req.value == 0: + io.set_mode(GPIO.OUT) + else: + io.set_mode(GPIO.IN) + return self.create_response(CommandStatus.SUCCESS, "Successfully set IO mode for PIN " + str(io)) + # No pin found + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + def callback_set_io_state(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + # Check gpio in in output mode + if io.get_mode() != GPIO.OUT: + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, "The pin " + str( + io) + " is set as input, you can't change its state") + + # Set state + success = False + if req.value == 0: + success = io.set_state(GPIO.LOW) + else: + success = io.set_state(GPIO.HIGH) + + if success: + return self.create_response(CommandStatus.SUCCESS, + "Successfully set IO state for pin " + str(io)) + else: + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "Error : could not set IO state for pin " + str(io)) + + # No pin found + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + +if __name__ == '__main__': + rospy.init_node('digital_io_panel') + DigitalIOPanel() + rospy.spin() diff --git a/niryo_robot_rpi/scripts/fake_rpi_node.py b/niryo_robot_rpi/scripts/fake_rpi_node.py new file mode 100755 index 000000000..fb0303aee --- /dev/null +++ b/niryo_robot_rpi/scripts/fake_rpi_node.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python + +import rospy +from std_msgs.msg import Int32, Bool +from enum import IntEnum + +from niryo_robot_msgs.msg import CommandStatus + +from niryo_robot_rpi.msg import DigitalIOState +from niryo_robot_rpi.srv import GetDigitalIO +from niryo_robot_rpi.srv import SetDigitalIO + + +class FakeNiryoButton: + def __init__(self): + # Publisher used to send info to Niryo Studio, so the user can add a move block + # by pressing the button + self.save_point_publisher = rospy.Publisher( + "/niryo_robot/blockly/save_current_point", Int32, queue_size=10) + + self.__button_state_publisher = rospy.Publisher( + "/niryo_robot/rpi/is_button_pressed", Bool, latch=True, queue_size=1) + + self.__button_state_publisher.publish(False) + + +GPIO_1_A = 2 +GPIO_1_B = 3 +GPIO_1_C = 16 +GPIO_2_A = 26 +GPIO_2_B = 19 +GPIO_2_C = 6 + +SW_1 = 12 +SW_2 = 13 + +GPIO_1_A_NAME = '1A' +GPIO_1_B_NAME = '1B' +GPIO_1_C_NAME = '1C' +GPIO_2_A_NAME = '2A' +GPIO_2_B_NAME = '2B' +GPIO_2_C_NAME = '2C' + +SW_1_NAME = 'SW1' +SW_2_NAME = 'SW2' + + +class FakeDigitalPinMode(IntEnum): + OUTPUT = 0 + INPUT = 1 + + +class FakeDigitalPin: + def __init__(self, pin, name, mode=FakeDigitalPinMode.INPUT, state=0): + self.pin = pin + self.name = name + self.state = state + self.mode = mode + + def set_mode(self, mode): + self.mode = mode + if mode == FakeDigitalPinMode.OUTPUT: + self.set_state(0) + + def get_mode(self): + return self.mode + + def set_state(self, state): + if self.mode != FakeDigitalPinMode.OUTPUT: + return False + self.state = state + return True + + def get_state(self): + return self.state + + def __str__(self): + return self.name + + +class FakeDigitalIOPanel: + + def __init__(self): + self.publish_io_state_frequency = rospy.get_param("~publish_io_state_frequency") + self.digitalIOs = [FakeDigitalPin(GPIO_1_A, GPIO_1_A_NAME), + FakeDigitalPin(GPIO_1_B, GPIO_1_B_NAME), + FakeDigitalPin(GPIO_1_C, GPIO_1_C_NAME), + FakeDigitalPin(GPIO_2_A, GPIO_2_A_NAME), + FakeDigitalPin(GPIO_2_B, GPIO_2_B_NAME), + FakeDigitalPin(GPIO_2_C, GPIO_2_C_NAME), + FakeDigitalPin(SW_1, SW_1_NAME, mode=FakeDigitalPinMode.OUTPUT), + FakeDigitalPin(SW_2, SW_2_NAME, mode=FakeDigitalPinMode.OUTPUT)] + + self.digital_io_publisher = rospy.Publisher('/niryo_robot_rpi/digital_io_state', DigitalIOState, queue_size=1) + rospy.Timer(rospy.Duration(1.0 / self.publish_io_state_frequency), self.publish_io_state) + + self.get_io_server = rospy.Service('/niryo_robot_rpi/get_digital_io', GetDigitalIO, self.callback_get_io) + self.set_io_mode_server = rospy.Service('/niryo_robot_rpi/set_digital_io_mode', SetDigitalIO, + self.callback_set_io_mode) + self.set_io_state_server = rospy.Service('/niryo_robot_rpi/set_digital_io_state', SetDigitalIO, + self.callback_set_io_state) + + def publish_io_state(self, event): + msg = DigitalIOState() + pins = [] + names = [] + modes = [] + states = [] + for io in self.digitalIOs: + pins.append(io.pin) + names.append(io.name) + modes.append(io.mode) + states.append(io.get_state()) + msg.pins = pins + msg.names = names + msg.modes = modes + msg.states = states + try: + self.digital_io_publisher.publish(msg) + except rospy.ROSException: + return + + @staticmethod + def create_response(status, message): + return {'status': status, 'message': message} + + def callback_get_io(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + return { + 'status': CommandStatus.SUCCESS, + 'message': 'OK', + 'pin': io.pin, + 'name': io.name, + 'mode': io.get_mode(), + 'state': io.get_state() + } + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + def callback_set_io_mode(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + if io.name.startswith('SW'): + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "Can't change mode for switch pin, mode is fixed to OUTPUT") + # Set mode + if req.value == 0: + io.set_mode(FakeDigitalPinMode.OUTPUT) + else: + io.set_mode(FakeDigitalPinMode.INPUT) + return self.create_response(CommandStatus.SUCCESS, "Successfully set IO mode for pin " + str(io)) + # No pin found + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + def callback_set_io_state(self, req): + for io in self.digitalIOs: + if io.pin == req.pin: + # Check gpio in in output mode + if io.get_mode() != FakeDigitalPinMode.OUTPUT: + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, "The pin " + str( + io) + " is set as input, you can't change its state") + + # Set state + success = False + if req.value == 0: + success = io.set_state(0) + else: + success = io.set_state(1) + + if success: + return self.create_response(CommandStatus.SUCCESS, + "Successfully set IO state for pin " + str(io)) + else: + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "Error : could not set IO state for pin " + str(io)) + + # No pin found + return self.create_response(CommandStatus.DIGITAL_IO_PANEL_ERROR, + "No GPIO found with this pin number (" + str(req.pin) + ")") + + +class NiryoFakeRpi: + + def __init__(self): + self.niryo_robot_fake_button = FakeNiryoButton() + self.digital_io_panel = FakeDigitalIOPanel() + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_rpi') + NiryoFakeRpi() + rospy.spin() diff --git a/niryo_robot_rpi/scripts/led_manager.py b/niryo_robot_rpi/scripts/led_manager.py new file mode 100755 index 000000000..12e0f139f --- /dev/null +++ b/niryo_robot_rpi/scripts/led_manager.py @@ -0,0 +1,211 @@ +#!/usr/bin/env python + +# led_manager.py +# Copyright (C) 2017 Niryo +# All rights reserved. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +import rospy +import RPi.GPIO as GPIO +from threading import Thread + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +from std_msgs.msg import Bool, Int8 + +from niryo_robot_msgs.msg import HardwareStatus +from niryo_robot_msgs.srv import SetInt + +from niryo_robot_rpi.srv import LedBlinker + +from niryo_robot_rpi.rpi_ros_utils import LedState + +LED_GPIO_R = 18 +LED_GPIO_G = 24 +LED_GPIO_B = 22 + +LED_OFF = 0 +LED_BLUE = 1 +LED_GREEN = 2 +LED_BLUE_GREEN = 3 +LED_RED = 4 +LED_PURPLE = 5 +LED_RED_GREEN = 6 +LED_WHITE = 7 + + +class LEDManager: + def __init__(self): + # Set warning false, and don't cleanup LED GPIO after exit + # So the LED will be red only after the Rpi is shutdown + GPIO.setwarnings(False) + GPIO.setmode(GPIO.BCM) + + GPIO.setup(rospy.get_param("~led/gpio_r"), GPIO.OUT) + GPIO.setup(rospy.get_param("~led/gpio_g"), GPIO.OUT) + GPIO.setup(rospy.get_param("~led/gpio_b"), GPIO.OUT) + + rospy.sleep(0.1) + self.state = LedState.OK + self.__led_state_topic = rospy.Publisher('/niryo_robot/rpi/led_state', Int8, latch=True, queue_size=10) + self.set_led_from_state(dxl_leds=True) + + self.__blinker_thread = None + self.__activate_blinker = None + self.__blinker_frequency = None + self.__blinker_color = None + self.__blinker_stop_time = None + + self.__set_led_state_server = rospy.Service('/niryo_robot/rpi/set_led_state', + SetInt, self.__callback_set_led_state) + + self.__set_led_custom_blinker_server = rospy.Service('/niryo_robot_rpi/set_led_custom_blinker', + LedBlinker, self.__callback_set_led_custom_blinker) + + # Subscribe to hotspot and hardware status. Those values will override standard states + self.hotspot_state_subscriber = rospy.Subscriber('/niryo_robot/wifi/hotspot', + Bool, self.__callback_hotspot_state) + + self.hardware_status_subscriber = rospy.Subscriber('/niryo_robot_hardware_interface/hardware_status', + HardwareStatus, self.__callback_hardware_status) + + rospy.loginfo('LED manager has been started.') + + @staticmethod + def set_dxl_leds(color): + leds = 0 + if color == LED_RED: + leds = 1 + elif color == LED_GREEN: + leds = 2 + elif color == LED_BLUE: + leds = 4 + # 4 is yellow, no yellow + elif color == LED_BLUE_GREEN: + leds = 6 + elif color == LED_PURPLE: + leds = 5 + elif color == LED_WHITE: + leds = 7 + elif color == LED_RED_GREEN: + leds = 8 + + try: + rospy.wait_for_service('niryo_robot/dynamixel_driver/set_dxl_leds', timeout=1) + except rospy.ROSException: + rospy.logwarn("Niryo ROS control LED service is not up!") + try: + set_dxl_leds = rospy.ServiceProxy('niryo_robot/dynamixel_driver/set_dxl_leds', SetInt) + set_dxl_leds(leds) + except rospy.ServiceException: + rospy.logwarn("Could not call niryo_robot/dynamixel_driver/set_dxl_leds service") + + def set_led(self, color, dxl_leds=False): + r = GPIO.LOW + g = GPIO.LOW + b = GPIO.LOW + + if color & 0b100: + r = GPIO.HIGH + if color & 0b010: + g = GPIO.HIGH + if color & 0b001: + b = GPIO.HIGH + + GPIO.output(rospy.get_param("~led/gpio_r"), r) + GPIO.output(rospy.get_param("~led/gpio_g"), g) + GPIO.output(rospy.get_param("~led/gpio_b"), b) + + if dxl_leds: + self.set_dxl_leds(color) + + def set_led_from_state(self, dxl_leds=False): + if self.state == LedState.SHUTDOWN: + self.set_led(LED_PURPLE, dxl_leds) + elif self.state == LedState.HOTSPOT: + self.set_led(LED_BLUE, dxl_leds) + elif self.state == LedState.WAIT_HOTSPOT: + self.set_led(LED_BLUE, dxl_leds) + elif self.state == LedState.OK: + self.set_led(LED_GREEN, dxl_leds) + elif self.state == LedState.PAUSE: + self.set_led(LED_RED_GREEN, dxl_leds) + else: + self.set_led(LED_OFF, dxl_leds) + + self.__led_state_topic.publish(self.state) + + def __callback_hotspot_state(self, msg): + if self.state == LedState.SHUTDOWN: + return + + if msg.data: + if self.state != LedState.HOTSPOT: + self.state = LedState.HOTSPOT + self.set_led_from_state(dxl_leds=True) + elif self.state == LedState.HOTSPOT: + self.state = LedState.OK + self.set_led_from_state(dxl_leds=True) + + def __callback_hardware_status(self, msg): + # filter error 1 = input voltage + if not msg.connection_up or list(msg.hardware_errors) > len(msg.hardware_errors)*[1]: + self.set_led(LED_RED, dxl_leds=True) # blink red + rospy.sleep(0.05) + self.set_led_from_state(dxl_leds=True) + + def __callback_set_led_state(self, req): + state = req.value + if state == LedState.SHUTDOWN: + self.state = LedState.SHUTDOWN + self.set_led_from_state(dxl_leds=True) + elif state == LedState.WAIT_HOTSPOT: + self.state = LedState.WAIT_HOTSPOT + self.set_led_from_state(dxl_leds=True) + elif state == LedState.PAUSE: + self.state = LedState.PAUSE + self.set_led_from_state(dxl_leds=False) + elif state == LedState.OK: + self.state = LedState.OK + self.set_led_from_state(dxl_leds=False) + else: + return {'status': CommandStatus.LED_MANAGER_ERROR, 'message': 'Not yet implemented'} + return {'status': CommandStatus.SUCCESS, 'message': 'Set LED OK'} + + def __callback_set_led_custom_blinker(self, req): + self.__activate_blinker = req.activate + if self.__activate_blinker: + self.__blinker_frequency = rospy.Rate(max(min(100, req.frequency), 1)) + self.__blinker_color = req.color + if req.blinker_duration > 0: + self.__blinker_stop_time = rospy.Time.now() + rospy.Duration.from_sec(req.blinker_duration) + else: + self.__blinker_stop_time = None + if not self.__blinker_thread or not self.__blinker_thread.is_alive(): + self.__blinker_thread = Thread(target=self.blinker, name="led_blinker_thread") + self.__blinker_thread.start() + + return CommandStatus.SUCCESS, "Success" + + def blinker(self): + while not rospy.is_shutdown() and self.__activate_blinker: + self.set_led(self.__blinker_color) + self.__blinker_frequency.sleep() + self.set_led_from_state() + self.__blinker_frequency.sleep() + + if self.__blinker_stop_time and rospy.Time.now() >= self.__blinker_stop_time: + return diff --git a/niryo_robot_rpi/scripts/ros_log_manager.py b/niryo_robot_rpi/scripts/ros_log_manager.py new file mode 100755 index 000000000..8c0ab3be4 --- /dev/null +++ b/niryo_robot_rpi/scripts/ros_log_manager.py @@ -0,0 +1,151 @@ +#!/usr/bin/env python + +# ros_log_manager.py +# Copyright (C) 2017 Niryo +# All rights reserved. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +import rospy +import subprocess +import os + +from niryo_robot_rpi.msg import LogStatus +from niryo_robot_msgs.srv import SetInt + +# +# This class will handle ROS logs on Raspberry Pi +# + +""" +todo : + +- service to get latest ros log nicely formated +- detect when ros log is too big (> 1GB) -> alert message + +""" + + +class RosLogManager: + + def __init__(self): + self.log_size_treshold = rospy.get_param("~ros_log_size_threshold") + self.log_path = rospy.get_param("~ros_log_location") + self.should_purge_log_on_startup_file = rospy.get_param("~should_purge_ros_log_on_startup_file") + self.purge_log_on_startup = self.should_purge_log_on_startup() + + # clean log on startup if param is true + if self.purge_log_on_startup: + rospy.logwarn("Purging ROS log on startup !") + self.purge_log() + + self.purge_log_server = rospy.Service('/niryo_robot_rpi/purge_ros_logs', SetInt, + self.callback_purge_log) + + self.change_purge_log_on_startup_server = rospy.Service('/niryo_robot_rpi/set_purge_ros_log_on_startup', SetInt, + self.callback_change_purge_log_on_startup) + + self.log_status_publisher = rospy.Publisher('/niryo_robot_rpi/ros_log_status', LogStatus, queue_size=10) + self.timer = rospy.Timer(rospy.Duration(3), self.publish_log_status) + + rospy.loginfo("Init Ros Log Manager OK") + + @staticmethod + def get_available_disk_size(): + try: + process = subprocess.Popen(['df', '--output=avail', '/'], stdout=subprocess.PIPE) + output, error = process.communicate() + lines = output.split(os.linesep) + if len(lines) >= 2: + return int(lines[1]) / 1024 + return -1 + except subprocess.CalledProcessError: + return -1 + + def get_log_size(self): + try: + if not os.path.isdir(self.log_path): + return -1 + output = subprocess.check_output(['du', '-sBM', self.log_path]) + output_array = output.split() + if len(output_array) >= 1: + return int(output_array[0].replace('M', '')) + return -1 + except subprocess.CalledProcessError: + return -1 + + # !! ros logs after using this method will not be saved + # need to restart ros completly to save new logs + def purge_log(self): + try: + subprocess.call(['rosclean', 'purge', '--size', '50', '-y']) + rospy.loginfo("ROS Log Manager - Purging done") + return True + except subprocess.CalledProcessError as e: + rospy.logwarn(e) + return False + + def should_purge_log_on_startup(self): + if os.path.isfile(self.should_purge_log_on_startup_file): + with open(self.should_purge_log_on_startup_file, 'r') as f: + for line in f: + if not (line.startswith('#') or len(line) == 0): + condition = line.rstrip() + if condition == "true": + return True + return False + return False + + def change_purge_log_on_startup(self, condition): + with open(self.should_purge_log_on_startup_file, 'w') as f: + value = "" + if condition: + value = "true" + else: + value = "false" + f.write(value) + + # After writing, read new value from file + self.purge_log_on_startup = self.should_purge_log_on_startup() + + # + # ----- ROS Interface below ----- + # + + @staticmethod + def create_response(status, message): + return {'status': status, 'message': message} + + def callback_purge_log(self, req): + rospy.logwarn("Purge ROS logs on user request") + if self.purge_log(): + return self.create_response(200, "ROS logs have been purged. " + + "Following logs will be discarded. If you want to get logs, you " + + "need to restart the robot") + return self.create_response(400, "Unable to remove ROS logs") + + def callback_change_purge_log_on_startup(self, req): + if req.value == 1: + self.change_purge_log_on_startup(True) + else: + self.change_purge_log_on_startup(False) + return self.create_response(200, "Purge log on startup value has been changed") + + def publish_log_status(self, event): + msg = LogStatus() + msg.header.stamp = rospy.Time.now() + msg.log_size = self.get_log_size() + msg.available_disk_size = self.get_available_disk_size() + msg.purge_log_on_startup = self.purge_log_on_startup + self.log_status_publisher.publish(msg) diff --git a/niryo_robot_rpi/scripts/rpi_node.py b/niryo_robot_rpi/scripts/rpi_node.py new file mode 100755 index 000000000..418b84746 --- /dev/null +++ b/niryo_robot_rpi/scripts/rpi_node.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python + + +import rospy + +from button_manager import NiryoButton +from digital_io_panel import DigitalIOPanel +from led_manager import LEDManager +from ros_log_manager import RosLogManager +from shutdown_manager import ShutdownManager +from niryo_robot_rpi.fans_manager import FansManager + + +class NiryoRobotRpi: + + def __init__(self): + self.__digital_io_panel = DigitalIOPanel() + self.__fans_manager = FansManager() + self.__led_manager = LEDManager() + self.__niryo_robot_button = NiryoButton() + self.__ros_log_manager = RosLogManager() + self.__shutdown_manager = ShutdownManager() + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_rpi', anonymous=False, log_level=rospy.INFO) + try: + node = NiryoRobotRpi() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_rpi/scripts/shutdown_manager.py b/niryo_robot_rpi/scripts/shutdown_manager.py new file mode 100644 index 000000000..5f406a852 --- /dev/null +++ b/niryo_robot_rpi/scripts/shutdown_manager.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python + +import rospy +import threading + +from niryo_robot_rpi.rpi_ros_utils import send_reboot_command, send_shutdown_command + +from niryo_robot_msgs.msg import CommandStatus + +from niryo_robot_msgs.srv import SetInt + + +class ShutdownManager: + def __init__(self): + rospy.Service('~shutdown_rpi', SetInt, self.callback_shutdown_rpi) + + @staticmethod + def callback_shutdown_rpi(req): + if req.value == 1: + send_shutdown_command_thread = threading.Timer(1.0, send_shutdown_command) + send_shutdown_command_thread.start() + return CommandStatus.SUCCESS, 'Robot is shutting down' + elif req.value == 2: + send_reboot_command_thread = threading.Timer(1.0, send_reboot_command) + send_reboot_command_thread.start() + return CommandStatus.SUCCESS, 'Robot is rebooting' + else: + return CommandStatus.UNKNOWN_COMMAND, 'Incorrect value: 1 for shutdown, 2 for reboot' diff --git a/niryo_robot_rpi/setup.py b/niryo_robot_rpi/setup.py new file mode 100644 index 000000000..4c3b8d9e8 --- /dev/null +++ b/niryo_robot_rpi/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_rpi'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/__init__.py b/niryo_robot_rpi/src/niryo_robot_rpi/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py b/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py new file mode 100755 index 000000000..3f8ea59fd --- /dev/null +++ b/niryo_robot_rpi/src/niryo_robot_rpi/fans_manager.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python + +# fans_manager.py +# Copyright (C) 2017 Niryo +# All rights reserved. +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + +import rospy + +from niryo_robot_msgs.msg import HardwareStatus + +import RPi.GPIO as GPIO + + +class FansManager: + def __init__(self): + self._fans_list = rospy.get_param("/niryo_robot_rpi/fans") + self.setup_fans() + + self.hardware_status_subscriber = rospy.Subscriber( + '/niryo_robot_hardware_interface/hardware_status', HardwareStatus, self.callback_hardware_status) + + def setup_fans(self): + GPIO.setwarnings(False) + GPIO.setmode(GPIO.BCM) + for fan in self._fans_list: + GPIO.setup(fan["gpio"], GPIO.OUT) + + for fan in self._fans_list: + self.set_fans(False, fan["gpio"]) + rospy.loginfo("Fan Manager - Started") + + @staticmethod + def set_fans(activate, gpio): + if activate: + GPIO.output(gpio, GPIO.HIGH) + else: + GPIO.output(gpio, GPIO.LOW) + + def callback_hardware_status(self, msg): + for fan in self._fans_list: + if msg.rpi_temperature >= fan["temperature_on_threshold"]: + self.set_fans(True, fan["gpio"]) + elif msg.rpi_temperature <= fan["temperature_off_threshold"]: + self.set_fans(False, fan["gpio"]) diff --git a/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py b/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py new file mode 100755 index 000000000..79ca1a4b2 --- /dev/null +++ b/niryo_robot_rpi/src/niryo_robot_rpi/rpi_ros_utils.py @@ -0,0 +1,139 @@ +#!/usr/bin/env python + +import rospy +import rospkg +import subprocess +import re + +from niryo_robot_msgs.srv import SetBool, SetInt, Trigger +from niryo_robot_msgs.msg import CommandStatus + +ENABLE_BUS_MOTORS_SUCCESS = 1 +ENABLE_BUS_MOTORS_READ_FAIL = -1 +ENABLE_BUS_MOTORS_WRITE_FAIL = -2 + +CHANGE_MOTOR_CONFIG_SUCCESS = 1 +CHANGE_MOTOR_CONFIG_READ_FAIL = -1 +CHANGE_MOTOR_CONFIG_WRITE_FAIL = -2 +CHANGE_MOTOR_CONFIG_WRONG_VERSION = -3 + + +class LedState: + def __init__(self): + pass + + SHUTDOWN = 1 + HOTSPOT = 2 + HW_ERROR = 3 + OK = 4 + WAIT_HOTSPOT = 5 + PAUSE = 6 + + +def send_hotspot_command(): + rospy.loginfo("HOTSPOT") + send_led_state(LedState.WAIT_HOTSPOT) + rospy.wait_for_service('/niryo_robot/wifi/set_hotspot', timeout=0.5) + try: + set_hotspot = rospy.ServiceProxy('/niryo_robot/wifi/set_hotspot', SetInt) + set_hotspot() + except rospy.ServiceException: + rospy.logwarn("Could not call set_hotspot service") + + +def send_trigger_program_autorun(): + rospy.loginfo("Trigger program autorun from button") + topic_name = "/niryo_robot_programs_manager/execute_program_autorun" + try: + rospy.wait_for_service(topic_name, 0.1) + trigger = rospy.ServiceProxy(topic_name, Trigger) + resp = trigger() + return resp.status, resp.message + except (rospy.ServiceException, rospy.ROSException): + return CommandStatus.FAILURE, "Send trigger autorun error" + + +def send_reboot_motors_command(): + rospy.loginfo("Send reboot motor command") + try: + rospy.wait_for_service('/niryo_robot/reboot_motors', timeout=0.5) + except rospy.ROSException: + pass + try: + reboot_motors = rospy.ServiceProxy('/niryo_robot/reboot_motors', Trigger) + reboot_motors() + except rospy.ServiceException: + pass + + +def send_shutdown_command(): + rospy.loginfo("SHUTDOWN") + send_led_state(LedState.SHUTDOWN) + rospy.loginfo("Activate learning mode") + try: + rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=1) + except rospy.ROSException: + pass + try: + rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(True) + except rospy.ServiceException: + pass + send_reboot_motors_command() + rospy.sleep(0.2) + rospy.loginfo("Command 'sudo shutdown now'") + try: + output = subprocess.check_output(['sudo', 'shutdown', 'now']) + rospy.loginfo(str(output)) + except subprocess.CalledProcessError: + rospy.logwarn("Can't exec shutdown cmd") + + +def send_reboot_command(): + rospy.loginfo("REBOOT") + send_led_state(LedState.SHUTDOWN) + rospy.loginfo("Activate learning mode") + try: + rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=0.5) + except rospy.ROSException: + pass + try: + rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(True) + except rospy.ServiceException: + pass + send_reboot_motors_command() + rospy.sleep(0.2) + rospy.loginfo("Command 'sudo reboot'") + try: + output = subprocess.check_output(['sudo', 'reboot']) + rospy.loginfo(str(output)) + except subprocess.CalledProcessError: + rospy.logwarn("Can't exec reboot cmd") + + +def send_led_state(state): + rospy.wait_for_service('/niryo_robot/rpi/set_led_state', timeout=0.5) + try: + set_led = rospy.ServiceProxy('/niryo_robot/rpi/set_led_state', SetInt) + set_led(state) + except rospy.ServiceException: + rospy.logwarn("Could not call set_led_state service") + + +def activate_learning_mode(activate): + try: + rospy.wait_for_service('/niryo_robot/learning_mode/activate', timeout=0.5) + rospy.ServiceProxy('/niryo_robot/learning_mode/activate', SetBool)(activate) + + except (rospy.ServiceException, rospy.ROSException) as e: + return False + return True + + +def stop_robot_action(): + # Stop current move command + try: + rospy.wait_for_service('/niryo_robot_commander/stop_command', timeout=0.5) + stop_cmd = rospy.ServiceProxy('/niryo_robot_commander/stop_command', Trigger) + stop_cmd() + except (rospy.ServiceException, rospy.ROSException) as e: + pass diff --git a/niryo_robot_rpi/srv/ChangeMotorConfig.srv b/niryo_robot_rpi/srv/ChangeMotorConfig.srv new file mode 100644 index 000000000..b82e3dc0c --- /dev/null +++ b/niryo_robot_rpi/srv/ChangeMotorConfig.srv @@ -0,0 +1,5 @@ +int32[] can_required_motor_id_list +int32[] dxl_required_motor_id_list +--- +int32 status +string message diff --git a/niryo_robot_rpi/srv/GetDigitalIO.srv b/niryo_robot_rpi/srv/GetDigitalIO.srv new file mode 100644 index 000000000..f01c658da --- /dev/null +++ b/niryo_robot_rpi/srv/GetDigitalIO.srv @@ -0,0 +1,9 @@ +int32 pin +--- +int32 status +string message + +int32 pin +string name +int32 mode +int32 state diff --git a/niryo_robot_rpi/srv/LedBlinker.srv b/niryo_robot_rpi/srv/LedBlinker.srv new file mode 100644 index 000000000..dfdb1af00 --- /dev/null +++ b/niryo_robot_rpi/srv/LedBlinker.srv @@ -0,0 +1,16 @@ +uint8 LED_OFF = 0 +uint8 LED_BLUE = 1 +uint8 LED_GREEN = 2 +uint8 LED_BLUE_GREEN = 3 +uint8 LED_RED = 4 +uint8 LED_PURPLE = 5 +uint8 LED_RED_GREEN = 6 +uint8 LED_WHITE = 7 + +bool activate +uint8 frequency # between 1hz and 100Hz +uint8 color +float32 blinker_duration # 0 for infinite +--- +int32 status +string message \ No newline at end of file diff --git a/niryo_robot_rpi/srv/SetDigitalIO.srv b/niryo_robot_rpi/srv/SetDigitalIO.srv new file mode 100644 index 000000000..160547fde --- /dev/null +++ b/niryo_robot_rpi/srv/SetDigitalIO.srv @@ -0,0 +1,5 @@ +uint8 pin +uint8 value +--- +int32 status +string message diff --git a/niryo_robot_system_api_client/CMakeLists.txt b/niryo_robot_system_api_client/CMakeLists.txt new file mode 100644 index 000000000..fc4e9b397 --- /dev/null +++ b/niryo_robot_system_api_client/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.0.2) +project(niryo_robot_system_api_client) + +find_package(catkin REQUIRED COMPONENTS +) + +catkin_python_setup() + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_system_api_client/launch/system_api_client.launch b/niryo_robot_system_api_client/launch/system_api_client.launch new file mode 100644 index 000000000..b159a3f7b --- /dev/null +++ b/niryo_robot_system_api_client/launch/system_api_client.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/niryo_robot_system_api_client/package.xml b/niryo_robot_system_api_client/package.xml new file mode 100644 index 000000000..2dea8a89a --- /dev/null +++ b/niryo_robot_system_api_client/package.xml @@ -0,0 +1,15 @@ + + niryo_robot_system_api_client + 3.0.0 + The niryo_robot_system_api_client package + Justin Mottier + Justin Mottier + Corentin Ducatez + GPLv3 + + catkin + + niryo_robot_msgs + rospy + std_msgs + diff --git a/niryo_robot_system_api_client/scripts/system_api_client_node.py b/niryo_robot_system_api_client/scripts/system_api_client_node.py new file mode 100755 index 000000000..66d44b977 --- /dev/null +++ b/niryo_robot_system_api_client/scripts/system_api_client_node.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python + +import rospy +from niryo_robot_system_api_client.HttpClient import HttpClient + +from std_msgs.msg import Bool +from niryo_robot_msgs.srv import SetInt +from niryo_robot_msgs.srv import SetString +from niryo_robot_msgs.msg import CommandStatus + + +class SystemApiClientNode: + def __init__(self): + rospy.logdebug("System Api Client - Entering in Init") + + domain = rospy.get_param('~server_domain') + port = rospy.get_param('~server_port') + + self.client = HttpClient(domain, port) + + self.set_robot_name_server = rospy.Service('/niryo_robot/wifi/set_robot_name', SetString, + self.__callback_set_robot_name) + + self.hotspot_state_publisher = rospy.Publisher('/niryo_robot/wifi/hotspot', Bool, queue_size=2) + self.slow_mode = False + self.hotspot_timer = rospy.Timer(rospy.Duration(1), self.__publish_hotspot_state) + + self.activate_hotspot_server = rospy.Service('/niryo_robot/wifi/set_hotspot', SetInt, + self.__callback_activate_hotspot) + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("System Api Client - Node Started") + + def __callback_set_robot_name(self, req): + name = req.value + rospy.logdebug("System Api Client - Setting robot name to: " + str(name)) + if len(name) > 32 or len(name) < 3: + rospy.logwarn('System Api Client - Invalid name: length must be between 3-32 characters') + return CommandStatus.SYSTEM_API_CLIENT_INVALID_ROBOT_NAME, 'Name length must be between 3-32 characters' + + conn_success, result = self.client.set_robot_name(name) + if not conn_success: + return CommandStatus.SYSTEM_API_CLIENT_REQUEST_FAILED, result + if not result: + return CommandStatus.SYSTEM_API_CLIENT_UNKNOWN_ERROR, 'Could not change the robot name' + return CommandStatus.SUCCESS, 'Successfully changed the robot name' + + def __publish_hotspot_state(self, _): + conn_success, activated = self.client.hotspot_state() + + # In case of connection error we increase the timer interval to avoid useless requests + if not conn_success: + self.slow_mode = True + self.hotspot_timer.shutdown() + self.hotspot_timer = rospy.Timer(rospy.Duration(5), self.__publish_hotspot_state) + + if conn_success and self.slow_mode: + self.slow_mode = False + self.hotspot_timer.shutdown() + self.hotspot_timer = rospy.Timer(rospy.Duration(1), self.__publish_hotspot_state) + + msg = Bool() + if conn_success: + msg.data = activated + else: + msg.data = False + try: + self.hotspot_state_publisher.publish(msg) + except rospy.ROSException: + return + + def __callback_activate_hotspot(self, _): + conn_success, result = self.client.activate_hotspot() + + if not conn_success: + return CommandStatus.SYSTEM_API_CLIENT_REQUEST_FAILED, result + if not result: + return CommandStatus.SYSTEM_API_CLIENT_UNKNOWN_ERROR, "Failed to activate hotspot mode" + + return CommandStatus.SUCCESS, "Hotspot mode activated" + + +if __name__ == "__main__": + rospy.init_node('niryo_robot_system_api_client', anonymous=False, log_level=rospy.INFO) + SystemApiClientNode() + rospy.spin() diff --git a/niryo_robot_system_api_client/setup.py b/niryo_robot_system_api_client/setup.py new file mode 100644 index 000000000..837368f11 --- /dev/null +++ b/niryo_robot_system_api_client/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_system_api_client'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py new file mode 100644 index 000000000..6ee988196 --- /dev/null +++ b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/HttpClient.py @@ -0,0 +1,79 @@ +import json +import urllib +import urllib2 + + +class HttpClient: + + def __init__(self, host, port): + self.host = host + self.port = port + self.last_error = '' + + def __url_builder(self, uri, params=None): + """ + Build an url from the route and parameters + + :type uri: str + :type params: dict + :return: None + :rtype: str + """ + url = 'http://{}:{}/{}'.format(self.host, self.port, uri) + + if params: + url += '?{}'.format(urllib.urlencode(params)) + + return url + + def __get(self, uri, params=None): + url = self.__url_builder(uri, params) + + try: + u = urllib2.urlopen(url) + except IOError: + return False, False + + return u.getcode(), json.loads(u.read()) + + def __post(self, uri, params=None): + if params is None: + # Important otherwise the request will be GET instead of POST + params = {} + + url = self.__url_builder(uri) + try: + request = urllib2.Request(url) + request.add_header('Content-Type', 'application/json') + executed = urllib2.urlopen(request, json.dumps(params)) + except IOError: + return False, False + + return executed.getcode(), json.loads(executed.read()) + + def set_robot_name(self, name): + status_code, response = self.__post('setRobotName', {'name': name}) + + if not status_code: + return False, 'Unable to connect to the HTTP server' + + if status_code != 200: + return False, response['detail'] + + return True, response['detail'] + + def hotspot_state(self): + status_code, response = self.__get('hotspotState') + + if not status_code: + return False, 'Unable to connect to the HTTP server' + + return True, response['state'] + + def activate_hotspot(self): + status_code, response = self.__post('switchToHotspot') + + if not status_code: + return False, 'Unable to connect to the HTTP server' + + return True, status_code == 200 diff --git a/niryo_robot_system_api_client/src/niryo_robot_system_api_client/__init__.py b/niryo_robot_system_api_client/src/niryo_robot_system_api_client/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_tools/CMakeLists.txt b/niryo_robot_tools/CMakeLists.txt new file mode 100644 index 000000000..9638c009d --- /dev/null +++ b/niryo_robot_tools/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_tools) + +find_package(catkin REQUIRED + COMPONENTS + actionlib_msgs + message_generation + std_msgs +) + +add_message_files( + FILES + ToolCommand.msg +) + +add_action_files( + DIRECTORY action + FILES + Tool.action +) + +generate_messages( + DEPENDENCIES + actionlib_msgs + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + message_runtime) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_tools/action/Tool.action b/niryo_robot_tools/action/Tool.action new file mode 100644 index 000000000..62be259a3 --- /dev/null +++ b/niryo_robot_tools/action/Tool.action @@ -0,0 +1,9 @@ +# goal +niryo_robot_tools/ToolCommand cmd +--- +# result +int32 status +string message +--- +# feedback +int32 progression diff --git a/niryo_robot_tools/config/end_effectors.yaml b/niryo_robot_tools/config/end_effectors.yaml new file mode 100644 index 000000000..b1c20b5d5 --- /dev/null +++ b/niryo_robot_tools/config/end_effectors.yaml @@ -0,0 +1,143 @@ +# Config for all the end-effectors + +command_list: + # Gripper + open_gripper: 1 + close_gripper: 2 + # Vacuump pump + pull_air_vacuum_pump: 10 + push_air_vacuum_pump: 11 + # Tools controlled by digital I/Os + setup_digital_io: 20 + activate_digital_io: 21 + deactivate_digital_io: 22 + +state_dict: + ping_ok: 0x01 + ping_error: 0x02 + wrong_id: 0x03 + timeout: 0x04 + + gripper_open: 0x10 + gripper_close: 0x11 + + vacuum_pump_pulled: 0x20 + vacuum_pump_pushed: 0x21 + + ros_communication_problem: 0xA0 + +namespace_topics: "/niryo_robot/tools/" + +# Important note: +# All the values finishing with "_hold_torque" have been computed so the +# DXL-320 motor won't become too hot. +# If you increase those values you may destroy (burn) the motor after a few minutes. + +tool_list: + - name: "No Tool" + type: "no_tool" + id: 0 + specs: + [ ] + available_commands: + [ ] + - name: "Gripper 1" + type: "gripper" + id: 11 + available_commands: + - open_gripper + - close_gripper + specs: + open_position: 600 + open_hold_torque: 128 + close_position: 230 + close_hold_torque: 128 + close_max_torque: 1023 + open_speed: 300 + close_speed: 300 + limit_open_speed: + min: 0 + max: 1023 + limit_close_speed: + min: 0 + max: 1023 + - name: "Gripper 2" + type: "gripper" + id: 12 + available_commands: + - open_gripper + - close_gripper + specs: + open_position: 640 + open_hold_torque: 128 + close_position: 400 + close_hold_torque: 128 + close_max_torque: 1023 + open_speed: 300 + close_speed: 300 + limit_open_speed: + min: 0 + max: 1023 + limit_close_speed: + min: 0 + max: 1023 + - name: "Gripper 3" + type: "gripper" + id: 13 + available_commands: + - open_gripper + - close_gripper + specs: + open_position: 450 + open_hold_torque: 128 + close_position: 220 + close_hold_torque: 160 + close_max_torque: 1023 + open_speed: 300 + close_speed: 300 + limit_open_speed: + min: 0 + max: 1023 + limit_close_speed: + min: 0 + max: 1023 + - name: "Gripper 4" + type: "gripper" + id: 14 + available_commands: + - open_gripper + - close_gripper + specs: + open_position: 518 + open_hold_torque: 128 + close_position: 157 + close_hold_torque: 160 + close_max_torque: 1023 + open_speed: 300 + close_speed: 300 + limit_open_speed: + min: 0 + max: 1023 + limit_close_speed: + min: 0 + max: 1023 + - name: "Electromagnet 1" + type: "electromagnet" + id: 30 + available_commands: + - activate_digital_io + - deactivate_digital_io + - setup_digital_io + specs: + [ ] + - name: "Vacuum Pump 1" + type: "vacuum_pump" + id: 31 + available_commands: + - pull_air_vacuum_pump + - push_air_vacuum_pump + specs: + pull_air_position: 250 + pull_air_hold_torque: 128 + push_air_position: 760 + diff --git a/niryo_robot_tools/msg/ToolCommand.msg b/niryo_robot_tools/msg/ToolCommand.msg new file mode 100644 index 000000000..797c7e22c --- /dev/null +++ b/niryo_robot_tools/msg/ToolCommand.msg @@ -0,0 +1,15 @@ +uint8 tool_id +uint8 cmd_type + +# if gripper close +uint16 gripper_close_speed + +# if gripper open +uint16 gripper_open_speed + +# if vacuum pump or electromagnet grove +bool activate + +# if tool is set by digital outputs (electromagnet) +# if gpio<0 get value in memory +int8 gpio diff --git a/niryo_robot_tools/package.xml b/niryo_robot_tools/package.xml new file mode 100644 index 000000000..2d9ec5783 --- /dev/null +++ b/niryo_robot_tools/package.xml @@ -0,0 +1,20 @@ + + niryo_robot_tools + 3.0.0 + Provides functionalities to control end-effectors and accessories for Niryo Robot + Edouard Renard + Rémi Lux + Rémi Lux + Valentin Pitre + + GPLv3 + + catkin + + actionlib_msgs + message_generation + + message_runtime + tools_interface + + diff --git a/niryo_robot_tools/scripts/tool_controller_node.py b/niryo_robot_tools/scripts/tool_controller_node.py new file mode 100755 index 000000000..6d8e3a6f2 --- /dev/null +++ b/niryo_robot_tools/scripts/tool_controller_node.py @@ -0,0 +1,237 @@ +#!/usr/bin/env python + +import rospy +import actionlib + +from tools_classes import * +from tool_ros_command_interface import ToolRosCommandInterface + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Messages +from std_msgs.msg import Int32 + +from niryo_robot_tools.msg import ToolAction, ToolResult + +# Services +from niryo_robot_msgs.srv import Trigger, SetInt + + +class ToolsState: + def __init__(self, state_dict): + self.PING_OK = state_dict["ping_ok"] + self.PING_ERROR = state_dict["ping_error"] + self.WRONG_ID = state_dict["wrong_id"] + self.TIMEOUT = state_dict["timeout"] + + self.GRIPPER_OPEN = state_dict["gripper_open"] + self.GRIPPER_CLOSE = state_dict["gripper_close"] + + self.VACUUM_PUMP_PULLED = state_dict["vacuum_pump_pulled"] + self.VACUUM_PUMP_PUSHED = state_dict["vacuum_pump_pushed"] + + self.ROS_COMMUNICATION_PROBLEM = state_dict["ros_communication_problem"] + + +class ToolController: + def __init__(self): + self.__tools_state = ToolsState(rospy.get_param("~state_dict")) + self.__ros_command_interface = ToolRosCommandInterface(self.__tools_state.ROS_COMMUNICATION_PROBLEM) + + self.__current_tool = None + + self.__available_tools, self.__dict_commands_string_to_id = self.create_tools() + + self.__dict_id_commands_to_string = {string: id_ for id_, string + in self.__dict_commands_string_to_id.iteritems()} + + self.__is_simulation = rospy.get_param("~simulation_mode") + + # Subscriber + rospy.Subscriber('/niryo_robot_hardware/tools/current_id', Int32, + self.__callback_current_tool_id) + + # Publisher + self.__tool_id_publisher = rospy.Publisher('~current_id', Int32, queue_size=10, latch=True) + + # Services + rospy.Service('~update_tool', Trigger, + self.__callback_update_tool) + + rospy.Service('~equip_electromagnet', SetInt, + self.__callback_equip_electromagnet) + + # Action Server + self.__action_server = actionlib.SimpleActionServer('~action_server', ToolAction, + self.__callback_goal, auto_start=False) + self.__end_init() + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("Tools controller - Started") + + def __end_init(self): + self.__action_server.start() + self.update_tool() + + # Subscriber + + def __callback_current_tool_id(self, msg): + if self.__current_tool != "electromagnet": + id_ = msg.data + tool = self.__available_tools[id_] + self.__current_tool = tool + + self.__tool_id_publisher.publish(self.__current_tool.get_id()) + + # - Callbacks + + def __callback_goal(self, goal): + cmd = goal.cmd + rospy.logdebug("Tool controller - received goal : " + str(goal)) + + if self.__current_tool is None: + rospy.logwarn("Tool Controller - No tool selected") + self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, "No tool selected")) + return + + if not self.__is_simulation: + # 1. Check tool id + if cmd.tool_id != self.__current_tool.get_id(): + msg = "Tools ID do not match -> Given : {} Expected : {}".format(cmd.tool_id, + self.__current_tool.get_id()) + rospy.logwarn("Tool Controller - {}".format(msg)) + self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, msg)) + return + + # 2. Check if current tool is active + if self.__current_tool.is_active(): + self.__action_server.set_aborted( + self.create_action_result(CommandStatus.TOOL_FAILURE, "Tool still active, retry later")) + return + + # 3. Check cmd_type (if exists, and is available for selected tool) + # Skip in case of simulation + if not self.__is_simulation and cmd.cmd_type not in self.__current_tool.get_available_commands(): + msg = "Command '{}' is not available for {}".format(self.__dict_id_commands_to_string[cmd.cmd_type], + self.__current_tool.name) + rospy.logwarn("Tool Controller - {}".format(msg)) + self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, msg)) + return + + # 3.1 Validate params + try: + self.__current_tool.validate_command(cmd) + except ToolValidationException as e: + self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, str(e))) + return + + if not self.__is_simulation: + # 4. Execute cmd -> retrieve cmd name in command list and execute on current tool + self.__current_tool.set_as_active() + + function_name = self.__dict_id_commands_to_string[cmd.cmd_type] + success, message = self.__current_tool(function_name, cmd) # Execute function from name + + self.__current_tool.set_as_non_active() + + # 5. Return success or error + if success: + self.__action_server.set_succeeded( + self.create_action_result(CommandStatus.SUCCESS, "Tool action successfully finished")) + else: + rospy.loginfo("Tool controller - error : {}".format(message)) + self.__action_server.set_aborted(self.create_action_result(CommandStatus.TOOL_FAILURE, message)) + # Simulation + else: + self.__action_server.set_succeeded( + self.create_action_result(CommandStatus.SUCCESS, "Tool action successfully finished")) + + def __callback_update_tool(self, _req): + state, id_ = self.update_tool() + if state != self.__tools_state.PING_OK: + return self.create_response(CommandStatus.TOOL_FAILURE, + "Impossible to set new tool") + + if id_ not in self.__available_tools: + # no tool found in available tools + return self.create_response(CommandStatus.TOOL_ID_INVALID, "This ID does not match any available tool ID") + + self.__current_tool = self.__available_tools[id_] + self.__tool_id_publisher.publish(id_) + + return self.create_response(CommandStatus.SUCCESS, + "New tool has been set, id : {}".format(id_)) + + def __callback_equip_electromagnet(self, req): + id_ = req.value + if id_ not in self.__available_tools: + # no tool found in available tools + return self.create_response(CommandStatus.TOOL_ID_INVALID, "This ID does not match any electromagnet ID") + + self.__current_tool = self.__available_tools[id_] + self.__tool_id_publisher.publish(self.__current_tool.get_id()) + return CommandStatus.SUCCESS, "Electromagnet properly equipped" + + # Functions + def create_tools(self): + # Get params from rosparams + tool_config_dict = rospy.get_param("~tool_list") + list_commands_all_tools = rospy.get_param("~command_list") + + dict_tools = {} + + for tool in tool_config_dict: + tool_type, tool_id, tool_name, specs = (tool[key] for key in ['type', 'id', 'name', 'specs']) + if tool_type == Gripper.get_type(): + new_tool = Gripper(tool_id, tool_name, self.__tools_state, self.__ros_command_interface, specs) + elif tool_type == Electromagnet.get_type(): + new_tool = Electromagnet(tool_id, tool_name, self.__tools_state, self.__ros_command_interface) + elif tool_type == VacuumPump.get_type(): + new_tool = VacuumPump(tool_id, tool_name, self.__tools_state, self.__ros_command_interface, specs) + elif tool_type == NoTool.get_type(): + new_tool = NoTool(tool_id, tool_name, self.__tools_state, self.__ros_command_interface) + else: + rospy.logwarn("Tool Controller - Type not recognized from tool config list : " + str(tool['type'])) + continue + + tool_command_list = [] + + for cmd in tool['available_commands']: + try: + tool_command_list.append(list_commands_all_tools[cmd]) + except KeyError: + rospy.logwarn("Tool Controller - Unknown command : {}".format(cmd)) + continue + + new_tool.set_available_commands(tool_command_list) + + dict_tools[tool_id] = new_tool + + return dict_tools, list_commands_all_tools + + def update_tool(self): + return self.__ros_command_interface.ping_dxl_tool() + + # - General Purposes + @staticmethod + def create_action_result(status, message): + result = ToolResult() + result.status = status + result.message = message + return result + + @staticmethod + def create_response(status, message): + return {'status': status, 'message': message} + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_tools', anonymous=False, log_level=rospy.INFO) + try: + node = ToolController() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_tools/scripts/tool_ros_command_interface.py b/niryo_robot_tools/scripts/tool_ros_command_interface.py new file mode 100644 index 000000000..54e565f0b --- /dev/null +++ b/niryo_robot_tools/scripts/tool_ros_command_interface.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python + +import rospy + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +# Services +from niryo_robot_rpi.srv import SetDigitalIO + +from tools_interface.srv import PingDxlTool +from tools_interface.srv import OpenGripper, CloseGripper +from tools_interface.srv import PullAirVacuumPump, PushAirVacuumPump + + +class ToolRosCommandInterface: + + def __init__(self, state_ros_communication_problem): + namespace = rospy.get_param("~namespace_topics") + self.__service_open_gripper = rospy.ServiceProxy(namespace + 'open_gripper', + OpenGripper) + self.__service_close_gripper = rospy.ServiceProxy(namespace + 'close_gripper', + CloseGripper) + + self.__service_pull_air_vacuum_pump = rospy.ServiceProxy(namespace + 'pull_air_vacuum_pump', + PullAirVacuumPump) + self.__service_push_air_vacuum_pump = rospy.ServiceProxy(namespace + 'push_air_vacuum_pump', + PushAirVacuumPump) + + self.__service_ping_dxl_tool = rospy.ServiceProxy(namespace + 'ping_and_set_dxl_tool', PingDxlTool) + + self.__service_setup_digital_output_tool = rospy.ServiceProxy('/niryo_robot_rpi/set_digital_io_mode', + SetDigitalIO) + self.__service_activate_digital_output_tool = rospy.ServiceProxy('/niryo_robot_rpi/set_digital_io_state', + SetDigitalIO) + + self.__state_ros_communication_problem = state_ros_communication_problem + rospy.logdebug("Interface between Tools Controller and ROS Control has been started.") + + # Gripper + + def open_gripper(self, gripper_id, open_position, open_speed, open_hold_torque): + try: + resp = self.__service_open_gripper(gripper_id, open_position, open_speed, open_hold_torque) + return resp.state + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to Open Gripper") + return self.__state_ros_communication_problem + + def close_gripper(self, gripper_id, close_position, close_speed, close_hold_torque, close_max_torque): + try: + resp = self.__service_close_gripper(gripper_id, close_position, close_speed, close_hold_torque, + close_max_torque) + return resp.state + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to Close Gripper") + return self.__state_ros_communication_problem + + # Vacuum + def pull_air_vacuum_pump(self, vp_id, vp_pull_air_position, vp_pull_air_hold_torque): + try: + resp = self.__service_pull_air_vacuum_pump(vp_id, vp_pull_air_position, vp_pull_air_hold_torque) + return resp.state + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to Pull Air") + return self.__state_ros_communication_problem + + def push_air_vacuum_pump(self, vp_id, vp_push_air_position): + try: + resp = self.__service_push_air_vacuum_pump(vp_id, vp_push_air_position) + return resp.state + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to Push Air") + return self.__state_ros_communication_problem + + # Others + def ping_dxl_tool(self): + try: + resp = self.__service_ping_dxl_tool() + return resp.state, resp.id + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to Ping Dynamixel Tool - An error has occurred or another ping was running") + return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Cannot ping dxl tool" + + def digital_output_tool_setup(self, gpio_pin): + try: + resp = self.__service_setup_digital_output_tool(gpio_pin, 0) # set output + return resp.status, resp.message + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to get digital output setup") + return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Digital IO panel service failed" + + def digital_output_tool_activate(self, gpio_pin, activate): + try: + resp = self.__service_activate_digital_output_tool(gpio_pin, activate) + return resp.status, resp.message + except rospy.ServiceException: + rospy.logerr("ROS Tool Interface - Failed to activate digital output") + return CommandStatus.TOOL_ROS_INTERFACE_ERROR, "Digital IO panel service failed" diff --git a/niryo_robot_tools/scripts/tools_classes.py b/niryo_robot_tools/scripts/tools_classes.py new file mode 100644 index 000000000..8a466056f --- /dev/null +++ b/niryo_robot_tools/scripts/tools_classes.py @@ -0,0 +1,261 @@ +#!/usr/bin/env python + +# Command Status +from niryo_robot_msgs.msg import CommandStatus + +__all__ = [ + "Tool", + "NoTool", + "Gripper", + "Electromagnet", + "VacuumPump", + + "ToolValidationException", +] + + +class ToolValidationException(Exception): + pass + + +# +# Base class for any tool +# +class Tool(object): + def __init__(self, tool_id, tool_name, tools_state, ros_command_interface): + self._functions_dict = {} + self._id = tool_id + self._name = tool_name + self._tools_state = tools_state + self.ros_command_interface = ros_command_interface + self._is_active = False + self.available_commands = [] + + # To override + @staticmethod + def get_type(): + raise NotImplementedError + + # To override + def validate_command(self, cmd): + raise NotImplementedError + + def set_as_active(self): + self._is_active = True + + def set_as_non_active(self): + self._is_active = False + + def is_active(self): + return self._is_active + + def get_id(self): + return self._id + + @property + def name(self): + return self._name + + def set_available_commands(self, cmd_list): + self.available_commands = cmd_list + + def get_available_commands(self): + return self.available_commands + + def __call__(self, function_name, *args): + return self._functions_dict[function_name](*args) + + def __str__(self): + return "Tool {} of type {} with ID {}".format(self._name, self.get_type(), self._id) + + def __repr__(self): + return self.__str__() + + +class NoTool(Tool): + def __init__(self, tool_id, tool_name, tools_state, ros_command_interface): + super(NoTool, self).__init__(tool_id, tool_name, tools_state, ros_command_interface) + + @staticmethod + def get_type(): + return "no_tool" + + def validate_command(self, cmd): + pass + + def is_connected(self): + state, id_ = self.ros_command_interface.ping_dxl_tool() + return state == self._tools_state.PING_OK and id_ == self._id + + +class Gripper(Tool): + def __init__(self, tool_id, tool_name, tools_state, ros_command_interface, specs): + super(Gripper, self).__init__(tool_id, tool_name, tools_state, ros_command_interface) + + self.open_position = specs["open_position"] + self.open_hold_torque = specs["open_hold_torque"] + self.close_position = specs["close_position"] + self.close_hold_torque = specs["close_hold_torque"] + self.close_max_torque = specs["close_max_torque"] + + self.open_speed_limits = specs["limit_open_speed"] + self.close_speed_limits = specs["limit_close_speed"] + + self._functions_dict = { + "open_gripper": self.open_gripper, + "close_gripper": self.close_gripper, + } + + @staticmethod + def get_type(): + return "gripper" + + def validate_command(self, cmd): + if not self.open_speed_limits["min"] <= cmd.gripper_open_speed < self.open_speed_limits["max"]: + raise ToolValidationException( + "Gripper open speed must be in ( {}, {})".format(self.open_speed_limits["min"], + self.open_speed_limits["max"])) + elif not self.close_speed_limits["min"] <= cmd.gripper_close_speed < self.close_speed_limits["max"]: + raise ToolValidationException( + "Gripper close speed must be in ( {}, {})".format(self.close_speed_limits["min"], + self.close_speed_limits["max"])) + + def is_connected(self): + state, id_ = self.ros_command_interface.ping_dxl_tool() + return state == self._tools_state.PING_OK and id_ == self._id + + def return_gripper_status(self, state): + if state == self._tools_state.GRIPPER_OPEN: + return True, "Successfully opened gripper" + if state == self._tools_state.GRIPPER_CLOSE: + return True, "Successfully closed gripper" + if state == self._tools_state.PING_OK: + return True, "Gripper is connected" + if state == self._tools_state.PING_ERROR: + return False, "Gripper not detected" + if state == self._tools_state.TIMEOUT: + return False, "Gripper action - Timeout" + if state == self._tools_state.WRONG_ID: + return False, "This gripper is not the one attached" + if state == self._tools_state.ROS_COMMUNICATION_PROBLEM: + return False, "A communication problem occured, please retry" + + def open_gripper(self, cmd): + state = self.ros_command_interface.open_gripper( + self._id, self.open_position, cmd.gripper_open_speed, self.open_hold_torque) + return self.return_gripper_status(state) + + def close_gripper(self, cmd): + state = self.ros_command_interface.close_gripper( + self._id, self.close_position, cmd.gripper_close_speed, self.close_hold_torque, self.close_max_torque) + return self.return_gripper_status(state) + + def update_params(self, open_position, open_hold_torque, close_position, + close_hold_torque, close_max_torque): + self.open_position = open_position + self.open_hold_torque = open_hold_torque + self.close_position = close_position + self.close_hold_torque = close_hold_torque + self.close_max_torque = close_max_torque + + +class Electromagnet(Tool): + def __init__(self, tool_id, tool_name, tools_state, ros_command_interface): + super(Electromagnet, self).__init__(tool_id, tool_name, tools_state, ros_command_interface) + self._functions_dict = { + "setup_digital_io": self.setup_digital_io, + "activate_digital_io": self.activate_digital_io, + "deactivate_digital_io": self.deactivate_digital_io, + } + self._gpio = None + + @staticmethod + def get_type(): + return "electromagnet" + + def validate_command(self, cmd): + if type(cmd.activate) is not bool: + raise ToolValidationException("Electromagnet activation command should be boolean") + + def setup_digital_io(self, cmd): + self._gpio = cmd.gpio + status, message = self.ros_command_interface.digital_output_tool_setup(cmd.gpio) + if status == CommandStatus.SUCCESS: + return True, 'Successfully setup digital output PIN ' + str(cmd.gpio) + ' for electromagnet' + else: + return False, message + + def activate_digital_io(self, cmd): + if cmd.gpio > 0: + self._gpio = cmd.gpio + status, message = self.ros_command_interface.digital_output_tool_activate(self._gpio, 1) + if status == CommandStatus.SUCCESS: + return True, 'Successfully activated eletromagnet on PIN ' + str(cmd.gpio) + else: + return False, message + + def deactivate_digital_io(self, cmd): + if cmd.gpio > 0: + self._gpio = cmd.gpio + status, message = self.ros_command_interface.digital_output_tool_activate(self._gpio, 0) + if status == CommandStatus.SUCCESS: + return True, 'Successfully deactivated eletromagnet on PIN ' + str(cmd.gpio) + else: + return False, message + + +class VacuumPump(Tool): + def __init__(self, tool_id, tool_name, tools_state, ros_command_interface, specs): + super(VacuumPump, self).__init__(tool_id, tool_name, tools_state, ros_command_interface) + self.__pull_air_position = specs["pull_air_position"] + self.__pull_air_hold_torque = specs["pull_air_hold_torque"] + self.__push_air_position = specs["push_air_position"] + + self._functions_dict = { + "pull_air_vacuum_pump": self.pull_air_vacuum_pump, + "push_air_vacuum_pump": self.push_air_vacuum_pump, + } + + @staticmethod + def get_type(): + return "vacuum_pump" + + def validate_command(self, cmd): + if type(cmd.activate) is not bool: + raise ToolValidationException("Vacuum Pump activation command should be boolean") + + def is_connected(self): + state = self.ros_command_interface.ping_dxl_tool(self._id, self._name) + return state == self._tools_state.PING_OK + + def return_vaccump_pump_state(self, state): + if state == self._tools_state.VACUUM_PUMP_PULLED: + return True, 'Successfully pulled air' + elif state == self._tools_state.VACUUM_PUMP_PUSHED: + return True, 'Successfully pushed air' + elif state == self._tools_state.PING_OK: + return True, 'Vacuum Pump is connected' + elif state == self._tools_state.PING_ERROR: + return False, 'Vacuum pump not detected' + elif state == self._tools_state.TIMEOUT: + return False, 'Vacump pump action - Timeout' + elif state == self._tools_state.WRONG_ID: + return False, 'This vacuum pump is not the one attached' + elif state == self._tools_state.ROS_COMMUNICATION_PROBLEM: + return False, "A communication problem occured, please retry" + else: + return False, "Error : Unknown vacuum pump return" + str(state) + + def pull_air_vacuum_pump(self, _): + state = self.ros_command_interface.pull_air_vacuum_pump(self._id, self.__pull_air_position, + self.__pull_air_hold_torque) + return self.return_vaccump_pump_state(state) + + def push_air_vacuum_pump(self, _): + state = self.ros_command_interface.push_air_vacuum_pump(self._id, self.__push_air_position) + return self.return_vaccump_pump_state(state) + + def update_params(self, pull_air_position, pull_air_hold_torque, push_air_position): + self.__pull_air_position = pull_air_position + self.__pull_air_hold_torque = pull_air_hold_torque + self.__push_air_position = push_air_position diff --git a/niryo_robot_unit_tests/CMakeLists.txt b/niryo_robot_unit_tests/CMakeLists.txt new file mode 100644 index 000000000..ff36395a3 --- /dev/null +++ b/niryo_robot_unit_tests/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_unit_tests) + +find_package(catkin REQUIRED COMPONENTS + rospy + rostest +) + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_unit_tests/launch/rpi_tests.launch b/niryo_robot_unit_tests/launch/rpi_tests.launch new file mode 100755 index 000000000..550178bb6 --- /dev/null +++ b/niryo_robot_unit_tests/launch/rpi_tests.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch b/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch new file mode 100755 index 000000000..136f0ee16 --- /dev/null +++ b/niryo_robot_unit_tests/launch/simulation_gazebo_tests.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/niryo_robot_unit_tests/launch/simulation_headless_tests.launch b/niryo_robot_unit_tests/launch/simulation_headless_tests.launch new file mode 100755 index 000000000..1a7ec16b9 --- /dev/null +++ b/niryo_robot_unit_tests/launch/simulation_headless_tests.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch b/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch new file mode 100755 index 000000000..64fd098e1 --- /dev/null +++ b/niryo_robot_unit_tests/launch/simulation_rviz_tests.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/niryo_robot_unit_tests/package.xml b/niryo_robot_unit_tests/package.xml new file mode 100644 index 000000000..f0d4636f0 --- /dev/null +++ b/niryo_robot_unit_tests/package.xml @@ -0,0 +1,17 @@ + + niryo_robot_unit_tests + 3.0.0 + Package containing unit tests in order to run CI ! + Remi Lux + Remi Lux + GPLv3 + + catkin + + rospy + rostest + + rospy + rostest + + diff --git a/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py b/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py new file mode 100644 index 000000000..d9c11679f --- /dev/null +++ b/niryo_robot_unit_tests/scripts/pipeline_test_ros_n_pure_python.py @@ -0,0 +1,184 @@ +#!/usr/bin/env python +""" +This script is made to run ROS tests on .test files +It allows to hide log which are generated by catkin's run_tests or rostest + +To use it, firstly add test files names in the corresponding list, either simulation or rpi +""" +from subprocess import Popen, PIPE +import argparse + +list_test_files_simulation = [ + ["niryo_robot_poses_handlers", "simulation_poses_handlers.test", False], + ["niryo_robot_programs_manager", "simulation_programs_manager.test", False], + ["niryo_robot_python_ros_wrapper", "simulation_python_wrapper.test", True], +] + +list_test_files_rpi = [ + ["niryo_robot_poses_handlers", "rpi_poses_handlers.test", False], + ["niryo_robot_programs_manager", "rpi_programs_manager.test", False], + ["niryo_robot_python_ros_wrapper", "rpi_python_wrapper.test", True], +] + + +class Colors(object): + """ + https://godoc.org/github.com/whitedevops/colors + """ + # Colors + DEFAULT = '\033[39m' + RED = '\033[91m' + GREEN = '\033[92m' + ORANGE = '\033[93m' + BLUE = '\033[94m' + MAGENTA = "\033[95m" + + # Font style + BOLD = "\033[1m" + + # Reset all + RESET = '\033[0m' + + +def args_parser(): + def description_parser(): + warning = 15 * '-' + " Ned Tests " + 15 * '-' + return warning + + # def help_gripper(): + # s = ["Run tests on gripper", + # "Will use Gripper 1 for simulation and Gripper 2 for Real Robot", + # "If not set, will test all end-effectors functions on simulation and None for the real robot" + # ] + # return "\n".join(s) + + parser = argparse.ArgumentParser(description=description_parser(), + epilog=50 * '-' + '\n', + # formatter_class=argparse.RawTextHelpFormatter + ) + + parser.add_argument("--rpi", + action="store_true", + help="If tests are done on RPI", + ) + parser.add_argument("--headless", + action="store_true", + help="If you want to run on headless", + ) + parser.add_argument("-v", "--verbose", + action="store_true", + help="Display stderr. Nevertheless, it can be misleading" + "cause some errors happened when closing Gazebo", + ) + parser.add_argument("-gc", "--gripper_n_camera", + action="store_true", + help="Run tests also on vision node and a tool", + ) + parser.add_argument("--conveyor", + action="store_true", + help="Run tests with conveyor", + ) + + l_args = parser.parse_args() + optional_args = [ + "gripper_n_camera:={}".format(str(l_args.gripper_n_camera).lower()), + "gui:={}".format(str(not l_args.headless).lower()), + ] + + return l_args, optional_args + + +def find_result(output_clean): + target_str = " * RESULT: " + res = "NOT FOUND" + for line in output_clean: + if target_str not in line: + continue + res = line.replace(target_str, "") + break + return res.strip() + + +def test_pipeline(show_errors, use_simulation, optional_args=None): + if optional_args is None: + optional_args = [] + line = 20 * "-" + if use_simulation: + list_test = list_test_files_simulation + else: + list_test = list_test_files_rpi + + # - Display before running + print "\n" + 20 * "*" + "\n" + print "Executing {} tests on {} mode\n".format( + len(list_test), Colors.BLUE + ("Simulation" if use_simulation else "RPI") + Colors.RESET) + print "Optional args : \n{}\n".format(Colors.ORANGE + "\n".join(optional_args) + Colors.RESET) + print "\n" + 20 * "*" + "\n" + # - Run all commands in a loop + list_res = [] + for dir_, file_, use_args in list_test: + print "{}\nExecuting Test {} from Package {}".format(line, Colors.BLUE + file_ + Colors.RESET, + Colors.GREEN + dir_ + Colors.RESET) + l_param = ["rostest", dir_, file_] + if use_args: + l_param.extend(optional_args) + + print "Command used : {}\n{}".format(Colors.MAGENTA + " ".join(l_param) + Colors.RESET, line) + + # Launching command in a shell and getting output + p = Popen(l_param, stdout=PIPE, stderr=PIPE) + output, error = p.communicate() + + # - Analysing the output to extract only useful information which is contains after ROSTEST + output_split = output.split("\n") + for i in range(len(output_split)): + if output_split[i].startswith("[ROSTEST]"): + j = i + 1 + break + else: + list_res.append([dir_, file_, "{}CANNOT FIND ROSTEST RESULT{}".format(Colors.RED, Colors.RESET)]) + continue + + jump_to_end = 6 # Number of lines between "SUMMARY" on end of summary + for j in range(i, len(output_split) - jump_to_end - 1): + if output_split[j].startswith("SUMMARY"): + break + + # - Format output + output_clean_list = output_split[i + 1:j + jump_to_end + 1] + output_clean = "\n".join(output_clean_list) + + # - Display result of the test + if show_errors and error: + print 3 * "!" + " Warns/Errors " + 3 * "!" + "\n" + print error + print 3 * "#" + " Test Results " + 3 * "#" + "\n" + print output_clean + "\n" + + # Check if the test Succeed and store result + list_res.append([dir_, file_, find_result(output_clean_list)]) + + # - Summary of tests + success = all(["SUCCESS" in res for _, _, res in list_res]) + if success: + success_str = Colors.GREEN + "SUCCESS" + else: + success_str = Colors.RED + "FAILED" + + border = "{}--Tests Summary : {} --{}".format(Colors.BOLD, success_str + Colors.DEFAULT, Colors.RESET) + print "\n\n" + border + "\n" + + for dir_, file_, res in list_res: + print "File {} from package {} : {}".format(file_, dir_, res) + + print "\n" + border + + return success + + +if __name__ == '__main__': + # - Getting CLI arguments + args_, optional_args_ = args_parser() + + test_pipeline(show_errors=args_.verbose, use_simulation=not args_.rpi, + optional_args=optional_args_) diff --git a/niryo_robot_unit_tests/scripts/script_test_from_launch.py b/niryo_robot_unit_tests/scripts/script_test_from_launch.py new file mode 100755 index 000000000..63c75aa39 --- /dev/null +++ b/niryo_robot_unit_tests/scripts/script_test_from_launch.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python + +import rospy + +from pipeline_test_ros_n_pure_python import test_pipeline + +if __name__ == '__main__': + rospy.init_node('unit_tests_node') + + conveyor = rospy.get_param('~conveyor') + simulation_mode = not rospy.get_param('~rpi') + headless = rospy.get_param('~headless') + gripper_n_camera = rospy.get_param('~gripper_n_camera') + verbose = rospy.get_param('~verbose') + + gripper_n_camera_str = "true" if gripper_n_camera else "false" + conveyor_str = "true" if conveyor else "false" + gui = "false" if headless else "true" + optional_args = [ + "conveyor:={}".format(conveyor_str), + "gripper_n_camera:={}".format(gripper_n_camera_str), + "gui:={}".format(gui), + ] + + success_bool = test_pipeline(show_errors=verbose, use_simulation=simulation_mode, + optional_args=optional_args) diff --git a/niryo_robot_unit_tests/scripts/script_test_gazebo.py b/niryo_robot_unit_tests/scripts/script_test_gazebo.py new file mode 100755 index 000000000..3702e4c04 --- /dev/null +++ b/niryo_robot_unit_tests/scripts/script_test_gazebo.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +import sys +from pipeline_test_ros_n_pure_python import test_pipeline + +if __name__ == '__main__': + optional_args = [ + "conveyor:=false", + "gripper_n_camera:=true", + "gui:=true" + ] + + success_bool = test_pipeline(show_errors=False, use_simulation=True, + optional_args=optional_args) + sys.exit(0 if success_bool else 1) diff --git a/niryo_robot_unit_tests/scripts/script_test_headless.py b/niryo_robot_unit_tests/scripts/script_test_headless.py new file mode 100755 index 000000000..fb59eb86f --- /dev/null +++ b/niryo_robot_unit_tests/scripts/script_test_headless.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +import sys +from pipeline_test_ros_n_pure_python import test_pipeline + +if __name__ == '__main__': + optional_args = [ + "conveyor:=false", + "gripper_n_camera:=false", + "gui:=false", + ] + + success_bool = test_pipeline(show_errors=True, use_simulation=True, + optional_args=optional_args) + sys.exit(0 if success_bool else 1) diff --git a/niryo_robot_unit_tests/scripts/script_test_rviz.py b/niryo_robot_unit_tests/scripts/script_test_rviz.py new file mode 100755 index 000000000..2708e4b2e --- /dev/null +++ b/niryo_robot_unit_tests/scripts/script_test_rviz.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +import sys +from pipeline_test_ros_n_pure_python import test_pipeline + +if __name__ == '__main__': + optional_args = [ + "conveyor:=false", + "gripper_n_camera:=false", + "gui:=true" + ] + + success_bool = test_pipeline(show_errors=False, use_simulation=True, + optional_args=optional_args) + sys.exit(0 if success_bool else 1) diff --git a/niryo_robot_user_interface/CMakeLists.txt b/niryo_robot_user_interface/CMakeLists.txt new file mode 100644 index 000000000..d270785ef --- /dev/null +++ b/niryo_robot_user_interface/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_user_interface) + +find_package(catkin REQUIRED COMPONENTS + message_generation +) + +add_message_files( + FILES + MatlabMoveResult.msg +) + +catkin_python_setup() + +generate_messages() + +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_user_interface/launch/user_interface.launch b/niryo_robot_user_interface/launch/user_interface.launch new file mode 100644 index 000000000..56a1e1bae --- /dev/null +++ b/niryo_robot_user_interface/launch/user_interface.launch @@ -0,0 +1,6 @@ + + + + + diff --git a/niryo_robot_user_interface/msg/MatlabMoveResult.msg b/niryo_robot_user_interface/msg/MatlabMoveResult.msg new file mode 100644 index 000000000..94741eeff --- /dev/null +++ b/niryo_robot_user_interface/msg/MatlabMoveResult.msg @@ -0,0 +1,2 @@ +int32 status +string message diff --git a/niryo_robot_user_interface/package.xml b/niryo_robot_user_interface/package.xml new file mode 100644 index 000000000..7a2f7b252 --- /dev/null +++ b/niryo_robot_user_interface/package.xml @@ -0,0 +1,21 @@ + + niryo_robot_user_interface + 3.0.0 + Handles high level commands from user + Remi Lux + Remi Lux + Corentin Ducatez + GPLv3 + + catkin + + message_generation + + actionlib + actionlib_msgs + niryo_robot_commander + niryo_robot_msgs + sensor_msgs + std_msgs + + diff --git a/niryo_robot_user_interface/scripts/__init__.py b/niryo_robot_user_interface/scripts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py new file mode 100755 index 000000000..6bd29e521 --- /dev/null +++ b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_example.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +import rospy + +from niryo_robot_msgs.msg import CommandStatus +from std_msgs.msg import Bool + +from niryo_robot_commander.srv import JogShift, JogShiftRequest +from niryo_robot_msgs.srv import SetBool + + +class JogClient: + def __init__(self): + rospy.init_node('jog_client_node', anonymous=True) + + self.__jog_enabled = False + self.__jog_enabled_subscriber = rospy.Subscriber('/niryo_robot/jog_interface/is_enabled', + Bool, self.__callback_subscriber_jog_enabled, + queue_size=1) + + def __callback_subscriber_jog_enabled(self, ros_data): + self.__jog_enabled = ros_data.data + + def set_jog(self, set_bool): + if set_bool == self.__jog_enabled: + return CommandStatus.SUCCESS, "Already enable" + rospy.wait_for_service('/niryo_robot/jog_interface/enable') + try: + enable_service = rospy.ServiceProxy('/niryo_robot/jog_interface/enable', SetBool) + response = enable_service(set_bool) + except rospy.ServiceException as e: + raise Exception("Service call failed: {}".format(e)) + rospy.sleep(0.1) + return response + + def ask_for_jog_shift(self, cmd, shift_values): + init_time = rospy.get_time() + if not self.__jog_enabled: + self.set_jog(True) + service_name = '/niryo_robot/jog_interface/jog_shift_commander' + rospy.wait_for_service(service_name) + try: + jog_commander_service = rospy.ServiceProxy(service_name, JogShift) + req = JogShiftRequest() + req.cmd = cmd + req.shift_values = shift_values + response = jog_commander_service(req) + except rospy.ServiceException as e: + raise Exception("Service call failed: {}".format(e)) + rospy.sleep(0.15 - (rospy.get_time() - init_time)) + return response + + +if __name__ == "__main__": + # Creating Client Object + jc = JogClient() + jc.set_jog(True) + + for sign in [1, -1]: + for i in range(15): + jc.ask_for_jog_shift(cmd=JogShiftRequest.JOINTS_SHIFT, + shift_values=[sign * 0.05, 0.0, 0.0, 0.0, 0.0, 0.0]) + + for sign in [1, -1]: + for i in range(20): + jc.ask_for_jog_shift(cmd=JogShiftRequest.POSE_SHIFT, + shift_values=[sign * 0.005, 0.0, 0.0, 0.0, 0.0, 0.0]) diff --git a/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py new file mode 100755 index 000000000..befff6b2b --- /dev/null +++ b/niryo_robot_user_interface/scripts/jog_interface/client_jog_interface_mouse.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python + +import rospy + +from client_jog_interface_example import JogClient + +from niryo_robot_commander.srv import JogShiftRequest + +from pynput.mouse import Button, Listener, Controller + + +class MyMouseListener: + + def __init__(self): + self.clicked = False + + self.last_x_send = None + self.actual_x = None + + self.last_y_send = None + self.actual_y = None + + self.last_z_send = 0 + self.actual_z = 0 + + self.mouse = Controller() + + self.listener = Listener( + on_move=self.on_move, + on_click=self.on_click, + on_scroll=self.on_scroll).start() + + def __del__(self): + self.listener.stop() + + def on_move(self, x, y): + if self.last_x_send is None: + self.last_x_send = x + self.last_y_send = y + self.actual_x = x + self.actual_y = y + + def on_click(self, _x, _y, button, pressed): + if not pressed: + # self.mouse.release(button) + if button == Button.right: + self.clicked = True + elif button == Button.left: + self.actual_x = 960 + self.actual_y = 1500 + self.mouse.position = (self.actual_x, self.actual_y) + self.actual_z = 0 + self.reset() + + def on_scroll(self, _x, _y, _dx, dy): + self.actual_z += dy + + def reset(self): + self.last_x_send = self.actual_x + self.last_y_send = self.actual_y + self.last_z_send = self.actual_z + + def get_x_diff(self): + if self.last_x_send is None: + return 0 + return self.actual_x - self.last_x_send + + def get_y_diff(self): + if self.last_y_send is None: + return 0 + return self.actual_y - self.last_y_send + + def get_z_diff(self): + return self.actual_z - self.last_z_send + + def __str__(self): + return '' + + +if __name__ == "__main__": + import time + + # Creating Client Object + jc = JogClient() + jc.set_jog(True) + + mouse_listener = MyMouseListener() + + actualization_rate = rospy.Rate(10) + while not mouse_listener.clicked: + init = time.time() + mouse_dx = mouse_listener.get_x_diff() + mouse_dy = mouse_listener.get_y_diff() + mouse_dz = mouse_listener.get_z_diff() + mouse_listener.reset() + robot_dx = - float(mouse_dy) * 1e-4 + robot_dy = - float(mouse_dx) * 1e-4 + robot_dz = float(mouse_dz) * 5e-3 + jc.ask_for_jog_shift(cmd=JogShiftRequest.POSE_SHIFT, + shift_values=[robot_dx, robot_dy, robot_dz, 0.0, 0.0, 0.0]) + + actualization_rate.sleep() diff --git a/niryo_robot_user_interface/scripts/matlab_manager.py b/niryo_robot_user_interface/scripts/matlab_manager.py new file mode 100755 index 000000000..67e0c88af --- /dev/null +++ b/niryo_robot_user_interface/scripts/matlab_manager.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python + +import rospy +import actionlib + +# Messages +from niryo_robot_commander.msg import RobotCommand +from niryo_robot_user_interface.msg import MatlabMoveResult + +# Action +from niryo_robot_commander.msg import RobotMoveAction +from niryo_robot_commander.msg import RobotMoveGoal + + +class MatlabManager: + + def __init__(self): + rospy.Subscriber('/niryo_robot_matlab/command', RobotCommand, + self.__callback_matlab_node) + self.__matlab_move_publisher = rospy.Publisher('/niryo_robot_matlab/result', MatlabMoveResult, + queue_size=10) + self.__action_client_matlab = actionlib.SimpleActionClient('/niryo_robot_commander/robot_action', + RobotMoveAction) + rospy.logdebug('Matlab Manager - Started') + + @staticmethod + def create_response(status, message): + return {'status': status, 'message': message} + + def __callback_matlab_node(self, request): + rospy.loginfo("Matlab Manager - Receive Goal") + cmd = request.joints + cmd_type = request.cmd_type + response = self.__send_matlab_goal(cmd, cmd_type) + msg = MatlabMoveResult() + msg.status = response.status + msg.message = response.message + rospy.loginfo(msg) + rospy.sleep(0.2) + self.__matlab_move_publisher.publish(msg) + rospy.loginfo("Matlab Manager - Move Result Published") + + def __send_matlab_goal(self, cmd, cmd_type): + self.__action_client_matlab.wait_for_server() + goal = RobotMoveGoal() + goal.cmd.joints = cmd + goal.cmd.cmd_type = cmd_type + self.__action_client_matlab.send_goal(goal) + rospy.loginfo("Matlab Manager - Waiting for result") + self.__action_client_matlab.wait_for_result() + response = self.__action_client_matlab.get_result() + rospy.logdebug("Matlab Manager - Result : {}".format(response)) + return response diff --git a/niryo_robot_user_interface/scripts/user_interface_node.py b/niryo_robot_user_interface/scripts/user_interface_node.py new file mode 100755 index 000000000..7f2556d77 --- /dev/null +++ b/niryo_robot_user_interface/scripts/user_interface_node.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python + +import rospy + +from matlab_manager import MatlabManager +from niryo_robot_user_interface.tcp_server import TcpServer + + +class UserInterface: + + def __init__(self): + rospy.logdebug("User Interface Node - Entering in Init") + + # Matlab node manager + self.__matlab_manager = MatlabManager() + + self.__tcp_server = TcpServer().start() + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("User Interface Node - Started") + + def shutdown(self): + self.__tcp_server.quit() + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_user_interface', anonymous=False, log_level=rospy.INFO) + try: + ui = UserInterface() + rospy.on_shutdown(ui.shutdown) + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_user_interface/setup.py b/niryo_robot_user_interface/setup.py new file mode 100644 index 000000000..6c4ec4b61 --- /dev/null +++ b/niryo_robot_user_interface/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_user_interface'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_user_interface/src/__init__.py b/niryo_robot_user_interface/src/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/__init__.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py new file mode 100644 index 000000000..6cf8db9d4 --- /dev/null +++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/__init__.py @@ -0,0 +1,3 @@ +# from .communication_functions import * +# from .const_communication import * +from .tcp_server import TcpServer diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py new file mode 100644 index 000000000..1815bd49b --- /dev/null +++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/command_interpreter.py @@ -0,0 +1,702 @@ +#!/usr/bin/env python +import rospy + +from niryo_robot_python_ros_wrapper.ros_wrapper_enums import * +from niryo_robot_python_ros_wrapper.ros_wrapper import NiryoRosWrapper +from .communication_functions import dict_to_packet + + +class TcpCommandException(Exception): + pass + + +def check_nb_args(expected_nbr): + """ + Decorator used to check number of arguments before running a function + """ + + def decorator(function): + def wrapper(*args): + nbr_args = len(args) - 1 # Because "self" + if nbr_args != expected_nbr: + err = "{} parameters expected but {} given".format(expected_nbr, nbr_args) + raise TcpCommandException(err + "\nIn function".format(function.__name__)) + result = function(*args) + return result + + return wrapper + + return decorator + + +class CommandInterpreter: + """ + Object which interpret commands from TCP Client, and then, call Niryo Python ROS Wrapper to execute these commands + """ + + def __init__(self): + # Niryo Python Ros Wrapper instance + self.__niryo_robot = NiryoRosWrapper() + + # Dict containing a mapping between + # "Command" enumeration (defined in const_communication) and interpreter's functions + self.__commands_dict = self.__generate_functions_dict() + + # - Enumerations mapping + self.__axis_string_dict_convertor = { + "X": ShiftPose.AXIS_X, + "Y": ShiftPose.AXIS_Y, + "Z": ShiftPose.AXIS_Z, + "ROLL": ShiftPose.ROT_ROLL, + "PITCH": ShiftPose.ROT_PITCH, + "YAW": ShiftPose.ROT_YAW, + } + + self.__pin_nbr_string_dict_convertor = { + "GPIO_1A": PinID.GPIO_1A, + "GPIO_1B": PinID.GPIO_1B, + "GPIO_1C": PinID.GPIO_1C, + "GPIO_2A": PinID.GPIO_2A, + "GPIO_2B": PinID.GPIO_2B, + "GPIO_2C": PinID.GPIO_2C, + } + + self.__pin_mode_string_dict_convertor = { + "OUTPUT": PinMode.OUTPUT, + "INPUT": PinMode.INPUT, + } + + self.__digital_state_string_dict_convertor = { + "HIGH": PinState.HIGH, + "LOW": PinState.LOW, + } + + self.__digital_state_string_dict_convertor_inv = {index: string for string, index + in self.__digital_state_string_dict_convertor.iteritems()} + + self.__boolean_string_dict_converter = { + "TRUE": True, + "FALSE": False + } + + self.__tools_string_dict_convertor = { + "NONE": ToolID.NONE, + "GRIPPER_1": ToolID.GRIPPER_1, + "GRIPPER_2": ToolID.GRIPPER_2, + "GRIPPER_3": ToolID.GRIPPER_3, + "GRIPPER_4": ToolID.GRIPPER_4, + "ELECTROMAGNET_1": ToolID.ELECTROMAGNET_1, + "VACUUM_PUMP_1": ToolID.VACUUM_PUMP_1, + } + + self.__grippers_string_dict_convertor = { + "NONE": ToolID.NONE, + "GRIPPER_1": ToolID.GRIPPER_1, + "GRIPPER_2": ToolID.GRIPPER_2, + "GRIPPER_3": ToolID.GRIPPER_3, + "GRIPPER_4": ToolID.GRIPPER_4, + } + + self.__conveyor_id_string_dict_convertor = { + "NONE": ConveyorID.NONE, + "ID_1": ConveyorID.ID_1, + "ID_2": ConveyorID.ID_2, + } + self.__conveyor_id_string_dict_convertor_inv = {index: string for string, index + in self.__conveyor_id_string_dict_convertor.iteritems()} + + self.__conveyor_direction_string_dict_convertor = { + "FORWARD": ConveyorDirection.FORWARD, + "BACKWARD": ConveyorDirection.BACKWARD, + } + + self.__available_tools_string_dict_convertor_inv = {index: string for string, index + in self.__tools_string_dict_convertor.iteritems()} + + # Error Handlers + def __raise_exception_expected_choice(self, expected_choice, given): + raise TcpCommandException("Expected one of the following: {}.\nGiven: {}".format(expected_choice, given)) + + def __raise_exception_expected_type(self, expected_type, given): + raise TcpCommandException("Expected the following type: " + expected_type + ".\nGiven: " + given) + + def __raise_exception_expected_parameters_nbr(self, expected_nbr, given): + raise TcpCommandException(str(expected_nbr) + " parameters expected, given: " + str(given)) + + # Command interpreter + def interpret_command(self, dict_command_received): + rospy.logdebug("Command Interpreter - Dict Received : {}".format(dict_command_received)) + # Check if command is a dict + if not type(dict_command_received) is dict: + msg = "Cannot interpret command of incorrect type: " + type(dict_command_received) + return self.generate_dict_failure(message=msg) + # Check if the dict is well formed + if set(dict_command_received.keys()) != {"command", "param_list"}: + msg = "Incorrect command format: " + str(dict_command_received) + return self.generate_dict_failure(message=msg) + # Check if command exists + command_name = dict_command_received["command"].upper() + if command_name not in self.__commands_dict: + return dict_to_packet((self.generate_dict_failure(message="Unknown command"))) + + # Execute command + try: + param_list = dict_command_received["param_list"] + # noinspection PyArgumentList + status, list_ret_param, payload = self.__commands_dict[command_name](*param_list) + rospy.logdebug("Command Interpreter - {} - {}".format(status, list_ret_param)) + except (TcpCommandException, TypeError, NotImplementedError) as e: + return dict_to_packet(self.generate_dict_failure(command=command_name, message=str(e))) + + # Save answer Format parameters + new_param_list = [] + for parameter in list_ret_param: + if isinstance(parameter, Enum): + new_param_list.append(parameter.name) + elif isinstance(parameter, bool): + new_param_list.append(str(parameter)) + else: + new_param_list.append(parameter) + + dict_ret = {"status": status, + "command": command_name, + "list_ret_param": new_param_list, + "payload_size": len(payload)} + + packet_data = dict_to_packet(dict_ret) + rospy.logdebug("Command Interpreter - Packet response size {}\n" + + "Dict response : {}".format(len(packet_data), dict_ret)) + + return packet_data + payload + + # Dictionaries handler + def __generate_functions_dict(self): + """ + Generate a dict with the format : {command_1 : function_to_call_1, command_2 : function_to_call_2...} + WARNING -> function name should have the following format : function_to_call_1 = __command_1.lower() + For instance GRASP_WITH_TOOL is associated to "__grasp_with_tool" + :return: dict + """ + dict_c = dict() + # noinspection PyTypeChecker + for command in CommandEnum: + try: + func_adr = getattr(self, "_{}__{}".format(self.__class__.__name__, command.name.lower())) + except AttributeError: + func_adr = self.__not_implemented_function + dict_c[command.name] = func_adr + + return dict_c + + @staticmethod + def generate_dict_failure(command="", message="Failure in command_interpreter"): + return {"command": command, "status": "KO", "message": message, "list_ret_param": []} + + def __send_answer(self, *params): + """ + Return success with empty payload + """ + return self.__send_answer_with_payload("", *params) + + @staticmethod + def __send_answer_with_payload(payload, *params): + return "OK", params, payload + + def __check_list_belonging(self, value, list_): + """ + Check if a value belong to a list + """ + if value not in list_: + self.__raise_exception_expected_choice(list_, value) + + def __check_dict_belonging(self, value, dict_): + """ + Check if a value belong to a dictionary + """ + if value not in dict_.keys(): + self.__raise_exception_expected_choice(dict_.keys(), value) + + def __check_type(self, value, type_): + if type(value) is not type_: + self.__raise_exception_expected_type(type_.__name__, value) + + def __check_list_type(self, list_, type_): + for value in list_: + self.__check_type(value, type_) + + def __check_and_get_from_dict(self, value, dict_): + """ + Check if a value belong to a dictionary and return it + """ + self.__check_dict_belonging(value, dict_) + return dict_[value] + + def __map_list(self, list_, type_): + """ + Try to map a list to another type (Very useful for list like joints + which are acquired as string) + """ + try: + map_list = map(type_, list_) + return map_list + except ValueError: + self.__raise_exception_expected_type(type_.__name__, list_) + + def __transform_to_type(self, value, type_): + """ + Try to change value type to another + """ + try: + value = type_(value) + return value + except ValueError: + self.__raise_exception_expected_type(type_.__name__, value) + + # --- FUNCTION LIST + def __not_implemented_function(self, *_): + raise NotImplementedError + + # - Main Purpose + @check_nb_args(1) + def __calibrate(self, calibrate_mode): + self.__check_list_belonging(calibrate_mode, ["MANUAL", "AUTO"]) + self.__niryo_robot.calibrate_manual() if calibrate_mode == "MANUAL" else self.__niryo_robot.calibrate_auto() + + return self.__send_answer() + + @check_nb_args(0) + def __get_learning_mode(self): + is_learning_mode_enabled = self.__niryo_robot.get_learning_mode() + return self.__send_answer(is_learning_mode_enabled) + + @check_nb_args(1) + def __set_learning_mode(self, state_string): + state = self.__check_and_get_from_dict(state_string, self.__boolean_string_dict_converter) + ret = self.__niryo_robot.set_learning_mode(state) + return self.__send_answer(ret) + + @check_nb_args(1) + def __set_arm_max_velocity(self, max_velocity_percentage): + if type(max_velocity_percentage) not in [int, float] or not 0 < max_velocity_percentage <= 100: + self.__raise_exception_expected_type("float/integer [1 -100]", max_velocity_percentage) + + self.__niryo_robot.set_arm_max_velocity(max_velocity_percentage) + return self.__send_answer() + + @check_nb_args(1) + def __set_jog_control(self, state_string): + state = self.__check_and_get_from_dict(state_string, self.__boolean_string_dict_converter) + + ret = self.__niryo_robot.set_jog_use_state(state) + return self.__send_answer(ret) + + # - Pose + + @check_nb_args(0) + def __get_joints(self): + return self.__send_answer(*self.__niryo_robot.get_joints()) + + @check_nb_args(0) + def __get_pose(self): + arm_pose = self.__niryo_robot.get_pose() + data_answer = [arm_pose.position.x, arm_pose.position.y, arm_pose.position.z, arm_pose.rpy.roll, + arm_pose.rpy.pitch, arm_pose.rpy.yaw] + return self.__send_answer(*data_answer) + + @check_nb_args(0) + def __get_pose_quat(self): + arm_pose = self.__niryo_robot.get_pose() + data_answer = [arm_pose.position.x, arm_pose.position.y, arm_pose.position.z, arm_pose.orientation.x, + arm_pose.orientation.y, arm_pose.orientation.z, arm_pose.orientation.w] + return self.__send_answer(*data_answer) + + @check_nb_args(6) + def __move_joints(self, *param_list): + joint_list = self.__map_list(param_list, float) + + self.__niryo_robot.move_joints(*joint_list) + return self.__send_answer() + + @check_nb_args(6) + def __move_pose(self, *param_list): + parameters_value_array = self.__map_list(param_list, float) + + self.__niryo_robot.move_pose(*parameters_value_array) + return self.__send_answer() + + @check_nb_args(2) + def __shift_pose(self, axis_string, value_string): + axis = self.__check_and_get_from_dict(axis_string, self.__axis_string_dict_convertor) + value = self.__transform_to_type(value_string, float) + + self.__niryo_robot.shift_pose(axis, value) + return self.__send_answer() + + @check_nb_args(6) + def __jog_joints(self, *param_list): + joint_list = self.__map_list(param_list, float) + + self.__niryo_robot.jog_joints_shift(joint_list) + return self.__send_answer() + + @check_nb_args(6) + def __jog_pose(self, *param_list): + shift_values_list = self.__map_list(param_list, float) + + self.__niryo_robot.jog_pose_shift(shift_values_list) + return self.__send_answer() + + @check_nb_args(6) + def __move_linear_pose(self, *param_list): + parameters_value_array = self.__map_list(param_list, float) + + self.__niryo_robot.move_linear_pose(*parameters_value_array) + return self.__send_answer() + + @check_nb_args(6) + def __forward_kinematics(self, *param_list): + joint_list = self.__map_list(param_list, float) + + return self.__send_answer(self.__niryo_robot.forward_kinematics(*joint_list)) + + @check_nb_args(6) + def __inverse_kinematics(self, *param_list): + parameters_value_array = self.__map_list(param_list, float) + + return self.__send_answer(self.__niryo_robot.inverse_kinematics(*parameters_value_array)) + + # - Saved Pose + + @check_nb_args(1) + def __get_pose_saved(self, *param_list): + pose = self.__niryo_robot.get_pose_saved(*param_list) + return self.__send_answer(*pose) + + @check_nb_args(7) + def __save_pose(self, *param_list): + try: + parameters_value_array = self.__map_list(param_list[1:], float) + except ValueError: + self.__raise_exception_expected_type("float", param_list) + else: + self.__niryo_robot.save_pose(param_list[0], *parameters_value_array) + return self.__send_answer() + + @check_nb_args(1) + def __delete_pose(self, *param_list): + self.__niryo_robot.delete_pose(*param_list) + return self.__send_answer() + + @check_nb_args(0) + def __get_saved_pose_list(self): + pose_list = self.__niryo_robot.get_saved_pose_list() + return self.__send_answer(pose_list) + + # - Pick/Place + + @check_nb_args(6) + def __pick_from_pose(self, *param_list): + parameters_value_array = self.__map_list(param_list, float) + + self.__niryo_robot.pick_from_pose(*parameters_value_array) + return self.__send_answer() + + @check_nb_args(6) + def __place_from_pose(self, *param_list): + parameters_value_array = self.__map_list(param_list, float) + + self.__niryo_robot.place_from_pose(*parameters_value_array) + return self.__send_answer() + + @check_nb_args(3) + def __pick_and_place(self, *param_list): + pick_pose = self.__map_list(param_list[0], float) + place_pose = self.__map_list(param_list[1], float) + + dist_smoothing = param_list[2] + self.__check_type(dist_smoothing, float) + + self.__niryo_robot.pick_and_place(pick_pose, place_pose, dist_smoothing) + return self.__send_answer() + + # - Trajectories + @check_nb_args(1) + def __get_trajectory_saved(self, *param_list): + traj = self.__niryo_robot.get_trajectory_saved(*param_list) + return self.__send_answer(traj) + + @check_nb_args(2) + def __execute_trajectory_from_poses(self, *param_list): + list_poses = [] + for pose in param_list[0]: + if len(pose) != 7: + self.__raise_exception_expected_parameters_nbr(7, len(pose)) + list_poses.append(self.__map_list(pose, float)) + + dist_smoothing = param_list[1] + self.__check_type(dist_smoothing, float) + + self.__niryo_robot.execute_trajectory_from_poses(list_poses, dist_smoothing) + return self.__send_answer() + + @check_nb_args(1) + def __execute_trajectory_saved(self, *param_list): + self.__niryo_robot.execute_trajectory_saved(param_list[0]) + return self.__send_answer() + + @check_nb_args(2) + def __save_trajectory(self, *param_list): + list_poses = [] + for pose in param_list[1]: + if len(pose) != 7: + self.__raise_exception_expected_parameters_nbr(7, len(pose)) + list_poses.append(self.__map_list(pose, float)) + + self.__niryo_robot.save_trajectory(param_list[0], list_poses) + return self.__send_answer() + + @check_nb_args(1) + def __delete_trajectory(self, *param_list): + self.__niryo_robot.delete_trajectory(*param_list) + return self.__send_answer() + + @check_nb_args(0) + def __get_saved_trajectory_list(self): + traj_list = self.__niryo_robot.get_saved_trajectory_list() + return self.__send_answer(traj_list) + + # -- Tools + @check_nb_args(0) + def __update_tool(self): + self.__niryo_robot.update_tool() + return self.__send_answer() + + @check_nb_args(0) + def __get_current_tool_id(self): + tool_id = self.__niryo_robot.get_current_tool_id() + return self.__send_answer(self.__available_tools_string_dict_convertor_inv[tool_id]) + + @check_nb_args(0) + def __grasp_with_tool(self): + self.__niryo_robot.grasp_with_tool() + return self.__send_answer() + + @check_nb_args(0) + def __release_with_tool(self): + self.__niryo_robot.release_with_tool() + return self.__send_answer() + + # - Gripper + @check_nb_args(1) + def __open_gripper(self, speed): + self.__check_type(speed, int) + + self.__niryo_robot.open_gripper(speed) + return self.__send_answer() + + @check_nb_args(1) + def __close_gripper(self, speed): + self.__check_type(speed, int) + + self.__niryo_robot.close_gripper(speed) + return self.__send_answer() + + # - Vacuum + @check_nb_args(0) + def __pull_air_vacuum_pump(self): + self.__niryo_robot.pull_air_vacuum_pump() + return self.__send_answer() + + @check_nb_args(0) + def __push_air_vacuum_pump(self): + self.__niryo_robot.push_air_vacuum_pump() + return self.__send_answer() + + # - Electromagnet + @check_nb_args(1) + def __setup_electromagnet(self, pin_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + + self.__niryo_robot.setup_electromagnet(pin) + return self.__send_answer() + + @check_nb_args(1) + def __activate_electromagnet(self, pin_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + + self.__niryo_robot.activate_electromagnet(pin) + return self.__send_answer() + + @check_nb_args(2) + def __deactivate_electromagnet(self, pin_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + + self.__niryo_robot.deactivate_electromagnet(pin) + return self.__send_answer() + + # - Hardware + + @check_nb_args(2) + def __set_pin_mode(self, pin_string, pin_mode_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + pin_mode = self.__check_and_get_from_dict(pin_mode_string, self.__pin_mode_string_dict_convertor) + + self.__niryo_robot.set_pin_mode(pin, pin_mode) + return self.__send_answer() + + @check_nb_args(2) + def __digital_write(self, pin_string, state_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + state = self.__check_and_get_from_dict(state_string, self.__digital_state_string_dict_convertor) + + self.__niryo_robot.digital_write(pin, state) + return self.__send_answer() + + @check_nb_args(1) + def __digital_read(self, pin_string): + pin = self.__check_and_get_from_dict(pin_string, self.__pin_nbr_string_dict_convertor) + digital_state = self.__niryo_robot.digital_read(pin) + return self.__send_answer(self.__digital_state_string_dict_convertor_inv[digital_state]) + + @check_nb_args(0) + def __get_hardware_status(self): + hw_status = self.__niryo_robot.get_hardware_status() + data_answer = [hw_status.rpi_temperature, hw_status.hardware_version, hw_status.connection_up, + "\'" + hw_status.error_message + "\'", hw_status.calibration_needed, + hw_status.calibration_in_progress, hw_status.motor_names, hw_status.motor_types, + hw_status.temperatures, hw_status.voltages, hw_status.hardware_errors] + return self.__send_answer(*data_answer) + + @check_nb_args(0) + def __get_digital_io_state(self): + digital_io_state_array = self.__niryo_robot.get_digital_io_state() + data_answer = [] + for counter in range(0, len(digital_io_state_array.pins)): + data_answer.append([digital_io_state_array.pins[counter], + digital_io_state_array.names[counter], + digital_io_state_array.modes[counter], + digital_io_state_array.states[counter]]) + return self.__send_answer(*data_answer) + + # - Conveyor + @check_nb_args(0) + def __set_conveyor(self): + conveyor_id = self.__niryo_robot.set_conveyor() + return self.__send_answer(self.__conveyor_id_string_dict_convertor_inv[conveyor_id]) + + @check_nb_args(1) + def __unset_conveyor(self, conveyor_id_string): + conveyor_id = self.__check_and_get_from_dict(conveyor_id_string, self.__conveyor_id_string_dict_convertor) + + status, message = self.__niryo_robot.unset_conveyor(conveyor_id) + return self.__send_answer(status, message) + + @check_nb_args(4) + def __control_conveyor(self, conveyor_id_string, control_on_string, speed, direction_string): + conveyor_id = self.__check_and_get_from_dict(conveyor_id_string, self.__conveyor_id_string_dict_convertor) + control_on = self.__check_and_get_from_dict(control_on_string, self.__boolean_string_dict_converter) + + self.__check_type(speed, int) + if speed < 0 or speed > 100: + self.__raise_exception_expected_choice("[0 => 100]", speed) + + direction = self.__check_and_get_from_dict(direction_string, self.__conveyor_direction_string_dict_convertor) + + self.__niryo_robot.control_conveyor(conveyor_id, control_on, speed, direction) + return self.__send_answer() + + @check_nb_args(0) + def __get_connected_conveyors_id(self): + conveyors = self.__niryo_robot.get_conveyors_feedback() + conveyors_list = [self.__conveyor_id_string_dict_convertor_inv[conveyor.conveyor_id] + for conveyor in conveyors] + return self.__send_answer(conveyors_list) + + # - Vision + + @check_nb_args(0) + def __get_image_compressed(self): + compressed_image = self.__niryo_robot.get_compressed_image() + return self.__send_answer_with_payload(compressed_image) + + @check_nb_args(5) + def __get_target_pose_from_rel(self, *param_list): + workspace = param_list[0] + distance_params = param_list[1:5] + height_offset, x_rel, y_rel, yaw_rel = self.__map_list(distance_params, float) + + target_msg = self.__niryo_robot.get_target_pose_from_rel( + workspace, height_offset, x_rel, y_rel, yaw_rel) + + pose_list = self.__niryo_robot.robot_state_msg_to_list(target_msg) + return self.__send_answer(pose_list) + + @check_nb_args(4) + def __get_target_pose_from_cam(self, *param_list): + self.__check_type(param_list[1], float) + + obj_found, target_msg, obj_shape, obj_color = self.__niryo_robot.get_target_pose_from_cam( + *param_list) + + pose_list = [] + if obj_found: + pose_list = self.__niryo_robot.robot_state_msg_to_list(target_msg) + + return self.__send_answer(obj_found, pose_list, obj_shape, obj_color) + + @check_nb_args(4) + def __vision_pick(self, *param_list): + self.__check_type(param_list[1], float) + + data_list = self.__niryo_robot.vision_pick(*param_list) + return self.__send_answer(*data_list) + + @check_nb_args(4) + def __move_to_object(self, *param_list): + self.__check_type(param_list[1], float) + + data_list = self.__niryo_robot.move_to_object(*param_list) + return self.__send_answer(*data_list) + + @check_nb_args(3) + def __detect_object(self, *param_list): + object_found, rel_pose, shape, color = self.__niryo_robot.detect_object( + *param_list) + if not object_found: + return self.__send_answer(object_found, 0, 0, 0, shape, color) + return self.__send_answer( + object_found, rel_pose.x, rel_pose.y, rel_pose.yaw, shape, color) + + @check_nb_args(5) + def __save_workspace_from_poses(self, *param_list): + name = param_list[0] + list_poses = list(param_list[1:]) + + self.__niryo_robot.save_workspace_from_poses(name, list_poses) + return self.__send_answer() + + @check_nb_args(5) + def __save_workspace_from_points(self, *param_list): + name = param_list[0] + list_points = list(param_list[1:]) + + self.__niryo_robot.save_workspace_from_points(name, list_points) + return self.__send_answer() + + @check_nb_args(1) + def __delete_workspace(self, name): + self.__niryo_robot.delete_workspace(name) + return self.__send_answer() + + @check_nb_args(1) + def __get_workspace_ratio(self, workspace_name): + return self.__send_answer(self.__niryo_robot.get_workspace_ratio(workspace_name)) + + @check_nb_args(0) + def __get_workspace_list(self): + return self.__send_answer(self.__niryo_robot.get_workspace_list()) + + @check_nb_args(0) + def __get_camera_intrinsics(self): + mat_k, mat_d = self.__niryo_robot.get_camera_intrinsics() + return self.__send_answer(mat_k, mat_d) diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py new file mode 100644 index 000000000..547503e3d --- /dev/null +++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/communication_functions.py @@ -0,0 +1,116 @@ +""" +File containing functions for communication with Socket ! +""" + +import sys +import ast +import json +import socket +import struct + +from .const_communication import READ_SIZE, DEFAULT_PACKET_SIZE_INFOS + + +# --- RECEPTION -- # +def receive_data(sckt, packet_size_infos, buffer_size): + """ + Receive msg which cannot be contained in only one buffer + + :param sckt: the socket + :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille + :param buffer_size: buffer size for reading socket's buffer + :return: Bytes corresponding to received packet ! + """ + nbr_bytes = packet_size_infos["nbr_bytes"] + received_data = sckt.recv(nbr_bytes) + if len(received_data) != nbr_bytes: + return None + size_packet = int(struct.unpack(packet_size_infos["type"], received_data)[0]) + received_big_data = "" if sys.version_info[0] == 2 else b"" + + while len(received_big_data) < size_packet: + received_big_data += sckt.recv(min(buffer_size, size_packet - len(received_big_data))) + + return received_big_data if sys.version_info[0] == 2 else received_big_data.decode() + + +def receive_dict(sckt, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS, buffer_size=READ_SIZE): + """ + Receive json through a Socket + + :param sckt: the socket + :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille + :param buffer_size: buffer size for reading socket's buffer + :return: + """ + msg = receive_data(sckt, buffer_size=buffer_size, packet_size_infos=packet_size_infos) + return data_to_dict(msg) + + +def receive_dict_w_payload(sckt, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS, buffer_size=READ_SIZE): + """ + Receive json through a Socket then extract payload content. + Payload can typically be an heavy file like an image + + :param sckt: the socket + :param packet_size_infos: Format de l'objet du message : permet de savoir sur cb de bytes est codee la taille + :param buffer_size: buffer size for reading socket's buffer + :return: dict of packet's JSON, payload + """ + dict_data = receive_dict(sckt, buffer_size=buffer_size, packet_size_infos=packet_size_infos) + + payload_size = dict_data["payload_size"] + received_payload = "" if sys.version_info[0] == 2 else b"" + while len(received_payload) < payload_size: + received_payload += sckt.recv(buffer_size) + + return dict_data, received_payload + + +# - JSON - # +def data_to_dict(data): + """ + Convert a string representing a JSON to a JSON + + :param data: String representing a JSON + :return: dict of this JSON + """ + if data is None: + return None + # if type(data) == bytes: + # data = data.decode() + return ast.literal_eval(data) + + +def dict_to_packet(dict_obj, packet_size_infos=DEFAULT_PACKET_SIZE_INFOS): + """ + Convert dict to packet + + :type dict_obj: dict + :param packet_size_infos: + :return: packet + """ + json_obj = json.dumps(dict_obj) + + if sys.version[0] == 3: + json_obj = json_obj.encode() + packet = "" if sys.version_info[0] == 2 else b"" + packet += struct.pack(packet_size_infos["type"], len(json_obj)) + packet += json_obj + return packet + + +# # --- SOCKET HANDLING --- # + +def create_socket_server(ip_address, port): + """ + Everything in the title + + :param ip_address: IP Address + :param port: Port + :return: Socket object + """ + s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + s.bind((ip_address, port)) + return s diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py new file mode 100644 index 000000000..6f57b3196 --- /dev/null +++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/const_communication.py @@ -0,0 +1,10 @@ +TCP_PORT = 40001 # Port used for TCP communication +READ_SIZE = 512 # Buffer used for receiving TCP packet + +# - Infos on the JSON size +# nbr_bytes : number of bytes on which the size is coded +# type : size coding type +DEFAULT_PACKET_SIZE_INFOS = { + "nbr_bytes": 2, + "type": '@H', +} diff --git a/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py new file mode 100644 index 000000000..0ddcb21f6 --- /dev/null +++ b/niryo_robot_user_interface/src/niryo_robot_user_interface/tcp_server/tcp_server.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python + +import rospy + +# Communication imports +import select +import socket +from .const_communication import TCP_PORT +from .communication_functions import create_socket_server, receive_dict, dict_to_packet + +from .command_interpreter import CommandInterpreter + +# Threading +from threading import Thread, Lock +import Queue + + +class TcpServer: + def __init__(self): + # Server TCP + self.__port = TCP_PORT + self.__server = create_socket_server(ip_address='', port=self.__port) + self.__server.listen(1) + self.__client = None + self.__is_client_connected = False + # Thread + self.__loop_thread = Thread(target=self.__loop, name="TCP Server Loop thread") + self.__command_executor_thread = Thread(target=self.__command_executor_loop, + name="TCP Server Command Executor thread") + self.__is_running = True + self.__is_busy_lock = Lock() + # Interpreter + self.__interpreter = CommandInterpreter() + self.__queue = Queue.Queue(1) + + def __del__(self): + self.quit() + + def start(self): + self.__loop_thread.start() + self.__command_executor_thread.start() + return self + + def quit(self): + self.__is_running = False + if self.__loop_thread.isAlive(): + self.__loop_thread.join() + if self.__command_executor_thread.isAlive(): + self.__command_executor_thread.join() + if self.__client is not None: + self.__shutdown_client() + self.__server.close() + + def __loop(self): + rospy.loginfo("TCP Server - Started on port {}".format(self.__port)) + inputs = [self.__server] + while self.__is_running is True: + readable, writable, exceptional = select.select(inputs, [], [], 0.5) + for s in readable: + if self.__is_client_connected is False and s is self.__server: + self.__accept_client() + inputs.append(self.__client) + elif s is not self.__server: + self.__client_socket_event(inputs) + + # -- CLIENTS + + def __accept_client(self): + self.__client, address = self.__server.accept() + self.__is_client_connected = True + rospy.loginfo("TCP Server - Client connected from IP address: {}/{}".format(address[0], address[1])) + + def __client_socket_event(self, inputs): + dict_command_received = self.__read_command() + if dict_command_received is not None: + with self.__is_busy_lock: + self.__queue.put(dict_command_received) + else: + rospy.loginfo("TCP Server - Client disconnect") + self.__is_client_connected = False + self.__shutdown_client() + inputs.remove(self.__client) + + def __shutdown_client(self): + if self.__client is not None: + try: + self.__client.shutdown(socket.SHUT_RDWR) + except socket.error: + pass + self.__client.close() + + # -- COMMANDS + # LOOP which execute commands in queue + def __command_executor_loop(self): + while self.__is_running is True: + try: + dict_command_received = self.__queue.get(block=True, timeout=0.5) + with self.__is_busy_lock: + self.__treat_command(dict_command_received) + except Queue.Empty: + pass + + def __read_command(self): + try: + received_dict = receive_dict(sckt=self.__client) + except (socket.error, ValueError) as e: + rospy.loginfo("TCP Server - Error while receiving answer: {}".format(e)) + return None + if not received_dict: + return None + return received_dict + + def __treat_command(self, dict_command_received): + try: + result_data = self.__interpreter.interpret_command(dict_command_received) + except Exception as e: + command_name = dict_command_received["command"] + self.__answer_error(command_name, e) + else: + self.__send(result_data) + + # -- ANSWER AND SEND + + def __answer_error(self, command_name, error): + str_err = "An error occured while executing the last command : {}".format(error) + dict_error = self.__interpreter.generate_dict_failure(command_name, str_err) + packet_error = dict_to_packet(dict_error) + self.__send(packet_error) + + def __send(self, result_data): + if self.__client is not None: + try: + self.__client.sendall(result_data) + except socket.error as e: + rospy.loginfo("TCP Server - Error while sending answer to client: {}".format(e)) diff --git a/niryo_robot_vision/CMakeLists.txt b/niryo_robot_vision/CMakeLists.txt new file mode 100644 index 000000000..7c194e79c --- /dev/null +++ b/niryo_robot_vision/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.8.3) +project(niryo_robot_vision) + +find_package(catkin REQUIRED COMPONENTS + message_generation + niryo_robot_msgs + sensor_msgs +) + +add_service_files( + DIRECTORY srv + FILES + DebugColorDetection.srv + DebugMarkers.srv + ObjDetection.srv + TakePicture.srv +) + +catkin_python_setup() + +generate_messages( + DEPENDENCIES + niryo_robot_msgs + sensor_msgs +) + +catkin_package( + CATKIN_DEPENDS + niryo_robot_msgs + sensor_msgs +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/niryo_robot_vision/OPENCV_LICENSE b/niryo_robot_vision/OPENCV_LICENSE new file mode 100644 index 000000000..a6824bf65 --- /dev/null +++ b/niryo_robot_vision/OPENCV_LICENSE @@ -0,0 +1,42 @@ +By downloading, copying, installing or using the software you agree to this license. +If you do not agree to this license, do not download, install, +copy or use the software. + + + License Agreement + For Open Source Computer Vision Library + (3-clause BSD License) + +Copyright (C) 2000-2020, Intel Corporation, all rights reserved. +Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. +Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved. +Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved. +Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved. +Copyright (C) 2015-2016, Itseez Inc., all rights reserved. +Copyright (C) 2019-2020, Xperience AI, all rights reserved. +Third party copyrights are property of their respective owners. + +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 names of the copyright holders nor the names of the 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 copyright holders 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. \ No newline at end of file diff --git a/niryo_robot_vision/config/cam_intrinsics.yaml b/niryo_robot_vision/config/cam_intrinsics.yaml new file mode 100644 index 000000000..0680f06a9 --- /dev/null +++ b/niryo_robot_vision/config/cam_intrinsics.yaml @@ -0,0 +1,20 @@ +mtx: + - 508.069 + - 0.0 + - 332.821 + - 0.0 + - 506.445 + - 242.984 + - 0.0 + - 0.0 + - 1.0 + +dist: + - -0.4146402 + - 0.2407384 + - 0.0 + - 0.0 + - -0.1040042 + +width_img: 640 +height_img: 480 diff --git a/niryo_robot_vision/config/video_server_setup.yaml b/niryo_robot_vision/config/video_server_setup.yaml new file mode 100644 index 000000000..2b05d68d0 --- /dev/null +++ b/niryo_robot_vision/config/video_server_setup.yaml @@ -0,0 +1,24 @@ +# -- Editable settings +undistort_stream: false +frame_rate: 15 # 15, 25 or 30 +subsampling: 3 +camera_port: -1 +calibration_grid_shape: + - 9 + - 6 + +# For expert +obj_calib_name: "cam_intrinsics" +frame_size: # Available resolutions : 320x240, 352x288, 640x360, 640x480, 1280x720, 1920x1080 + - 640 # width + - 480 # height + +restart_rate: 0.2 +max_restart_time: 120.0 +is_active_rate: 2.0 + +buffer_size: 5 +display: false # Useful only on computer + +stream_compression_quality: 55 +debug_compression_quality: 70 diff --git a/niryo_robot_vision/config/video_server_setup_local.yaml b/niryo_robot_vision/config/video_server_setup_local.yaml new file mode 100644 index 000000000..065e363c4 --- /dev/null +++ b/niryo_robot_vision/config/video_server_setup_local.yaml @@ -0,0 +1,24 @@ +# -- Editable settings +undistort_stream: false +frame_rate: 30 # 15, 25 or 30 +subsampling: 1 +camera_port: -1 +calibration_grid_shape: + - 9 + - 6 + +# For expert +obj_calib_name: "cam_intrinsics" +frame_size: # Available resolutions : 320x240, 352x288, 640x360, 640x480, 1280x720, 1920x1080 + - 640 # width + - 480 # height + +restart_rate: 0.5 +max_restart_time: 30.0 +is_active_rate: 2.0 + +buffer_size: 5 +display: true # Useful only on computer + +stream_compression_quality: 75 +debug_compression_quality: 80 diff --git a/niryo_robot_vision/launch/vision_node.launch b/niryo_robot_vision/launch/vision_node.launch new file mode 100644 index 000000000..a88a5a810 --- /dev/null +++ b/niryo_robot_vision/launch/vision_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/niryo_robot_vision/launch/vision_node_local.launch b/niryo_robot_vision/launch/vision_node_local.launch new file mode 100644 index 000000000..bb5211280 --- /dev/null +++ b/niryo_robot_vision/launch/vision_node_local.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/niryo_robot_vision/package.xml b/niryo_robot_vision/package.xml new file mode 100644 index 000000000..bd7e7e53d --- /dev/null +++ b/niryo_robot_vision/package.xml @@ -0,0 +1,23 @@ + + niryo_robot_vision + 3.0.0 + Niryo vision package + Remi Lux + Remi Lux + GPLv3 + + catkin + + niryo_robot_msgs + sensor_msgs + + niryo_robot_msgs + rosbridge_server + sensor_msgs + + + python-numpy + python-opencv + python-yaml + + diff --git a/niryo_robot_vision/scripts/ObjectDetector.py b/niryo_robot_vision/scripts/ObjectDetector.py new file mode 100644 index 000000000..4685477bd --- /dev/null +++ b/niryo_robot_vision/scripts/ObjectDetector.py @@ -0,0 +1,218 @@ +import rospy + +import numpy as np + +# Messages +from niryo_robot_msgs.msg import CommandStatus +from niryo_robot_msgs.msg import ObjectPose + + +from niryo_robot_vision.image_functions import * +from niryo_robot_vision.enums import * + + +class ObjectDetector: + def __init__(self, obj_type, obj_color, workspace_ratio=1.0, ret_image_bool=False): + self._img = None + self._im_thresh = None + + self._obj_type = obj_type + self._nb_sides = obj_type.value + self._obj_color = obj_color + self._ret_image_bool = ret_image_bool + + self._workspace_ratio = workspace_ratio + + self._p_init = None + self._draw_method = 2 + + self._draw_marker_size = 0 + self._draw_marker_thickness = 0 + self._draw_text_thickness = 0 + + def actualize_img(self, img): + # Setting the new image + self._img = img + # Adjusting drawing values to fit the image size. These values are totally empirical + h, w = img.shape[:2] + self._draw_marker_size = 9 if w > 499 else 4 + self._draw_marker_thickness = 5 if w > 499 else 3 + + self._draw_text_thickness = 2 if w > 499 else 1 + + def get_img(self): + return self._img + + def actualize_im_thresh(self, im_thresh): + self._im_thresh = im_thresh + + def get_im_thresh(self): + return self._im_thresh + + def get_hsv_parameters(self): + list_min_hsv, list_max_hsv, reverse_hue = self._obj_color.value + return list_min_hsv, list_max_hsv, reverse_hue + + def should_ret_image(self): + return self._ret_image_bool + + def set_nb_sides(self, nb_sides): + self._nb_sides = nb_sides + + def extract_object_with_hsv(self, img): + """ + Execute object detection pipeline using parameters written in object_detector + :param img: OpenCV image from Webcam Stream + :param self: ObjectDetector object + :return: status, ROS message of type ObjectPose, annotated image if give_image is True else None + """ + # Init values + msg_res_pos = ObjectPose() + + # Extract working area image from markers + im_work = extract_img_workspace(img, workspace_ratio=self._workspace_ratio) + if im_work is None: # Case where working area is not found + status = CommandStatus.MARKERS_NOT_FOUND + rospy.logwarn("Vision Node - Markers Not Found !") + return status, msg_res_pos, "", "", img + + # Generating threshold image with HSV + im_thresh = self.image_preprocess_with_hsv(im_work, use_s_prime=False) + + # Extracting biggest blob from image. This will correspond to the object + cx, cy, angle, obj_type, obj_color, im_draw = self.extract_biggest_blob(im_thresh) + + if cx is None: + rospy.logwarn("Vision Node - No Object Found !") + status = CommandStatus.OBJECT_NOT_FOUND + else: + x_rel, y_rel = self.relative_pos_from_pixels(cx, cy) + # Filling message + msg_res_pos.x = x_rel + msg_res_pos.y = y_rel + msg_res_pos.yaw = angle + + status = CommandStatus.SUCCESS + + if self.should_ret_image() and status == CommandStatus.SUCCESS: + # im_draw = cv2.resize(im_draw, dsize=(450, 450)) + list_pos = [msg_res_pos.x, msg_res_pos.y, msg_res_pos.z] + im_draw = get_annotated_image_rel_pos(im_draw, list_pos, angle) + + return status, msg_res_pos, obj_type, obj_color, im_draw + + def image_preprocess_with_hsv(self, im_work, use_s_prime=False): + """ + + :param im_work: + :param use_s_prime: Bool -> True if you want to use S channel as S' = S x V else classic + :return: + """ + self.actualize_img(im_work) + list_min_hsv, list_max_hsv, reverse_hue = self.get_hsv_parameters() + im_thresh = threshold_hsv(im_work, list_min_hsv, list_max_hsv, reverse_hue=reverse_hue, use_s_prime=use_s_prime) + im_morph = morphological_transformations(im_thresh, MorphoType.OPEN, kernel_shape=(7, 7)) + self.actualize_im_thresh(im_morph) + return im_morph + + def relative_pos_from_pixels(self, x_pixels, y_pixels): + return float(x_pixels) / self._img.shape[1], float(y_pixels) / self._img.shape[0] + + def extract_biggest_blob(self, im_thresh): + """ + Function to extract the biggest shape from a threshed image. + :return: X,Y coordinates of the center / Rotation angle / IM + + Multiple drawing methods: + - 1 : Draw on Threshold image + - 2 : Draw on BGR + - 3 : Draw on BGR with mask + """ + cx, cy = None, None + angle = 0 + found_something = False + + if not self._ret_image_bool or self._draw_method == 2: + im_ret = self._img + thickness_contours = 3 + elif self._draw_method == 3: + im_ret = cv2.bitwise_and(self._img, self._img, mask=self._im_thresh) + thickness_contours = 2 + else: + im_ret = cv2.cvtColor(self._im_thresh, cv2.COLOR_GRAY2BGR) + thickness_contours = 2 + + best_cnts = biggest_contours_finder(im_thresh) + if best_cnts is None: + return None, None, None, "", "", im_ret + best_cnt = None + obj_type = ObjectType.ANY + + for best_cnt in best_cnts: + cx, cy = get_contour_barycenter(best_cnt) + if self._nb_sides is not None: + peri = cv2.arcLength(best_cnt, True) + approx = cv2.approxPolyDP(best_cnt, 0.035 * peri, True) + + # ANY CASE + if self._obj_type == ObjectType.ANY: + if len(approx) > 5: + obj_type = ObjectType.CIRCLE + else: + obj_type = ObjectType.SQUARE + angle = get_contour_angle(best_cnt) + + found_something = True + break + else: + obj_type = self._obj_type + # Circle Case + if self._obj_type == ObjectType.CIRCLE and len(approx) > 5: + found_something = True + break + + elif len(approx) == self._nb_sides: + angle = get_contour_angle(best_cnt) + found_something = True + break + if not found_something: + return None, None, None, "", "", im_ret + + # Getting color + colors_representation = np.mean(self._img[cy - 3:cy + 3, cx - 3:cx + 3], axis=(0, 1)) + most_present_channel = np.argmax(colors_representation) + + obj_color = ["BLUE", "GREEN", "RED"][most_present_channel] + + if self._ret_image_bool and cx is not None: + p_init = self._p_init + if p_init is None: + h_im, w_im = im_ret.shape[:2] + p_init = (w_im // 2, h_im // 2) + cv2.drawContours(im_ret, [best_cnt], 0, PURPLE, thickness_contours) + cv2.arrowedLine(im_ret, p_init, (cx, cy), BLUE, thickness=self._draw_text_thickness) + + cv2.drawMarker(im_ret, p_init, markerType=cv2.MARKER_DIAMOND, + markerSize=self._draw_marker_size, thickness=self._draw_marker_thickness, color=RED) + cv2.drawMarker(im_ret, (cx, cy), markerType=cv2.MARKER_TILTED_CROSS, + markerSize=self._draw_marker_size, thickness=self._draw_marker_thickness, color=ORANGE) + + return cx, cy, angle, obj_type.name, obj_color, im_ret + + +def get_annotated_image_rel_pos(img, list_pos, angle, write_on_top=True): + """ + Annotate image with position information + :param img: Image + :param list_pos: List of position [x,y,z] + :param angle: the angle + :param write_on_top: if text should be write on top + :return: annotated image + """ + x, y, _ = list_pos + # print(x,y,z,angle) + if x is None or x == "None": + return img + text = "x:{:.1f}% y:{:.1f}% Roll {:.1f}".format(100 * x, 100 * y, + angle) + return add_annotation_to_image(img, text, write_on_top=write_on_top) diff --git a/niryo_robot_vision/scripts/VideoStream.py b/niryo_robot_vision/scripts/VideoStream.py new file mode 100644 index 000000000..7c7430485 --- /dev/null +++ b/niryo_robot_vision/scripts/VideoStream.py @@ -0,0 +1,283 @@ +# Libs +import rospy + +from cv_bridge import CvBridge +import cv2 + +from threading import Lock, Thread + +from fonctions_camera import generate_msg_from_image + +# Messages +from niryo_robot_msgs.msg import CommandStatus +from sensor_msgs.msg import CompressedImage, Image +from std_msgs.msg import Bool + +# Service +from niryo_robot_msgs.srv import SetBool + + +class VideoStream(object): + def __init__(self, calibration_object, publisher_compressed_stream): + self._calibration_object = calibration_object + self._publisher_compressed_stream = publisher_compressed_stream + + self._undistort_stream = rospy.get_param('~undistort_stream') + self._display = rospy.get_param("~display") + self._frame_rate = rospy.get_param("~frame_rate") + self._subsample_read = rospy.get_param("~subsampling") + + self._actualization_rate_ros = rospy.Rate(1.1 * int(self._frame_rate)) + + # - Publisher about Running/Stopped Stream + self._running = False + self._should_run = False + + self._publisher_camera_stream_running = rospy.Publisher('~video_stream_is_active', + Bool, queue_size=2) + rospy.Timer(rospy.Duration(1.0 / rospy.get_param("~is_active_rate")), + self._publish_is_active) + # - SERVICES + self.__service_start_stop = rospy.Service('~start_stop_video_streaming', + SetBool, self._callback_start_stop) + + # -- CALLBACKS + def _callback_start_stop(self, req): + command = ["stopping", "starting"][int(req.value)] + if command == "stopping": + if not self._running: + message = "The video stream is already stopped. Cannot stop it" + rospy.logwarn("Vision Node - " + message) + return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message + + else: + self._should_run = False + + for _ in range(30): + if not self._running: + break + rospy.sleep(0.1) + else: + message = "Failed to stop the video stream !" + rospy.loginfo("Vision Node - " + message) + + return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message + + message = "Stream stopped" + rospy.loginfo("Vision Node - " + message) + + return CommandStatus.SUCCESS, message + + else: + if self._running: + message = "The video stream is already running. Cannot start it" + rospy.logwarn("Vision Node - " + message) + + return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message + else: + rospy.loginfo("Vision Node - Trying to launch the stream ...") + self._should_run = True + + # Updating last read time to avoid instant stop + self.__last_time_read = rospy.get_time() + + for _ in range(100): + if self._running: + break + rospy.sleep(0.1) + else: + message = "Failed to relaunch the stream !" + rospy.loginfo("Vision Node - " + message) + + return CommandStatus.VIDEO_STREAM_ON_OFF_FAILURE, message + + message = "Stream relaunched !" + rospy.loginfo("Vision Node - " + message) + + return CommandStatus.SUCCESS, message + + def _publish_is_active(self, _): + self._publisher_camera_stream_running.publish(self._running) + + # -- METHODS + + def read_undistorted(self): + raise NotImplementedError + + def read_raw_img(self): + raise NotImplementedError + + def start(self): + self._should_run = True + t = Thread(target=self._loop, name="Camera Thread") + t.start() + + def _loop(self): + raise NotImplementedError + + +class WebcamStream(VideoStream): + + def __init__(self, calibration_object, publisher_compressed_stream): + super(WebcamStream, self).__init__(calibration_object, publisher_compressed_stream) + + self.__cam_port = rospy.get_param("~camera_port") + self.__last_time_read = None + self.__frame_raw = None + self.__frame_undistort = None + + self.__lock_image = Lock() + + # Stop Stream handling + self.__actualization_rate_no_stream = rospy.Rate(rospy.get_param("~restart_rate")) + self.__max_restart_time = rospy.get_param("~max_restart_time") + + self.__count_grab_failed = 0 + + # -- PUBLIC + + def read_undistorted(self): + if not self._running or not self._should_run: + return None + with self.__lock_image: + ret, frame = self.__video_stream.retrieve() + if ret is False: + return None + if self._calibration_object.is_set(): + return self._calibration_object.undistort_image(frame) + else: + return frame + + def read_raw_img(self): + if not self._running or not self._should_run: + return None + with self.__lock_image: + ret, frame = self.__video_stream.retrieve() + if ret is False: + return None + return frame + + # -- Private + def __setup_stream_settings(self): + # Set compression format + self.__video_stream.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G')) + # Set Buffer size + # -- Not available in opencv 3.4 -- # + # self.__video_stream.set(cv2.CAP_PROP_BUFFERSIZE, rospy.get_param("~buffer_size")) + + # Set image size + w, h = rospy.get_param("~frame_size") + self.__video_stream.set(cv2.CAP_PROP_FRAME_WIDTH, w) + self.__video_stream.set(cv2.CAP_PROP_FRAME_HEIGHT, h) + # Set frame rate + self.__video_stream.set(cv2.CAP_PROP_FPS, self._frame_rate) + + def _loop(self): + while not rospy.is_shutdown(): + if not self._should_run: + self._running = False + self.__actualization_rate_no_stream.sleep() + continue + self.__video_stream = cv2.VideoCapture(self.__cam_port) + if not self.__video_stream.isOpened(): + rospy.logwarn_throttle(10.0, "Vision Node - Failed to open video stream. Check camera is well plugged.") + self._running = False + if self.__last_time_read is None or \ + (rospy.get_time() - self.__last_time_read) > self.__max_restart_time: + self._should_run = False + self.__actualization_rate_no_stream.sleep() + continue + + rospy.loginfo("Vision Node - Video Stream Open") + self.__setup_stream_settings() + self._running = True + self._should_run = True + + index_read = -1 + while not rospy.is_shutdown() and self._should_run: + index_read = (index_read + 1) % self._subsample_read + with self.__lock_image: + bool_grabbed = self.__video_stream.grab() + if not bool_grabbed: + rospy.logwarn("Vision Node - Image not grabbed. Camera may have been unplugged.") + rospy.logwarn("Vision Node - Closing Video Stream") + break + if index_read == 0: + _, frame = self.__video_stream.retrieve() + self.__last_time_read = rospy.get_time() + + self.__frame_raw = frame + if self._undistort_stream: + self.__frame_undistort = self._calibration_object.undistort_image(frame) + else: + self.__frame_undistort = None + used_image = self.__frame_undistort if self._undistort_stream else self.__frame_raw + if self._display: + cv2.imshow("Video Stream", used_image) + cv2.waitKey(1) + result, msg = generate_msg_from_image(used_image) + + if not result: + continue + rospy.logdebug("Vision Node - Publishing an image") + try: + self._publisher_compressed_stream.publish(msg) + except rospy.ROSException: + return + self._actualization_rate_ros.sleep() + + self.__video_stream.release() + rospy.loginfo("Vision Node - Video Stream Stopped") + self._running = False + + +class GazeboStream(VideoStream): + + def __init__(self, calibration_object, publisher_compressed_stream): + super(GazeboStream, self).__init__(calibration_object, publisher_compressed_stream) + + self.__image_raw_sub = rospy.Subscriber('/gazebo_camera/image_raw', Image, + self.__callback_sub_image_raw) + self.__image_compressed_sub = rospy.Subscriber('/gazebo_camera/image_raw/compressed', CompressedImage, + self.__callback_sub_image_compressed) + self.__bridge = CvBridge() + self.__last_image_raw = None + self.__last_image_compressed_msg = CompressedImage() + + self._running = True + self._should_run = True + + def __callback_sub_image_raw(self, image_message): + self.__last_image_raw = self.__bridge.imgmsg_to_cv2(image_message, desired_encoding="bgr8") + + def __callback_sub_image_compressed(self, msg): + self.__last_image_compressed_msg = msg + + def read_undistorted(self): + if self.__last_image_raw is None: + return None + if self._calibration_object.is_set(): + return self._calibration_object.undistort_image(self.__last_image_raw) + else: + return self.__last_image_raw + + def read_raw_img(self): + return self.__last_image_raw + + def _loop(self): + while not rospy.is_shutdown(): + if not self._should_run: + self._running = False + self._actualization_rate_ros.sleep() + continue + + self._running = True + if self.__last_image_raw is not None: + cv2.imshow("Video Stream", self.__last_image_raw) + cv2.waitKey(1) + + try: + self._publisher_compressed_stream.publish(self.__last_image_compressed_msg) + except rospy.ROSException: + return + self._actualization_rate_ros.sleep() diff --git a/niryo_robot_vision/scripts/camera_publisher_and_services.py b/niryo_robot_vision/scripts/camera_publisher_and_services.py new file mode 100755 index 000000000..703b35853 --- /dev/null +++ b/niryo_robot_vision/scripts/camera_publisher_and_services.py @@ -0,0 +1,184 @@ +#!/usr/bin/env python + +import rospy +import rospkg + +import yaml +import time +import os +import cv2 +import numpy as np + +from niryo_robot_vision.enums import ObjectType, ColorHSV +from niryo_robot_vision.image_functions import debug_threshold_color, debug_markers +from niryo_robot_vision.CalibrationObject import CalibrationObject +from ObjectDetector import ObjectDetector +from fonctions_camera import generate_msg_from_image +from VideoStream import WebcamStream, GazeboStream + +# Messages +from sensor_msgs.msg import CameraInfo, CompressedImage +from niryo_robot_msgs.msg import CommandStatus +from niryo_robot_msgs.msg import ObjectPose + +# Services +from niryo_robot_vision.srv import DebugColorDetection +from niryo_robot_vision.srv import DebugMarkers +from niryo_robot_vision.srv import ObjDetection +from niryo_robot_vision.srv import TakePicture + + +class VisionNode: + """ + Object which will contains all ROS Publishers & Services relate to image processing + """ + + def __init__(self): + rospy.logdebug("Vision Node - Entering in Init") + # -- ROS + self.__path_package = rospkg.RosPack().get_path('niryo_robot_vision') + self.__simulation_mode = rospy.get_param('~simulation_mode') + + # PUBLISHERS + self.__publisher_compressed_stream = rospy.Publisher('~compressed_video_stream', + CompressedImage, queue_size=1) + + # OBJECT DETECTION + rospy.Service('~obj_detection_rel', ObjDetection, + self.__callback_get_obj_relative_pose) + + # CALIBRATION + if not self.__simulation_mode: + self.__calibration_object = self.__generate_calib_object_from_setup() + else: + self.__calibration_object = self.__generate_calib_object_from_gazebo_topic() + + self.__camera_intrinsics_publisher = rospy.Publisher( + '~camera_intrinsics', CameraInfo, latch=True, queue_size=1) + self.publish_camera_intrinsics() + rospy.logdebug("Vision Node - Camera Intrinsics published !") + + # Debug features + rospy.Service('~take_picture', TakePicture, + self.__callback_take_picture) + + self.__debug_compression_quality = rospy.get_param("~debug_compression_quality") + rospy.Service('~debug_markers', DebugMarkers, + self.__callback_debug_markers) + rospy.Service('~debug_colors', DebugColorDetection, + self.__callback_debug_color) + + # -- VIDEO STREAM + rospy.logdebug("Vision Node - Creating Video Stream object") + cls_ = GazeboStream if self.__simulation_mode else WebcamStream + self.__video_stream = cls_(self.__calibration_object, self.__publisher_compressed_stream) + rospy.logdebug("Vision Node - Video Stream Created") + + self.__video_stream.start() + + # Set a bool to mentioned this node is initialized + rospy.set_param('~initialized', True) + + rospy.loginfo("Vision Node - Initialized") + + def __generate_calib_object_from_setup(self): + calibration_object_name = rospy.get_param("~obj_calib_name") + + path_yaml = os.path.join(self.__path_package, "config/{}.yaml".format(calibration_object_name)) + if not os.path.isfile(path_yaml): + rospy.logwarn("Vision Node - Intrinsics file '{}' does not exist".format(calibration_object_name)) + return CalibrationObject.set_empty() + with open(path_yaml, "r") as input_file: + yaml_file = yaml.load(input_file) + return CalibrationObject.set_from_yaml(yaml_file) + + @staticmethod + def __generate_calib_object_from_gazebo_topic(): + camera_info_message = rospy.wait_for_message("/gazebo_camera/camera_info", CameraInfo) + mtx = np.reshape(camera_info_message.K, (3, 3)) + dist = np.expand_dims(camera_info_message.D, axis=0) + return CalibrationObject.set_from_values(mtx, dist) + + def publish_camera_intrinsics(self): + mtx, dist = self.__calibration_object.get_camera_info() + + msg_camera_info = CameraInfo() + msg_camera_info.K = list(mtx.flatten()) + msg_camera_info.D = list(dist.flatten()) + return self.__camera_intrinsics_publisher.publish(msg_camera_info) + + # - CALLBACK + def __callback_get_obj_relative_pose(self, req): + # Reading last image + img = self.__video_stream.read_undistorted() + if img is None: + rospy.logwarn("Vision Node - Try to get object relative pose while stream is not running !") + return CommandStatus.VIDEO_STREAM_NOT_RUNNING, ObjectPose(), "", "", CompressedImage() + + # Extracting parameters from request + obj_type = ObjectType[req.obj_type] + obj_color = ColorHSV[req.obj_color] + workspace_ratio = req.workspace_ratio + ret_image = req.ret_image + + # Creating ObjectDetector, an object for object detection + self.__object_detector = ObjectDetector( + obj_type=obj_type, obj_color=obj_color, + workspace_ratio=workspace_ratio, + ret_image_bool=ret_image, + ) + + # Launching pipeline + status, msg_res_pos, obj_type, obj_color, im_draw = self.__object_detector.extract_object_with_hsv(img) + if self.__object_detector.should_ret_image(): + _, msg_img = generate_msg_from_image(im_draw, compression_quality=self.__debug_compression_quality) + else: + msg_img = CompressedImage() + return status, msg_res_pos, obj_type, obj_color, msg_img + + def __callback_take_picture(self, req): + path = os.path.expanduser(req.path) + if not os.path.isdir(path): + os.makedirs(path) + time_string = time.strftime("%Y%m%d-%H%M%S") + + img_full_path = "{}.jpg".format(os.path.join(path, time_string)) + im = self.__video_stream.read_raw_img() + res_bool = cv2.imwrite(img_full_path, im) + + if res_bool: + rospy.logdebug("Vision Node - Picture taken & saved") + else: + rospy.logwarn("Vision Node - Cannot save picture") + + return res_bool + + def __callback_debug_markers(self, _): + img = self.__video_stream.read_undistorted() + if img is None: + rospy.logwarn_throttle(2.0, "Vision Node - Try to get debug markers while stream is not running !") + return False, CompressedImage() + markers_detected, img_res = debug_markers(img) + _, msg_img = generate_msg_from_image(img_res, compression_quality=self.__debug_compression_quality) + + return markers_detected, msg_img + + def __callback_debug_color(self, req): + img = self.__video_stream.read_undistorted() + if img is None: + rospy.logwarn_throttle(2.0, "Vision Node - Try to get debug colors while stream is not running !") + return CompressedImage() + color = ColorHSV[req.color] + img_res = debug_threshold_color(img, color) + _, msg_img = generate_msg_from_image(img_res, compression_quality=self.__debug_compression_quality) + + return msg_img + + +if __name__ == '__main__': + rospy.init_node('niryo_robot_vision', anonymous=False, log_level=rospy.INFO) + try: + vision_node = VisionNode() + rospy.spin() + except rospy.ROSInterruptException: + pass diff --git a/niryo_robot_vision/scripts/fonctions_camera.py b/niryo_robot_vision/scripts/fonctions_camera.py new file mode 100644 index 000000000..9dd797206 --- /dev/null +++ b/niryo_robot_vision/scripts/fonctions_camera.py @@ -0,0 +1,24 @@ +import rospy +from sensor_msgs.msg import CompressedImage +from niryo_robot_vision.image_functions import compress_image + + +def generate_msg_from_image(img, compression_quality=90): + """ + Generate ROS CompressedImage message from an OpenCV Image + :param img: OpenCV Image + :param compression_quality: integer between 1 - 100. The higher it is, the less information will be lost, + but the heavier the compressed image will be + :return: success, msg + """ + result, compressed_img = compress_image(img, quality=compression_quality) + if not result: + rospy.logerr("Failed to generate CompressedImage message from image") + return False, None + + msg = CompressedImage() + msg.header.stamp = rospy.Time.now() + msg.format = "jpg" + msg.data = compressed_img + + return True, msg diff --git a/niryo_robot_vision/setup.py b/niryo_robot_vision/setup.py new file mode 100644 index 000000000..4eb9153c7 --- /dev/null +++ b/niryo_robot_vision/setup.py @@ -0,0 +1,10 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['niryo_robot_vision'], + # scripts=['bin/myscript'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/niryo_robot_vision/src/__init__.py b/niryo_robot_vision/src/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py b/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py new file mode 100644 index 000000000..dfc7e132f --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/CalibrationObject.py @@ -0,0 +1,74 @@ +import cv2 +import numpy as np + + +class CalibrationObject: + """ + Class containing intrinsic parameters of the camera used + """ + + def __init__(self, mtx, dist): + self.__mtx = mtx + self.__dist = dist + + self.__fx = self.__mtx[0][0] + self.__fy = self.__mtx[1][1] + self.__cx = self.__mtx[0][2] + self.__cy = self.__mtx[1][2] + + @classmethod + def set_from_values(cls, mtx, dist): + return cls(mtx, dist) + + @classmethod + def set_from_yaml(cls, yaml_file): + mtx = np.reshape(yaml_file["mtx"], (3, 3)) + dist = np.expand_dims(yaml_file["dist"], axis=0) + return cls(mtx, dist) + + @classmethod + def set_empty(cls): + mtx = np.zeros((3, 3), dtype=np.float) + dist = [] + return cls(mtx, dist) + + def __str__(self): + big_string = "mtx\n" + str(self.__mtx) + "\n" + big_string += "dist\n" + str(self.__dist) + "\n" + return big_string + + def get_center_position(self): + return tuple([self.__cx, self.__cy]) + + def get_center_position_int(self): + return tuple([int(round(self.__cx)), int(round(self.__cy))]) + + def get_intrinsic_parameters(self): + return { + "fx": self.__fx, + "fy": self.__fy, + "cx": self.__cx, + "cy": self.__cy, + } + + def get_cam_mtx_and_dist_coefs(self): + return self.__mtx, self.__dist + + def undistort_image(self, img): + return cv2.undistort(src=img, cameraMatrix=self.__mtx, + distCoeffs=self.__dist, newCameraMatrix=None) + + def meters_to_pixels(self, length, width, z_offset): + u = (length / z_offset) * self.__fx + v = (width / z_offset) * self.__fy + + return tuple([u, v]) + + def get_camera_info(self): + """ + Return value for ROS CameraInfo message + """ + return self.__mtx, self.__dist + + def is_set(self): + return self.__fx != 0.0 and self.__fy != 0.0 and self.__cx != 0.0 and self.__cy != 0.0 diff --git a/niryo_robot_vision/src/niryo_robot_vision/__init__.py b/niryo_robot_vision/src/niryo_robot_vision/__init__.py new file mode 100644 index 000000000..93a519fd5 --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/__init__.py @@ -0,0 +1,2 @@ +from .enums import * +from .image_functions import * diff --git a/niryo_robot_vision/src/niryo_robot_vision/enums.py b/niryo_robot_vision/src/niryo_robot_vision/enums.py new file mode 100644 index 000000000..840edba67 --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/enums.py @@ -0,0 +1,71 @@ +from enum import Enum, unique +import cv2 + +# -- Text Display +RED = (0, 0, 255) +PURPLE = (255, 0, 255) +ORANGE = (0, 127, 255) +GREEN = (0, 255, 0) +BLUE = (255, 0, 0) +WHITE = (255, 255, 255) +BLACK = (0, 0, 0) +font = cv2.FONT_HERSHEY_SIMPLEX +font_scale_big = 2.0 +font_scale_normal = 0.7 +thickness_big = 3 +thickness_small = 2 + + +# Command list +@unique +class Command(Enum): + GET_OBJECT_POS = 1 + GET_OBJECT_RELATIVE_POS = 2 + + +# Values for HSV threshold +@unique +class ColorHSV(Enum): + """ + MIN HSV, MAX HSV, Invert Hue (bool) + """ + BLUE = [90, 50, 85], [125, 255, 255], False + RED = [15, 80, 75], [170, 255, 255], True + GREEN = [40, 60, 75], [85, 255, 255], False + ANY = [0, 50, 100], [179, 255, 255], False + + +# Values use for HS'V thresholding +@unique +class ColorHSVPrime(Enum): + """ + MIN HSV, MAX HSV, Invert Hue (bool) + """ + BLUE = [90, 70, 100], [115, 255, 255], False + RED = [15, 70, 100], [170, 255, 255], True + GREEN = [40, 70, 100], [85, 255, 255], False + ANY = [0, 70, 140], [179, 255, 255], False + + +# Different object types handle by the API. The value corresponds to the object's number of sides +@unique +class ObjectType(Enum): + SQUARE = 4 + TRIANGLE = 3 + CIRCLE = -1 + ANY = 0 + + +@unique +class MorphoType(Enum): + ERODE = cv2.MORPH_ERODE + DILATE = cv2.MORPH_DILATE + OPEN = cv2.MORPH_OPEN + CLOSE = cv2.MORPH_CLOSE + + +@unique +class KernelType(Enum): + RECT = cv2.MORPH_RECT + ELLIPSE = cv2.MORPH_ELLIPSE + CROSS = cv2.MORPH_CROSS diff --git a/niryo_robot_vision/src/niryo_robot_vision/image_functions.py b/niryo_robot_vision/src/niryo_robot_vision/image_functions.py new file mode 100644 index 000000000..181a40ddc --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/image_functions.py @@ -0,0 +1,486 @@ +import math +import numpy as np + +from .enums import * +from .markers_detection import extract_img_markers, draw_markers + +__all__ = [ + "threshold_hsv", + "morphological_transformations", + "get_contour_barycenter", + "get_contour_angle", + "biggest_contour_finder", + "biggest_contours_finder", + "draw_contours", + "extract_img_workspace", + "relative_pos_from_pixels", + + "show_and_check_close", + "show_img", + "show_and_wait_close", + + "compress_image", + "uncompress_image", + "add_annotation_to_image", + "undistort_image", + "resize_img", + "concat_imgs", + + "extract_img_from_ros_msg", + + "debug_threshold_color", + "debug_markers", +] + + +# Image Processing +def threshold_hsv(img, list_min_hsv, list_max_hsv, reverse_hue=False, use_s_prime=False): + """ + Take BGR image (OpenCV imread result) and return thresholded image + according to values on HSV (Hue, Saturation, Value) + Pixel will worth 1 if a pixel has a value between min_v and max_v for all channels + + :param img: image BGR if rgb_space = False + :type img: numpy.array + :param list_min_hsv: list corresponding to [min_value_H,min_value_S,min_value_V] + :type list_min_hsv: list[int] + :param list_max_hsv: list corresponding to [max_value_H,max_value_S,max_value_V] + :type list_max_hsv: list[int] + :param use_s_prime: True if you want to use S channel as S' = S x V else classic + :type use_s_prime: bool + :param reverse_hue: Useful for Red color cause it is at both extremum + :type reverse_hue: bool + :return: threshold image + :rtype: numpy.array + """ + frame_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + if use_s_prime: + frame_hsv[:, :, 1] = (1. / 255) * frame_hsv[:, :, 1] * frame_hsv[:, :, 2].astype(np.uint8) + + if not reverse_hue: + return cv2.inRange(frame_hsv, tuple(list_min_hsv), tuple(list_max_hsv)) + else: + list_min_v_c = list(list_min_hsv) + list_max_v_c = list(list_max_hsv) + lower_bound_red, higher_bound_red = sorted([list_min_v_c[0], list_max_v_c[0]]) + list_min_v_c[0], list_max_v_c[0] = 0, lower_bound_red + low_red_im = cv2.inRange(frame_hsv, tuple(list_min_v_c), tuple(list_max_v_c)) + list_min_v_c[0], list_max_v_c[0] = higher_bound_red, 179 + high_red_im = cv2.inRange(frame_hsv, tuple(list_min_v_c), tuple(list_max_v_c)) + return cv2.addWeighted(low_red_im, 1.0, high_red_im, 1.0, 0) + + +def morphological_transformations(im_thresh, morpho_type=MorphoType.CLOSE, kernel_shape=(5, 5), + kernel_type=KernelType.ELLIPSE): + """ + Take black & white image and apply morphological transformation + + :param im_thresh: Black & White Image + :type im_thresh: numpy.array + :param morpho_type: CLOSE/OPEN/ERODE/DILATE => See on OpenCV/Google if you do not know these words + :type morpho_type: MorphoType + :param kernel_shape: tuple corresponding to the size of the kernel + :type kernel_shape: tuple[float] + :param kernel_type: RECT/ELLIPSE/CROSS => see on OpenCV + :type kernel_type: KernelType + :return: image after processing + :rtype: numpy.array + """ + if not isinstance(morpho_type, MorphoType) or not isinstance(kernel_type, KernelType): + raise TypeError + + kernel = cv2.getStructuringElement(kernel_type.value, kernel_shape) + + return cv2.morphologyEx(im_thresh, morpho_type.value, kernel) + + +# Contours +def get_contour_barycenter(contour): + """ + Return barycenter of an OpenCV Contour + + :param contour: + :type contour: OpenCV Contour + :return: Barycenter X, Barycenter Y + :rtype: int, int + """ + moments = cv2.moments(contour) + if moments['m00'] == 0: + rect = cv2.boundingRect(contour) + cx, cy, _, _ = rect + else: + cx = int(moments['m10'] / moments['m00']) + cy = int(moments['m01'] / moments['m00']) + + return cx, cy + + +def get_contour_angle(contour): + """ + Return orientation of a contour according to the smallest side + in order to be well oriented for gripper + + :param contour: contour + :type contour: OpenCV Contour + :return: Angle in radians + :rtype: float + """ + rotrect = cv2.minAreaRect(contour) + angle = rotrect[-1] + size1, size2 = rotrect[1][0], rotrect[1][1] + ratio_size = float(size1) / float(size2) + if 1.25 > ratio_size > 0.75: + if angle < -45: + angle = 90 + angle + else: + if size1 < size2: + angle = angle + 180 + else: + angle = angle + 90 + + if angle > 90: + angle = angle - 180 + + return math.radians(angle) + + +def biggest_contour_finder(img): + res = biggest_contours_finder(img, nb_contours_max=1) + if not res: + return res + else: + return res[0] + + +def biggest_contours_finder(img, nb_contours_max=3): + """ + Function to find the biggest contour in an binary image + + :param img: Binary Image + :type img: numpy.array + :param nb_contours_max: maximal number of contours which will be returned + :type nb_contours_max: int + :return: biggest contours found + :rtype: list[OpenCV Contour] + """ + contours = cv2.findContours(img, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)[-2] + if not contours: + return None + contours_area = list() + for cnt in contours: + contours_area.append(cv2.contourArea(cnt)) + biggest_contours = [] + le = len(contours_area) + if nb_contours_max > le: + nb_contours = le + id_contours_sorted_init = list(range(nb_contours)) + else: + nb_contours = nb_contours_max + id_contours_sorted_init = np.argpartition(contours_area, -nb_contours)[-nb_contours:] + id_contours_sorted = [x for x in sorted(id_contours_sorted_init, key=lambda idi: -contours_area[idi])] + + for i in range(nb_contours): + id_used = id_contours_sorted[i] + + if contours_area[id_used] < 400: + break + + biggest_contours.append(contours[id_used]) + return biggest_contours + + +def draw_contours(img, contours): + """ + Draw a list of contour on an image and return the drawing image + + :param img: Image + :type img: numpy.array + :param contours: contours list + :type contours: list[OpenCV Contour] + :return: Image with drawing + :rtype: numpy.array + """ + if len(img.shape) == 2: + img_bgr = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) + else: + img_bgr = img.copy() + cv2.drawContours(img_bgr, contours, -1, (255, 0, 0), 3) + return img_bgr + + +def extract_img_workspace(img, workspace_ratio=1.0): + """ + Extract working area from an image thanks to 4 Niryo's markers + + :param img: OpenCV image which contain 4 Niryo's markers + :type img: numpy.array + :param workspace_ratio: Ratio between the width and the height of the area represented by the markers + :type workspace_ratio: float + :return: extracted and warped working area image + :rtype: numpy.array + """ + return extract_img_markers(img, workspace_ratio) + + +def relative_pos_from_pixels(img, x_pixels, y_pixels): + """ + Transform a pixels position to a relative position + + :param img: Image where the object is detected + :type img: numpy.array + :param x_pixels: coordinate X + :type x_pixels: int + :param y_pixels: coordinate Y + :type y_pixels: int + :return: X relative, Y relative + :rtype: float, float + """ + return float(x_pixels) / img.shape[1], float(y_pixels) / img.shape[0] + + +# - SHOW FUNCTIONS +keys_leave = [27, ord('q')] + + +def show_and_check_close(window_name, img): + """ + Display an image and check whether the user want to close + + :param window_name: window's name + :type window_name: str + :param img: Image + :type img: numpy.array + :return: boolean indicating if the user wanted to leave + :rtype: bool + """ + cv2.imshow(window_name, img) + return cv2.waitKey(1) in keys_leave + + +def show_img(window_name, img, wait_ms=1): + """ + Display an image during a certain time + + :param window_name: window's name + :type window_name: str + :param img: Image + :type img: numpy.array + :param wait_ms: Wait time in milliseconds + :type wait_ms: int + :return: value of the key pressed during the display + :rtype: int + """ + if type(wait_ms) == float: + wait_ms = int(wait_ms) + if wait_ms < 1: + wait_ms = 1 + cv2.imshow(window_name, img) + return cv2.waitKey(wait_ms) + + +def show_and_wait_close(window_name, img): + """ + Display an image and wait that the user close it + + :param window_name: window's name + :type window_name: str + :param img: Image + :type img: numpy.array + :return: None + :rtype: None + """ + cv2.imshow(window_name, img) + cv2.waitKey(0) + + +# -- IMAGE EDITING +def compress_image(img, quality=90): + """ + Compress OpenCV image + + :param img: OpenCV Image + :type img: numpy.array + :param quality: integer between 1 - 100. The higher it is, the less information will be lost, + but the heavier the compressed image will be + :type quality: int + :return: status & string representing compressed image + :rtype: bool, str + """ + result, encimg = cv2.imencode('.jpg', img, [int(cv2.IMWRITE_JPEG_QUALITY), quality]) + if not result: + return False, None + + return True, np.array(encimg).tostring() + + +def uncompress_image(compressed_image): + """ + Take a compressed img and return an OpenCV image + + :param compressed_image: compressed image + :type compressed_image: str + :return: OpenCV image + :rtype: numpy.array + """ + np_arr = np.fromstring(compressed_image, np.uint8) + return cv2.imdecode(np_arr, cv2.IMREAD_COLOR) + + +def add_annotation_to_image(img, text, write_on_top=True): + """ + Add Annotation to an image + + :param img: Image + :type img: numpy.array + :param text: text string + :type text: str + :param write_on_top: if you write the text on top + :type write_on_top: bool + :return: img with text written on it + :rtype: numpy.array + """ + font_scale_used = font_scale_normal + thickness_used = thickness_small + h_im, w_im = img.shape[:2] + (text_width, text_height), baseline = cv2.getTextSize(text, font, fontScale=font_scale_used, + thickness=thickness_used) + text_true_height = text_height + baseline + if write_on_top: + cv2.rectangle(img, (0, 0), + (int(text_width * 1.1), int(text_true_height * 1.35)), + WHITE, cv2.FILLED) + cv2.putText(img, text, + (int(text_width * 0.05), int(text_true_height * 1.2 - baseline)), + font, font_scale_used, ORANGE, thickness_used) + else: + cv2.rectangle(img, + (int(text_width * 1.1), h_im - int(text_true_height * 1.35)), + (0, h_im), + WHITE, cv2.FILLED) + cv2.putText(img, text, + (int(text_width * 0.05), h_im - baseline), + font, font_scale_used, ORANGE, thickness_used) + return img + + +def undistort_image(img, mtx, dist): + """ + Use camera intrinsics to undistort raw image + + :param img: Raw Image + :type img: numpy.array + :param mtx: Camera Intrinsics matrix + :type mtx: list[list[float]] + :param dist: Distortion Coefficient + :type dist: list[list[float]] + :return: Undistorted image + :rtype: numpy.array + """ + return cv2.undistort(src=img, cameraMatrix=mtx, distCoeffs=dist) + + +def resize_img(img, width=None, height=None, inter=cv2.INTER_AREA): + """ + Resize an image. The user should precise only width or height if he wants to keep image's ratio + + :param img: OpenCV Image + :type img: numpy.array + :param width: Target Width + :type width: int + :param height: Target Height + :type height: int + :param inter: OpenCV interpolation flag + :type inter: long + :return: resized image + :rtype: numpy.array + """ + if width is None and height is None: + return img + + height_init, width_init = img.shape[:2] + + if width is None: + ratio = height / float(height_init) + dim = (int(width_init * ratio), height) + + elif height is None: + ratio = width / float(width_init) + dim = (width, int(height_init * ratio)) + else: + dim = (width, height) + + resized = cv2.resize(img, dim, interpolation=inter) + + return resized + + +def concat_imgs(tuple_imgs, axis=1): + """ + Concat multiple images along 1 axis + + :param tuple_imgs: tuple of images + :type tuple_imgs: tuple[numpy.array] + :param axis: 0 means vertically and 1 means horizontally + :type axis: int + :return: Concat image + :rtype: numpy.array + """ + new_list_imgs = [] + for image in tuple_imgs: + if len(image.shape) == 2: + image = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR) + new_list_imgs.append(image) + + concat_im = np.concatenate(tuple(new_list_imgs), axis=axis) + return concat_im + + +# ROS + +def extract_img_from_ros_msg(ros_msg): + """ + Take a ROS CompressedImage message and return the image uncompressed + + :param ros_msg: a ROS CompressedImage + :type ros_msg: :sensor_msgs:`CompressedImage` + :return: image uncompressed + :rtype: numpy.array + """ + data_image = ros_msg.data + if not data_image: + return None + image = uncompress_image(data_image) + return image + + +# DEBUG + +def debug_threshold_color(img, color_hsv): + """ + Return masked image to see the effect of color threshold + + :param img: OpenCV image + :type img: numpy.array + :param color_hsv: Color used for debug + :type color_hsv: ColorHSV + :return: Masked image + :rtype: numpy.array + """ + param_thresh = color_hsv.value + thresh_img = threshold_hsv(img, *param_thresh) + im_morph = morphological_transformations(thresh_img, MorphoType.OPEN, kernel_shape=(7, 7)) + return cv2.bitwise_and(img, img, mask=im_morph) + + +def debug_markers(img, workspace_ratio=1.0): + """ + Display detected markers on an image + + :param img: OpenCV image which contain Niryo's markers + :type img: numpy.array + :param workspace_ratio: Ratio between the width and the height of the area represented by the markers + :type workspace_ratio: float + :return: (status, annotated image) + :rtype: numpy.array + """ + return draw_markers(img, workspace_ratio) diff --git a/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py b/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py new file mode 100644 index 000000000..593c21895 --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/markers_detection.py @@ -0,0 +1,298 @@ +import numpy as np +import cv2 +from .math_functions import euclidean_dist_2_pts + +IM_EXTRACT_SMALL_SIDE_PIXELS = 200 + + +def extract_img_markers(img, workspace_ratio=1.0): + """ + Extract working area from an image thanks to 4 Niryo's markers + :param img: OpenCV image which contain 4 Niryo's markers + :param workspace_ratio: Ratio between the width and the height of the area represented by the markers + :return: extracted and warped working area image + """ + + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + + img_thresh = cv2.adaptiveThreshold(gray, maxValue=255, adaptiveMethod=cv2.ADAPTIVE_THRESH_MEAN_C, + thresholdType=cv2.THRESH_BINARY, blockSize=15, C=25) + + list_good_candidates = find_markers_from_img_thresh(img_thresh) + if not list_good_candidates or len(list_good_candidates) > 6: + return None + + if len(list_good_candidates) == 4: + list_good_candidates = sort_markers_detection(list_good_candidates) + else: + list_good_candidates = complicated_sort_markers(list_good_candidates, workspace_ratio=workspace_ratio) + if list_good_candidates is None: + return None + + im_cut = extract_sub_img(img, list_good_candidates, ratio_w_h=workspace_ratio) + return im_cut + + +def extract_sub_img(img, list_corners, ratio_w_h=1.0): + """ + Extract an small image from a big one using a Perspective Warp + :param img: Big image from which the small one will be extracted + :param list_corners: corners list of the small image + :param ratio_w_h: Width over Height ratio of the area. It helps to not stretch the working area image + :return: extracted and warped image + """ + if list_corners is None or len(list_corners) != 4: + return None + + if ratio_w_h >= 1.0: + target_w_area = int(round(ratio_w_h * IM_EXTRACT_SMALL_SIDE_PIXELS)) + target_h_area = IM_EXTRACT_SMALL_SIDE_PIXELS + else: + ratio_w_h = 1.0 / ratio_w_h + target_h_area = int(round(ratio_w_h * IM_EXTRACT_SMALL_SIDE_PIXELS)) + target_w_area = IM_EXTRACT_SMALL_SIDE_PIXELS + + points_grid = [] + + for marker in list_corners: + points_grid.append(marker.get_center()) + points_grid = np.array(points_grid, dtype=np.float32) + final_pts = np.array( + [[0, 0], [target_w_area - 1, 0], + [target_w_area - 1, target_h_area - 1], [0, target_h_area - 1]], + dtype=np.float32) + transfo_matrix = cv2.getPerspectiveTransform(points_grid, final_pts) + # print transfo_matrix + # print np.linalg.det(transfo_matrix) + area_im = cv2.warpPerspective(img, transfo_matrix, (target_w_area, target_h_area)) + return area_im + + +def draw_markers(img, workspace_ratio=1.0): + gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + + img_thresh = cv2.adaptiveThreshold(gray, maxValue=255, adaptiveMethod=cv2.ADAPTIVE_THRESH_MEAN_C, + thresholdType=cv2.THRESH_BINARY, blockSize=15, C=32) + + list_good_candidates = find_markers_from_img_thresh(img_thresh) + if not list_good_candidates: + return False, img + im_draw = img.copy() + for marker in list_good_candidates: + cx, cy = marker.get_center() + radius = marker.get_radius() + cv2.circle(im_draw, (cx, cy), radius, (0, 0, 255), 2) + if len(list_good_candidates) > 6: + return False, im_draw + + if len(list_good_candidates) == 4: + list_good_candidates = sort_markers_detection(list_good_candidates) + else: + list_good_candidates = complicated_sort_markers(list_good_candidates, workspace_ratio=workspace_ratio) + if list_good_candidates is None: + return False, im_draw + + for i, marker in enumerate(list_good_candidates[:4]): + cx, cy = marker.get_center() + radius = marker.get_radius() + cv2.circle(im_draw, (cx, cy), radius, (0, 200, 0), 2) + cv2.putText(im_draw, "{}".format(i + 1), + (cx + 5, cy - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 0, 0), 3) + cv2.putText(im_draw, "{}".format(i + 1), + (cx + 5, cy - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 200, 0), 2) + return True, im_draw + + +class PotentialMarker: + def __init__(self, center, radius, cnt): + self.center = center + self.x = center[0] + self.y = center[1] + self.radius = radius + self.contour = cnt + self.is_merged = False + + def get_center(self): + return self.center + + def __str__(self): + return "{} - {} - {}".format(self.x, self.y, self.radius) + + def __repr__(self): + return self.__str__() + + +class Marker: + def __init__(self, potential_marker): + self.list_centers = [potential_marker.get_center()] + self.list_radius = [potential_marker.radius] + self.list_contours = [potential_marker.contour] + self.cx = self.list_centers[0][0] + self.cy = self.list_centers[0][1] + self.radius = potential_marker.radius + self.identifiant = None + self.value_for_id = None + + def get_radius(self): + return self.radius + + def get_center(self): + return self.cx, self.cy + + def add_circle(self, obj_potential_marker): + self.list_centers.append(obj_potential_marker.get_center()) + self.list_radius.append(obj_potential_marker.radius) + obj_potential_marker.is_merged = True + + (x, y) = np.mean(self.list_centers, axis=0) + self.cx, self.cy = int(round(x)), int(round(y)) + + self.radius = int(round(max(self.list_radius))) + + def nb_circles(self): + return len(self.list_centers) + + def get_id_from_slice(self, img_thresh): + x, y, w, h = self.cx - 1, self.cy - 1, 3, 3 + self.value_for_id = np.mean(img_thresh[y:y + h, x:x + w]) + # return value_for_id + if self.value_for_id > 200: + self.identifiant = "A" + else: + self.identifiant = "B" + + return self.identifiant + # return value_for_id + + def __str__(self): + return "{} - {}".format(self.nb_circles(), self.list_centers) + + def __repr__(self): + return self.__str__() + + +def sort_markers_detection(list_markers): + def rotate_list(list_, n): + return list_[n:] + list_[:n] + + list_sort_y = sorted(list_markers, key=lambda m: m.cy) + + top1, top2, bottom1, bottom2 = list_sort_y + + if top1.cx < top2.cx: + top_left = top1 + top_right = top2 + else: + top_left = top2 + top_right = top1 + + if bottom1.cx < bottom2.cx: + bottom_left = bottom1 + bottom_right = bottom2 + else: + bottom_left = bottom2 + bottom_right = bottom1 + + list_markers_unsorted = [top_left, top_right, bottom_right, bottom_left] + list_id = [marker.identifiant for marker in list_markers_unsorted] + + if list_id.count("A") == 1: + list_corners_sorted = rotate_list(list_markers_unsorted, n=list_id.index("A")) + elif list_id.count("B") == 1: + list_corners_sorted = rotate_list(list_markers_unsorted, n=list_id.index("B")) + else: + return list_markers_unsorted + + return list_corners_sorted + + +def complicated_sort_markers(list_markers, workspace_ratio): + import itertools + + if workspace_ratio >= 1.0: + target_w_area = int(round(workspace_ratio * 200)) + target_h_area = 200 + else: + ratio_w_h = 1.0 / workspace_ratio + target_h_area = int(round(ratio_w_h * 200)) + target_w_area = 200 + list_id = [marker.identifiant for marker in list_markers] + count_type_a = list_id.count("A") + count_type_b = list_id.count("B") + if count_type_a < 3 > count_type_b: + return None + if count_type_a < count_type_b: + id_first_marker = "A" + id_second_marker = "B" + else: + id_first_marker = "B" + id_second_marker = "A" + list_combinaisons = [] + list_marker_1 = [marker for marker in list_markers if marker.identifiant == id_first_marker] + list_marker_2 = [marker for marker in list_markers if marker.identifiant == id_second_marker] + if list_marker_1: + list_combinaisons_marker_2 = itertools.combinations(list_marker_2, 3) + for marker1 in list_marker_1: + for combi_markers2 in list_combinaisons_marker_2: + combin = [marker1] + list(combi_markers2) + + list_combinaisons.append(sort_markers_detection(combin)) + else: + for combinaison in itertools.combinations(list_marker_2, 4): + list_combinaisons.append(combinaison) + if not list_combinaisons: + return None + + final_pts = np.array( + [[0, 0], [target_w_area - 1, 0], + [target_w_area - 1, target_h_area - 1], [0, target_h_area - 1]], + dtype=np.float32) + list_det_transfo_matrix = [] + for combin in list_combinaisons: + points_grid = np.array([[mark.cx, mark.cy] for mark in combin], dtype=np.float32) + + transfo_matrix = cv2.getPerspectiveTransform(points_grid, final_pts) + list_det_transfo_matrix.append(np.linalg.det(transfo_matrix)) + + best_combin_ind = np.argmin(abs(np.array(list_det_transfo_matrix) - 1)) + best_markers = list_combinaisons[best_combin_ind] + return best_markers + + +def find_markers_from_img_thresh(img_thresh, max_dist_between_centers=3, min_radius_circle=4, + max_radius_circle=35, min_radius_marker=7): + contours = cv2.findContours(img_thresh, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)[-2] + list_potential_markers = [] + for cnt in contours: + (x, y), radius = cv2.minEnclosingCircle(cnt) + if not min_radius_circle < radius < max_radius_circle: + continue + center = (int(round(x)), int(round(y))) + radius = int(radius) + list_potential_markers.append(PotentialMarker(center, radius, cnt)) + + list_potential_markers = sorted(list_potential_markers, key=lambda m: m.x) + list_good_candidates = [] + + for i, potential_marker in enumerate(list_potential_markers): + if potential_marker.is_merged: + continue + marker1 = Marker(potential_marker) + center_marker = marker1.get_center() + + for potential_marker2 in list_potential_markers[i + 1:]: + if potential_marker.is_merged: + continue + center_potential = potential_marker2.get_center() + if center_potential[0] - center_marker[0] > max_dist_between_centers: + break + dist = euclidean_dist_2_pts(center_marker, center_potential) + if dist <= max_dist_between_centers: + marker1.add_circle(potential_marker2) + center_marker = marker1.get_center() + + if marker1.nb_circles() > 2 and marker1.radius >= min_radius_marker: + list_good_candidates.append(marker1) + marker1.get_id_from_slice(img_thresh) + + return list_good_candidates diff --git a/niryo_robot_vision/src/niryo_robot_vision/math_functions.py b/niryo_robot_vision/src/niryo_robot_vision/math_functions.py new file mode 100644 index 000000000..99de0627a --- /dev/null +++ b/niryo_robot_vision/src/niryo_robot_vision/math_functions.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python +import math + + +def get_angle_2_points(x1, y1, x2, y2): + """ + angle of the line starting at (x1,y1) and finishing at (x2,y2), according to repere trigonometrique + :param x1: x position of the first point + :param y1: y position of the first point + :param x2: x position of the second point + :param y2: y position of the second point + :return: angle in radians + """ + dy = float(y2) - float(y1) + dx = float(x2) - float(x1) + if dx == 0: + # return 90 if dy > 0 else -90 + return math.pi / 2 if dy > 0 else -math.pi / 2 + + else: + return math.atan2(dy, dx) + + +def euclidean_dist(x1, y1, x2, y2): + """ + Return euclidean distance between 2 points + :param x1: x position of the first point + :param y1: y position of the first point + :param x2: x position of the second point + :param y2: y position of the second point + :return: distance in the same metrics as the points + """ + return math.sqrt((float(x1) - float(x2)) ** 2 + (float(y1) - float(y2)) ** 2) + + +def euclidean_dist_2_pts(p1, p2): + """ + Return euclidean distance between 2 points + :param p1: tuple(X,Y) of the first point's coordinates + :param p2: tuple(X,Y) of the second point's coordinates + :return: distance in the same metrics as the points + """ + x1, y1 = p1 + x2, y2 = p2 + return math.sqrt((float(x1) - float(x2)) ** 2 + (float(y1) - float(y2)) ** 2) diff --git a/niryo_robot_vision/srv/DebugColorDetection.srv b/niryo_robot_vision/srv/DebugColorDetection.srv new file mode 100644 index 000000000..ef88578c8 --- /dev/null +++ b/niryo_robot_vision/srv/DebugColorDetection.srv @@ -0,0 +1,3 @@ +string color +--- +sensor_msgs/CompressedImage img diff --git a/niryo_robot_vision/srv/DebugMarkers.srv b/niryo_robot_vision/srv/DebugMarkers.srv new file mode 100644 index 000000000..6908615ca --- /dev/null +++ b/niryo_robot_vision/srv/DebugMarkers.srv @@ -0,0 +1,3 @@ +--- +bool markers_detected +sensor_msgs/CompressedImage img diff --git a/niryo_robot_vision/srv/ObjDetection.srv b/niryo_robot_vision/srv/ObjDetection.srv new file mode 100644 index 000000000..b905a6762 --- /dev/null +++ b/niryo_robot_vision/srv/ObjDetection.srv @@ -0,0 +1,13 @@ +string obj_type +string obj_color +float32 workspace_ratio +bool ret_image +--- +int32 status + +niryo_robot_msgs/ObjectPose obj_pose + +string obj_type +string obj_color + +sensor_msgs/CompressedImage img diff --git a/niryo_robot_vision/srv/TakePicture.srv b/niryo_robot_vision/srv/TakePicture.srv new file mode 100644 index 000000000..d84ab0a03 --- /dev/null +++ b/niryo_robot_vision/srv/TakePicture.srv @@ -0,0 +1,3 @@ +string path +--- +bool success diff --git a/sphinx_doc/Makefile b/sphinx_doc/Makefile new file mode 100644 index 000000000..f9b261e2a --- /dev/null +++ b/sphinx_doc/Makefile @@ -0,0 +1,19 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line. +SPHINXOPTS = +SPHINXBUILD = python2 -m sphinx +SOURCEDIR = . +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/sphinx_doc/README.md b/sphinx_doc/README.md new file mode 100644 index 000000000..0c15c789a --- /dev/null +++ b/sphinx_doc/README.md @@ -0,0 +1,28 @@ +# Ned Doc +## Préambule +Pour modifier la doc, vous aurez tout d'abord besoin de Sphinx, de la template d'affichage +et d'une librairie Python pour la génération des messages : + +`pip install -r requirements_docs.txt` + +ou si ça ne fonctionne pas + +`pip install Sphinx sphinx_rtd_theme sphinxcontrib-ros` + +## Génération +Placez vous à la racine de votre dossier sphinx + +Pour générer le html, utilisez : + +`make html` + +Le fichier à ouvrir est : **_build/html/index.html** + +Command clean + make + open : + +`make clean; make html ; google-chrome _build/html/index.html` + +## Ressources +### Spinxcontrib + +http://otamachan.github.io/sphinxcontrib-ros/index.html diff --git a/sphinx_doc/_static/favicon32.ico b/sphinx_doc/_static/favicon32.ico new file mode 100644 index 000000000..0ece81b1b Binary files /dev/null and b/sphinx_doc/_static/favicon32.ico differ diff --git a/sphinx_doc/_static/logo.png b/sphinx_doc/_static/logo.png new file mode 100644 index 000000000..99c9fdf4f Binary files /dev/null and b/sphinx_doc/_static/logo.png differ diff --git a/sphinx_doc/_static/override.css b/sphinx_doc/_static/override.css new file mode 100644 index 000000000..d1f4b48e9 --- /dev/null +++ b/sphinx_doc/_static/override.css @@ -0,0 +1,245 @@ +@import url("https://use.typekit.net/tsj7mzy.css"); + +/* Centre le texte dans les row-headers de tableau */ +th.head { + text-align: center; +} + +/* Centre le texte dans les non row-headers de tableau */ +td { + text-align: center; +} + +body { + font-family:open-sans, helvetica, sans-serif; +} +/* SIDE-NAV */ +.wy-side-nav-search .icon-home { + font-size:0px; + user-select: none; + -moz-user-select: none; +} +.wy-nav-side { + background:#203567; + padding-bottom:0px; + box-shadow: 3px 0px 10px rgba(0,0,0,0.2); +} +.wy-side-nav-search a:hover { + background:none; +} +.wy-side-nav-search { + display:flex; + flex-direction:column; + background-color: white; + position: sticky; + top: 0; + width: auto; + margin: 0 15px 0 12px; + border-radius: 0 0 20px 20px; + box-shadow: 0 0 8px rgba(0,0,0,0.5); +} +.wy-side-nav-search .wy-dropdown>a img.logo, .wy-side-nav-search>a img.logo { + width:70%; +} +.wy-side-nav-search { + background-color:white; +} +.wy-side-nav-search>div.version{ + color:#203567; + font-size:10px; + margin-top:10px; +} +.wy-side-nav-search>div.version::before{ + content:"v"; +} +.wy-side-nav-search input[type=text] { +border:none; +padding: 3% 5%; +font-size: 1em; +box-shadow: inset 0px 0px 4px #d8d8d8; +transition: box-shadow 0.3s ease; +} +.wy-side-nav-search input[type=text]:focus { + box-shadow: inset 2px 2px 5px #d8d8d8; +} +p.caption span { + font-size:1.4em; + color:white; + border-bottom:1px solid white; + display:block; + +} +.wy-menu-vertical p.caption { + margin-bottom:0px; + font-family:semplicitapro, helvetica, sans-serif; + height:unset; + white-space: break-spaces; +} +.wy-menu-vertical a { + font-size:16px; + color:rgba(255,255,255,0.8); +} +li.toctree-l1:first-child a{ + margin-top:0px; +} +li.toctree-l1 a { + transition: background-color 0.3s ease-in; +} +li.toctree-l1 a:hover { + background-color:rgba(255,255,255,0.05); +} +.wy-menu-vertical ul:last-of-type{ + margin-bottom:30px; +} +.toctree-l1.current ul a { +font-size:12px; +} +.toctree-l1.current ul a span::before { + font-size:14px; + transform:translateX(-7px); +} +.toctree-l2.current ul { + margin-bottom:0; +} +/* TOP-NAV */ +div[role="navigation"] hr { + display:none; +} +.wy-breadcrumbs { + background:white; + padding:12px; + border-radius: 50px; + box-shadow: 0 0 7px rgba(0,0,0,0.3); +} +.wy-nav-top { + background:#203567; + font-size:1.5em; + font-family:semplicitapro, helvetica, sans-serif; +} +.wy-breadcrumbs li:first-child { + padding:5px 12px; +} +.wy-breadcrumbs li:last-child { + border-radius:50px; + color:white; + background:#203567; + padding:5px 12px; + border: 1px solid #203567; + transition: background-color 0.3s ease; +} +li.wy-breadcrumbs-aside a, li.wy-breadcrumbs-aside a:visited { + color:white; + transition: color 0.3s ease; + padding:0; +} +li.wy-breadcrumbs-aside:hover { + background:rgba(0,0,0,0); +} +li.wy-breadcrumbs-aside:hover a { +color:#203567; +} + +/*CONTENT*/ +.wy-breadcrumbs li:first-child a:first-child { + color: #203567; +} +.wy-nav-content { + max-width:100%; + margin-right:0; + background:#f8f8f8; +} +div.document a, div.document a:visited { + color:#2451bb; + transition: color 0.2s ease; +} +div.document a:hover { + color:#0b2f83; +} +div.document span { + overflow:visible; +} + +h1 { + text-align: center; + margin-top:30px; +} +h1, h2, h3 { + font-family:semplicitapro, helvetica, sans-serif; + color: #203567; +} +h2{ + border-bottom:2px solid #203567; +} +h3 { + margin-left:15px; +} +div.section { + text-align: justify; +} +.highlight-default { + border-radius: 10px !important; +} +div.admonition.note, div.admonition.important, div.admonition.attention, div.admonition.hint, div.admonition.danger { + border-radius: 10px; + overflow:hidden; + box-shadow: 0 0 10px rgba(0,0,0,0.3); +} +div.figure a img { + border-radius:20px; + box-shadow: 0 0 10px rgba(0,0,0,0.2); +} +div.figure p.caption span { + color: black; + font-style: normal; + border:none; + padding: 5px; + font-size:1em; + font-family: semplicitapro, helvetica, sans-serif; +} +.rst-footer-buttons a.btn { + border-radius:50px; + color:white !important; + border:1px solid #203567; + background-color: #203567 !important; + padding-top:8px; + box-shadow:unset; +} +code { + border-radius:5px; + border:none !important; +} +dl.class, dl.function { + border-left : 3px solid #6ab0de; +} +dl.class dt, dl.function dt { + border-radius: 0 0 12px 0; +} +dl.method { + border-left:3px solid #CCC; +} +dl.method dt { + border-left:none !important; + border-radius: 0 0 12px 0; +} + +/* SEARCH */ +#search-results .search li a { + font-family: semplicitapro, helvetica, sans-serif; + font-weight: 700; + color:#203567; + margin-bottom:0px; +} +#search-results .search .highlighted { + background-color: #d8d8d8; + box-shadow: unset; + color:black; +} +#search-results .search li { + border:0px !important; + background:white; + padding: 15px 20px 15px 20px; + border-radius: 15px; +} +#search-results .search li div.context { +margin-top: 10px; +} diff --git a/sphinx_doc/conf.py b/sphinx_doc/conf.py new file mode 100644 index 000000000..927c33a45 --- /dev/null +++ b/sphinx_doc/conf.py @@ -0,0 +1,219 @@ +# -*- coding: utf-8 -*- +# +# Configuration file for the Sphinx documentation builder. +# +# This file does only contain a selection of the most common options. For a +# full list see the documentation: +# http://www.sphinx-doc.org/en/master/config + +# -- Path setup -------------------------------------------------------------- + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +# +import os +import sys + +sys.path.insert(0, os.path.abspath('../niryo_robot_python_ros_wrapper/src/')) + +# -- Project information ----------------------------------------------------- + +project = u'Ned Doc' +copyright = u'2020, Niryo' +author = u'Niryo Software Team' + +# The short X.Y version +version = u'1.0' +# The full version, including alpha/beta/rc tags +release = u'1.0.0a' + +# -- General configuration --------------------------------------------------- + +# If your documentation needs a minimal Sphinx version, state it here. +# +# needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.autosectionlabel', + 'sphinx.ext.intersphinx', + 'sphinx.ext.viewcode', + 'sphinx.ext.githubpages', + 'sphinx.ext.extlinks', + 'sphinx.ext.todo', +] + +# SpinxContribROS +extensions += ['sphinxcontrib.ros'] + +# Display todos by setting to True +todo_include_todos = True +todo_emit_warnings = True + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The master toctree document. +master_doc = 'index' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +# This pattern also affects html_static_path and html_extra_path. +exclude_patterns = [u'_build', 'Thumbs.db', '.DS_Store'] + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = None + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +add_module_names = False + +# -- Options for HTML output ------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +# +# html_theme = 'alabaster' +html_theme = 'sphinx_rtd_theme' + +html_logo = "_static/logo.png" +html_favicon = "_static/favicon32.ico" + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +# +# html_theme_options = {} +html_context = { + # "display_github": True, + # "github_user": "ros-planning", + # "github_repo": "moveit_tutorials", + # "github_version": "kinetic-devel", + # "conf_py_path": "", + # "source_suffix": source_suffix, + "css_files": ['_static/override.css'], + # "favicon": "favicon.ico", + # "logo": "logo.png" +} +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# Custom sidebar templates, must be a dictionary that maps document names +# to template names. +# +# The default sidebars (for documents that don't match any pattern) are +# defined by theme itself. Builtin themes are using these templates by +# default: ``['localtoc.html', 'relations.html', 'sourcelink.html', +# 'searchbox.html']``. +# +# html_sidebars = {} + + +# -- Options for HTMLHelp output --------------------------------------------- + +# Output file base name for HTML help builder. +htmlhelp_basename = 'NedDoc' + +# -- Options for LaTeX output ------------------------------------------------ + +latex_elements = { + # The paper size ('letterpaper' or 'a4paper'). + # + # 'papersize': 'letterpaper', + + # The font size ('10pt', '11pt' or '12pt'). + # + # 'pointsize': '10pt', + + # Additional stuff for the LaTeX preamble. + # + # 'preamble': '', + + # Latex figure (float) alignment + # + # 'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'NedDoc.tex', u'Ned Doc Documentation', + u'Niryo', 'manual'), +] + +# -- Options for manual page output ------------------------------------------ + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'neddoc', u'Ned Doc Documentation', + [author], 1) +] + +# -- Options for Texinfo output ---------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'NedDoc', u'Ned Doc Documentation', + author, 'NedDoc', 'One line description of project.', + 'Miscellaneous'), +] + +# -- Options for Epub output ------------------------------------------------- + +# Bibliographic Dublin Core info. +epub_title = project + +# The unique identifier of the text. This can be a ISBN number +# or the project homepage. +# +# epub_identifier = '' + +# A unique identification for the text. +# +# epub_uid = '' + +# A list of files that should not be packed into the epub file. +epub_exclude_files = ['search.html'] + +# -- Extension configuration ------------------------------------------------- + +# -- Options for intersphinx extension --------------------------------------- + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = {'https://docs.python.org/': None} + +# Links +ros_distro = 'melodic' +extlinks = { + 'rosdocs': ('http://docs.ros.org/' + ros_distro + '/api/%s', ''), + 'tf2': ('http://docs.ros.org/' + ros_distro + '/api/tf2_ros/html/c++/classtf2__ros_1_1%s.html', ''), + + 'msgs_index': ('http://docs.ros.org/' + ros_distro + '/api/%s/html/index-msg.html', ''), + 'moveit_msgs': ('http://docs.ros.org/' + ros_distro + '/api/moveit_msgs/html/msg/%s.html', 'moveit_msgs/'), + 'sensor_msgs': ('http://docs.ros.org/' + ros_distro + '/api/sensor_msgs/html/msg/%s.html', 'sensor_msgs/'), + 'std_msgs': ('http://docs.ros.org/' + ros_distro + '/api/std_msgs/html/msg/%s.html', 'sensor_msgs/'), + 'wiki_ros': ('http://wiki.ros.org/%s', ''), +} diff --git a/sphinx_doc/images/niryo_ned_front.jpg b/sphinx_doc/images/niryo_ned_front.jpg new file mode 100644 index 000000000..6ea0512ff Binary files /dev/null and b/sphinx_doc/images/niryo_ned_front.jpg differ diff --git a/sphinx_doc/images/niryo_one_front.jpg b/sphinx_doc/images/niryo_one_front.jpg new file mode 100644 index 000000000..42129bbf4 Binary files /dev/null and b/sphinx_doc/images/niryo_one_front.jpg differ diff --git a/sphinx_doc/images/python_logo.png b/sphinx_doc/images/python_logo.png new file mode 100644 index 000000000..738f6ed41 Binary files /dev/null and b/sphinx_doc/images/python_logo.png differ diff --git a/sphinx_doc/images/ros/brinup_organization.png b/sphinx_doc/images/ros/brinup_organization.png new file mode 100644 index 000000000..ef12f8583 Binary files /dev/null and b/sphinx_doc/images/ros/brinup_organization.png differ diff --git a/sphinx_doc/images/ros/gazebo_logo.png b/sphinx_doc/images/ros/gazebo_logo.png new file mode 100644 index 000000000..9ff4fb482 Binary files /dev/null and b/sphinx_doc/images/ros/gazebo_logo.png differ diff --git a/sphinx_doc/images/ros/hardware_stack_nodes.png b/sphinx_doc/images/ros/hardware_stack_nodes.png new file mode 100644 index 000000000..454d64302 Binary files /dev/null and b/sphinx_doc/images/ros/hardware_stack_nodes.png differ diff --git a/sphinx_doc/images/ros/ros_stack_global_overview.jpg b/sphinx_doc/images/ros/ros_stack_global_overview.jpg new file mode 100644 index 000000000..a4ece044a Binary files /dev/null and b/sphinx_doc/images/ros/ros_stack_global_overview.jpg differ diff --git a/sphinx_doc/images/ros_logo.png b/sphinx_doc/images/ros_logo.png new file mode 100644 index 000000000..ea1111d20 Binary files /dev/null and b/sphinx_doc/images/ros_logo.png differ diff --git a/sphinx_doc/images/simulation_gazebo_1.png b/sphinx_doc/images/simulation_gazebo_1.png new file mode 100644 index 000000000..f561c8e43 Binary files /dev/null and b/sphinx_doc/images/simulation_gazebo_1.png differ diff --git a/sphinx_doc/images/simulation_gazebo_2.jpg b/sphinx_doc/images/simulation_gazebo_2.jpg new file mode 100644 index 000000000..4e8e88976 Binary files /dev/null and b/sphinx_doc/images/simulation_gazebo_2.jpg differ diff --git a/sphinx_doc/images/visu_rviz_ros.jpg b/sphinx_doc/images/visu_rviz_ros.jpg new file mode 100644 index 000000000..426356f0e Binary files /dev/null and b/sphinx_doc/images/visu_rviz_ros.jpg differ diff --git a/sphinx_doc/images/visu_rviz_trackbar.jpg b/sphinx_doc/images/visu_rviz_trackbar.jpg new file mode 100644 index 000000000..89506fcc7 Binary files /dev/null and b/sphinx_doc/images/visu_rviz_trackbar.jpg differ diff --git a/sphinx_doc/index.rst b/sphinx_doc/index.rst new file mode 100644 index 000000000..3ea98b16a --- /dev/null +++ b/sphinx_doc/index.rst @@ -0,0 +1,112 @@ +.. Ned Doc documentation master file, created by + sphinx-quickstart on Thu Jul 23 10:15:29 2020. + +##################################### +Ned ROS Documentation +##################################### + +| This documentation contains everything you need to understand Ned's + functioning & how to control it through ROS. +| It is made as well for users who are + using the "physic" robot as those who want to use a virtual version + +.. list-table:: + :header-rows: 0 + :widths: auto + :align: center + + * - .. image:: images/ros_logo.png + :alt: ROS Logo + :width: 300px + :align: center + - .. image:: images/niryo_ned_front.jpg + :alt: Ned + :width: 300px + :align: center + + +************** +Preamble +************** + +Before diving into the software documentation, you can learn more about the robot development +in the :doc:`Overwiew ` section + +Also, if you want to use a simulated version of Ned +, browse the :doc:`Simulation ` section + +**************************** +Ned Control via ROS +**************************** + +Ned is fully based on ROS + +ROS Direct Control +--------------------------------- + +.. important:: + To control the robot directly with ROS, you will need either to be connected in SSH + to the physic robot, or to use the simulation. + +ROS is the more direct way to control the robot. It allows : + +- to send command via the terminal in order to call services, trigger action, ... +- to write a entire Python/C++ node in a script to realize a full process + +See :doc:`ROS ` section to see all Topic & Services available + +Python ROS Wrapper +--------------------------------- +.. important:: + To use Python ROS Wrapper, you will need either to be connected in SSH + to the physic robot, or to use the simulation. + +The Python ROS Wrapper is build on top of ROS to allow faster development than ROS. +Programs are run directly on the robot which allows to trigger them with the robot's button +once a computer is no longer needed + +See :doc:`Python ROS Wrapper ` to see which functions are accessible and examples on +how to use them + +More ways +--------------------------------- + +Other methods are available to control the robot allowing the user +to code and run programs outside his terminal + +Learn more on this :doc:`section ` + + +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Introduction + + source/overview + source/simulation + +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Documentation Sections + + source/ros + source/stack_hardware + source/ros_wrapper + + +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Go Further + + source/tcp_server + source/more + +**************************** +Indices and tables +**************************** + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/sphinx_doc/make.bat b/sphinx_doc/make.bat new file mode 100644 index 000000000..7893348a1 --- /dev/null +++ b/sphinx_doc/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=. +set BUILDDIR=_build + +if "%1" == "" goto help + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.http://sphinx-doc.org/ + exit /b 1 +) + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% + +:end +popd diff --git a/sphinx_doc/requirements_docs.txt b/sphinx_doc/requirements_docs.txt new file mode 100644 index 000000000..2fe7d63f3 --- /dev/null +++ b/sphinx_doc/requirements_docs.txt @@ -0,0 +1,3 @@ +sphinxcontrib-ros +Sphinx +sphinx_rtd_theme diff --git a/sphinx_doc/source/more.rst b/sphinx_doc/source/more.rst new file mode 100644 index 000000000..d5e8098f2 --- /dev/null +++ b/sphinx_doc/source/more.rst @@ -0,0 +1,21 @@ +More ways to control Ned +======================================== + +There is even more ways to control Ned. + +| If you are a beginner, look at :ref:`Blockly ` section to understand the programming fundamentals. +| If you want to go further, maybe experience your own image processing, multi_robot, AI + ,... you can look at :ref:`PyNiryo` + +Blockly +--------------------- + +Check out Niryo Studio + +PyNiryo +---------------------------- +As explain in the page :ref:`Use Ned TCP Server`, a TCP Server is running on Ned, +which allows it to receive commands from any external device. + +PyNiryo is a Python package available on Pip which allows to command the Niryo Robots +with easy Python Binding diff --git a/sphinx_doc/source/overview.rst b/sphinx_doc/source/overview.rst new file mode 100644 index 000000000..7d46251f1 --- /dev/null +++ b/sphinx_doc/source/overview.rst @@ -0,0 +1,16 @@ +ROS Stack overview +========================================= + +Ned is a robot based on Raspberry, Arduino & ROS. It uses ROS to +make the interface between Hardware and high-level bindings. + +On the following figure, you will see an global overview of the Niryo Robot Software +in order to understand where are placed each part of the software. + + +.. figure:: ../images/ros/ros_stack_global_overview.jpg + :alt: Niryo Robot v3 Software + :width: 1200px + :align: center + + Niryo Robot v3 Software diff --git a/sphinx_doc/source/python_ros_wrapper/before_running.rst b/sphinx_doc/source/python_ros_wrapper/before_running.rst new file mode 100644 index 000000000..d37494c3d --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/before_running.rst @@ -0,0 +1,36 @@ +Before Running your Programs +==================================================== + +The variable PYTHONPATH +--------------------------------- +The Python interpreter needs to have all used packages in the environment variable **PYTHONPATH**, +to do that, you need to have sourced your ROS environment : + +- If you are coding directly on your robot, it is made directly in every terminal +- If your are using simulation, be sure to have followed the setup from + :ref:`Setup Ned ROS Environment` + + +Required piece of code +------------------------------- + +To run, your program will need some imports & initialisation. We give you below the piece +of code you must use to make Python ROS Wrapper work :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + niryo_robot = NiryoRosWrapper() + + # -- YOUR CODE HERE -- # + + +You have now everything you need to control the robot through its Python ROS Wrapper. To run +a script, simply use the command ``python my_script.py`` + diff --git a/sphinx_doc/source/python_ros_wrapper/examples_basics.rst b/sphinx_doc/source/python_ros_wrapper/examples_basics.rst new file mode 100644 index 000000000..07e2334c2 --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/examples_basics.rst @@ -0,0 +1,149 @@ +Examples: Basics +========================== + +In this file, two short programs are implemented & commented in order to +help you understand the philosophy behind the Python ROS Wrapper + +.. danger:: + If you are using the real robot, make sure the environment around is clear + + +Your first move joint +--------------------------- + +The following example shows a first use case. +It's a simple MoveJ. :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + # Connecting to the ROS Wrapper & calibrating if needed + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + # Moving joint + niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2) + + +Code Details - First Move J +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +First of all, we indicate to the shell that we are running a Python Script :: + + #!/usr/bin/env python + +Then, We import the API package to be able to access functions :: + + from niryo_robot_python_ros_wrapper import * + +Then, we instantiate a ROS Node in order to communicate with ROS master :: + + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + +We start a :class:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper` instance :: + + niryo_robot = NiryoRosWrapper() + +Once the connection is done, we calibrate the robot using its +:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.calibrate_auto` function :: + + niryo_robot.calibrate_auto() + +As the robot is now calibrated, we can do a Move Joints by giving the 6 axis positions +in radians ! To do so, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_joints` :: + + niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2) + + +Your first pick and place +------------------------------- +For our second example, we are going to develop an algorithm of +pick and place :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_robot_example_python_ros_wrapper') + + # Connecting to the ROS Wrapper & calibrating if needed + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + # Updating tool + niryo_robot.update_tool() + + # Opening Gripper/Pushing Air + niryo_robot.release_with_tool() + # Going to pick pose + niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0) + # Picking + niryo_robot.grasp_with_tool() + # Moving to place pose + niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0) + # Placing ! + niryo_robot.release_with_tool() + +Code Details - First Pick And Place +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +First of all, we do the imports and start a ROS Node :: + + #!/usr/bin/env python + + from niryo_robot_python_ros_wrapper import * + import rospy + + rospy.init_node('niryo_robot_example_python_ros_wrapper') + +Then, create a :class:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper` instance +& calibrate the robot :: + + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + +Then, we equip the tool +with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.update_tool` :: + + niryo_robot.update_tool() + +Now that our initialization is done, we can open the gripper (or push air from the vacuum) +with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.release_with_tool`, +go to the picking pose via :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_pose` +& then catch an object +with :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.grasp_with_tool` ! :: + + # Opening Gripper/Pushing Air + niryo_robot.release_with_tool() + # Going to pick pose + niryo_robot.move_pose(0.2, 0.1, 0.14, 0.0, 1.57, 0) + # Picking + niryo_robot.grasp_with_tool() + +We now get to the place pose, and place the object :: + + # Moving to place pose + niryo_robot.move_pose(0.2, -0.1, 0.14, 0.0, 1.57, 0) + # Placing ! + niryo_robot.release_with_tool() + + +Notes - Basics Examples +--------------------------- +| You may not have fully understood how to move the robot and use + tools of Ned and that is totally fine because you will find + more details on another examples page ! +| The important thing to remember from this page is how to import the library & connect + to the robot diff --git a/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst b/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst new file mode 100644 index 000000000..c981868ad --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/examples_conveyor.rst @@ -0,0 +1,70 @@ +Examples: Conveyor +======================== + +This document shows how to use Ned's conveyor belt + +| If you want see more about Ned's conveyor belt functions, you can look at :ref:`API - Conveyor` + +.. note:: + Imports & initialisation aren't mentioned, but you shouldn't forget it ! + +Simple Conveyor control +------------------------------- +This short example show how to connect a conveyor, activating connection and +launch his motor : :: + + niryo_robot = NiryoRosWrapper() + + # Activating connexion with conveyor and storing ID + conveyor_id = niryo_robot.set_conveyor() + + # Running conveyor at 50% of its maximum speed, in Forward direction + niryo_robot.control_conveyor(conveyor_id, True, 100, ConveyorDirection.FORWARD) + + # Stopping robot motor + niryo_robot.control_conveyor(conveyor_id, True, 0, ConveyorDirection.FORWARD) + + # Deactivating connexion with conveyor + niryo_robot.unset_conveyor(conveyor_id) + + +Advanced Conveyor control +------------------------------- +This example shows how to do a certain amount of pick & place by using +the conveyor with the infrared sensor :: + + + def run_conveyor(robot, conveyor): + robot.control_conveyor(conveyor, bool_control_on=True, + speed=50, direction=ConveyorDirection.FORWARD) + + # -- Setting variables + sensor_pin_id = PinID.GPIO_1A + + catch_nb = 5 + + # The pick pose + pick_pose = [0.25, 0., 0.15, 0., 1.57, 0.0] + # The Place pose + place_pose = [0.0, -0.25, 0.1, 0., 1.57, -1.57] + + # -- MAIN PROGRAM + + niryo_robot = NiryoRosWrapper() + + # Activating connexion with conveyor + conveyor_id = niryo_robot.set_conveyor() + + for i in range(catch_nb): + run_conveyor(niryo_robot, conveyor_id) + while niryo_robot.digital_read(sensor_pin_id) == PinState.LOW: + niryo_robot.wait(0.1) + + # Stopping robot motor + niryo_robot.control_conveyor(conveyor_id, True, 0, ConveyorDirection.FORWARD) + # Making a pick & place + niryo_robot.pick_and_place(pick_pose, place_pose) + + # Deactivating connexion with conveyor + niryo_robot.unset_conveyor(conveyor_id) + diff --git a/sphinx_doc/source/python_ros_wrapper/examples_movement.rst b/sphinx_doc/source/python_ros_wrapper/examples_movement.rst new file mode 100644 index 000000000..72d481483 --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/examples_movement.rst @@ -0,0 +1,58 @@ +Examples: Movement +========================= + +This document shows how to control Ned in order to make Move Joints & Move Pose. + +If you want see more, you can look at :ref:`API - Joints & Pose` + +.. danger:: + If you are using the real robot, make sure the environment around is clear + +Joints +------------------- + +To do a moveJ, you should pass 6 floats : (j1, j2, j3, j4, j5, j6) to the +method :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_joints` : :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + niryo_robot = NiryoRosWrapper() + niryo_robot.move_joints(0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + +To get joints, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.get_joints` :: + + joints = niryo_robot.get_joints() + j1, j2, j3, j4, j5, j6 = joints + +Pose +------------------- + +To do a moveP, you should pass 6 floats : (x, y, z, roll, pitch, yaw) to the +method :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.move_pose` + +See on this example :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + niryo_robot = NiryoRosWrapper() + niryo_robot.move_pose(0.25, 0.0, 0.25, 0.0, 0.0, 0.0) + +To get pose, we use :meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.get_pose` :: + + x, y, z, roll, pitch, yaw = niryo_robot.get_pose() + + diff --git a/sphinx_doc/source/python_ros_wrapper/examples_tool_action.rst b/sphinx_doc/source/python_ros_wrapper/examples_tool_action.rst new file mode 100644 index 000000000..16b43e01b --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/examples_tool_action.rst @@ -0,0 +1,214 @@ +Examples: Tool Action +======================== + +This page shows how to control Ned's tools via the Python ROS Wrapper + +If you want see more, you can look at :ref:`API - Tools` + +.. danger:: + If you are using the real robot, make sure the environment around it is clear + +Tool control +------------------- + +Equip Tool +^^^^^^^^^^^^ + +In order to use a tool, it should be plugged mechanically to the robot but also +connected software wise. + +To do that, we should use the function +:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.update_tool` +which take no argument. It will scan motor connections and set the new tool ! + +The line to equip a new tool is :: + + niryo_robot.update_tool() + + + +Grasping +^^^^^^^^^^^^ + +To grasp with any tool, you can use the function +:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.grasp_with_tool`. This action correspond to : + + - Close gripper for Grippers + - Pull Air for Vacuum pump + - Activate for Electromagnet + +The code to grasp is :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + # Connecting to the ROS Wrapper & calibrating if needed + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + # Updating tool + niryo_robot.update_tool() + + # Grasping + niryo_robot.grasp_with_tool() + + +To grasp by specifying parameters :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + # Connecting to the ROS Wrapper & calibrating if needed + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + # Updating tool + tool_used = ToolID.XXX + niryo_robot.update_tool() + + if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]: + niryo_robot.close_gripper(speed=500) + elif tool_used == ToolID.ELECTROMAGNET_1: + pin_electromagnet = PinID.XXX + niryo_robot.setup_electromagnet(pin_electromagnet) + niryo_robot.activate_electromagnet(pin_electromagnet) + elif tool_used == ToolID.VACUUM_PUMP_1: + niryo_robot.pull_air_vacuum_pump() + + +Releasing +^^^^^^^^^^^^ + +To release with any tool, you can use the function +:meth:`~.niryo_robot_python_ros_wrapper.ros_wrapper.NiryoRosWrapper.release_with_tool`. This action correspond to: + + - Open gripper for Grippers + - Push Air for Vacuum pump + - Deactivate for Electromagnet + +The line to release is :: + + niryo_robot.release_with_tool() + +To release by specifying parameters :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + # Connecting to the ROS Wrapper & calibrating if needed + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + + # Updating tool + tool_used = ToolID.XXX + niryo_robot.update_tool() + + if tool_used in [ToolID.GRIPPER_1, ToolID.GRIPPER_2, ToolID.GRIPPER_3, ToolID.GRIPPER_4]: + niryo_robot.open_gripper(speed=500) + elif tool_used == ToolID.ELECTROMAGNET_1: + pin_electromagnet = PinID.XXX + niryo_robot.setup_electromagnet(pin_electromagnet) + niryo_robot.deactivate_electromagnet(pin_electromagnet) + elif tool_used == ToolID.VACUUM_PUMP_1: + niryo_robot.push_air_vacuum_pump(tool_used) + + + +Pick & Place with tools +------------------------- + +There is a plenty of ways to realise a pick and place with the ROS Wrapper. Methods will +be presented from the lowest to highest level + +Code used will be :: + + # Imports + from niryo_robot_python_ros_wrapper import * + + gripper_used = ToolID.XXX # Tool used for picking + + # The pick pose + pick_pose = (0.25, 0., 0.15, 0., 1.57, 0.0) + # The Place pose + place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57) + + def pick_n_place_version_x(niryo_ned): + # -- SOME CODE -- # + + if __name__ == '__main__': + niryo_robot = NiryoRosWrapper() + niryo_robot.calibrate_auto() + pick_n_place_version_x(niryo_robot) + + +First Solution : the heaviest +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Everything is done by hand :: + + def pick_n_place_version_1(niryo_ned): + height_offset = 0.05 # Offset according to Z-Axis to go over pick & place poses + gripper_speed = 400 + + # Going Over Object + niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset, + pick_pose[3], pick_pose[4], pick_pose[5]) + # Opening Gripper + niryo_ned.open_gripper(gripper_speed) + # Going to picking place and closing gripper + niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2], + pick_pose[3], pick_pose[4], pick_pose[5]) + niryo_ned.close_gripper(gripper_speed) + + # Raising + niryo_ned.move_pose(pick_pose[0], pick_pose[1], pick_pose[2] + height_offset, + pick_pose[3], pick_pose[4], pick_pose[5]) + + # Going Over Place pose + niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset, + place_pose[3], place_pose[4], place_pose[5]) + # Going to Place pose + niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2], + place_pose[3], place_pose[4], place_pose[5]) + # Opening Gripper + niryo_ned.open_gripper(gripper_speed) + # Raising + niryo_ned.move_pose(place_pose[0], place_pose[1], place_pose[2] + height_offset, + place_pose[3], place_pose[4], place_pose[5]) + + +Second Solution : Pick from pose & Place from pose functions +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +We use predefined functions :: + + def pick_n_place_version_3(niryo_ned): + # Pick + niryo_ned.pick_from_pose(*pick_pose) + # Place + niryo_ned.place_from_pose(*place_pose) + +Third Solution : All in one +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +We use THE predifined function :: + + def pick_n_place_version_4(niryo_ned): + # Pick & Place + niryo_ned.pick_and_place(pick_pose, place_pose) + diff --git a/sphinx_doc/source/python_ros_wrapper/examples_vision.rst b/sphinx_doc/source/python_ros_wrapper/examples_vision.rst new file mode 100644 index 000000000..c77376948 --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/examples_vision.rst @@ -0,0 +1,61 @@ +Examples: Vision +======================== +This document shows how to use Ned's vision set + +If you want see more about Ned's vision functions, you can look at :ref:`API - Vision` + +Beforehand +------------------------------- +To realize the following examples, you need to have +create a workspace + +As the examples start always the same, there is the code you need to +add at the beginning of all of them :: + + #!/usr/bin/env python + + # Imports + from niryo_robot_python_ros_wrapper import * + import rospy + + # Initializing ROS node + rospy.init_node('niryo_ned_example_python_ros_wrapper') + + niryo_robot = NiryoRosWrapper() + + # - Constants + workspace_name = "workspace_1" # Robot's Workspace Name + + # The observation pose + observation_pose = (0.18, 0., 0.35, 0., 1.57, -0.2) + # The Place pose + place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57) + + # - Main Program + # Calibrate robot if robot needs calibration + niryo_robot.calibrate_auto() + # Changing tool + niryo_robot.update_tool() + + +Simple Vision Pick +------------------------------- +This short example show how to do your first vision pick : :: + + niryo_robot.move_pose(*observation_pose) + # Trying to pick target using camera + ret = niryo_robot.vision_pick(workspace_name, + height_offset=0.0, + shape=ObjectShape.ANY, + color=ObjectColor.ANY) + obj_found, shape_ret, color_ret = ret + if obj_found: + niryo_robot.place_from_pose(*place_pose) + + niryo_robot.set_learning_mode(True) + +Multi Reference Conditioning +------------------------------- + +Conditioning with Conveyor +------------------------------- diff --git a/sphinx_doc/source/python_ros_wrapper/ros_wrapper_doc.rst b/sphinx_doc/source/python_ros_wrapper/ros_wrapper_doc.rst new file mode 100644 index 000000000..4dd4ae8a4 --- /dev/null +++ b/sphinx_doc/source/python_ros_wrapper/ros_wrapper_doc.rst @@ -0,0 +1,112 @@ +Python ROS Wrapper Documentation +===================================== + +This file presents the different Functions, Classes & Enums available with the API + +.. contents:: + :local: + :depth: 1 + +API Functions +------------------------------------ + +| This class allows you to control the robot via internal API +| By controlling, we mean + +- Moving the robot +- Using Vision +- Controlling Conveyors +- Playing with Hardware + +List of functions subsections: + +.. contents:: + :local: + :depth: 1 + +.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper + :members: NiryoRosWrapper + +Main purpose functions +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: calibrate_auto, calibrate_manual, get_learning_mode, set_learning_mode, + set_arm_max_velocity + :member-order: bysource + +Joints & Pose +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: get_joints, get_pose, get_pose_as_list, move_joints, move_to_sleep_pose, move_pose, + shift_pose, move_linear_pose, + set_jog_use_state, jog_joints_shift, jog_pose_shift, + forward_kinematics, inverse_kinematics + :member-order: bysource + +Saved Poses +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: move_pose_saved, get_pose_saved, save_pose, delete_pose, get_saved_pose_list + :member-order: bysource + +Pick & Place +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: pick_from_pose, place_from_pose, pick_and_place + :member-order: bysource + +Trajectories +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: execute_trajectory_from_poses, execute_trajectory_saved, get_trajectory_saved, + save_trajectory, delete_trajectory, get_saved_trajectory_list + :member-order: bysource + +Tools +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: get_current_tool_id, update_tool, grasp_with_tool,release_with_tool, + open_gripper, close_gripper, pull_air_vacuum_pump, push_air_vacuum_pump, + setup_electromagnet, activate_electromagnet, deactivate_electromagnet + :member-order: bysource + +Hardware +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: set_pin_mode, digital_write, digital_read, + get_hardware_status, get_digital_io_state + :member-order: bysource + +Conveyor +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: set_conveyor, unset_conveyor, control_conveyor + :member-order: bysource + +Vision +^^^^^^^^^^^^^ + +.. autoclass:: NiryoRosWrapper + :members: get_compressed_image, get_target_pose_from_rel, get_target_pose_from_cam, + vision_pick_w_obs_joints, vision_pick_w_obs_pose, vision_pick, move_to_object, detect_object, get_camera_intrinsics, + save_workspace_from_poses, save_workspace_from_points, + delete_workspace, get_workspace_ratio, get_workspace_list, get_workspace_poses + :member-order: bysource + + +Enums +------------------------------------ + +.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper_enums + :members: + :undoc-members: + :exclude-members: CommandEnum + :member-order: bysource diff --git a/sphinx_doc/source/ros.rst b/sphinx_doc/source/ros.rst new file mode 100644 index 000000000..d8669666a --- /dev/null +++ b/sphinx_doc/source/ros.rst @@ -0,0 +1,38 @@ +ROS Stack Documentation +========================================= + +.. figure:: ../images/ros_logo.png + :alt: ROS Logo + :width: 300px + :align: center + + ROS Logo + +ROS (Robot Operating System) is an Open-Source Robotic Framework which +allows to ease robot software development. The framework is used +in almost each part of Ned software. + +The high-level packages (motion planner, vision, ...) are coded in Python to give +good readability whereas communication with Hardware is developed in C++ to ensure speed + +.. note:: + To learn more about ROS, go on `Official ROS Wiki `_ + +In this section, you will have access to all information about each Niryo Robot's ROS packages + +.. toctree:: + :maxdepth: 2 + :caption: ROS Documentation Sections + + ros/niryo_robot_bringup + ros/niryo_robot_commander + ros/niryo_robot_description + ros/niryo_robot_gazebo + ros/niryo_robot_msgs + ros/niryo_robot_poses_handlers + ros/niryo_robot_programs_manager + ros/niryo_robot_rpi + ros/niryo_robot_tools + ros/niryo_robot_unit_tests + ros/niryo_robot_user_interface + ros/niryo_robot_vision diff --git a/sphinx_doc/source/ros/niryo_robot_bringup.rst b/sphinx_doc/source/ros/niryo_robot_bringup.rst new file mode 100644 index 000000000..90f831bda --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_bringup.rst @@ -0,0 +1,65 @@ +Niryo Robot Bringup Package +============================== +This packages provides config and launch files to start Ned and ROS packages with various parameters. + +Launch files are placed in the *launch* folder. Only files with **.launch** extension can be executed + + +.. figure:: ../../images/ros/brinup_organization.png + :alt: Bringup organization + :height: 300px + :align: center + + Bring Up Launch Files' organization + +On RPI +------------------------- + +Ned +^^^^^^^^^^^^^^^^^^ + +| The file **niryo_ned_robot.launch** allows to launch ROS on a Raspberry Pi 4. +| This file is automatically launched when Ned boots (Ned RPi4B image). + +Command to launch Ned's ROS Stack:: + + roslaunch niryo_robot_bringup niryo_ned_robot.launch + +On Desktop (Simulation) +------------------------- + +As the simulation happens on a computer, the hardware-related stuff is not used. + +For both of following launch files, you can set : + - *gui* to "false" in order to disable graphical interface + +Gazebo Simulation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Run Gazebo simulation. The robot can do everything that is not hardware-related : + - move, get_pose + - use the camera (to disable it, set "camera" parameter to 'false') + - use the Gripper 1 (to disable it, set "simu_gripper" parameter to 'false') + - save/run programs, go to saved pose, ... + +Command to launch the simulation :: + + roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch + +To disable camera & gripper :: + + roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch gripper_n_camera:=false + +Rviz Simulation +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Run Rviz simulation. You can access same features as Gazebo except Camera & Gripper. + +To run it, use the command :: + + roslaunch niryo_robot_bringup desktop_rviz_simulation.launch + +Notes - Ned Bringup +------------------------------ +*niryo_robot_base* files setup many rosparams, +these files should be launched before any other package. diff --git a/sphinx_doc/source/ros/niryo_robot_commander.rst b/sphinx_doc/source/ros/niryo_robot_commander.rst new file mode 100644 index 000000000..b355ec3a7 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_commander.rst @@ -0,0 +1,188 @@ +Niryo Robot Commander Package +======================================== + +| This package is the one dealing with all commander related stuff. +| It is composed of only one node, which is running separately the arm commander and the tool commander + + +Commander Node +-------------------------- +The ROS Node is made to interact with : + - The Arm through MoveIt! + - The tolls through the tool controller + +All commands are firstly received on the actionlib server which + * Handles concurrent requests + * Checks if the command can't be processed due to other factors (ex: learning mode) + * Validates parameters + * Calls required controllers and returns appropriate status and message + +The namespace used is : |namespace_emphasize| + +Parameters - Commander +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Commander's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``reference_frame`` + - | Reference frame used by MoveIt! for moveP. + | Default : 'world' + * - ``move_group_commander_name`` + - Name of the group that MoveIt is controlling. By default : "arm" + * - ``jog_timer_rate_sec`` + - Publish rate for jog controller + * - ``simu_gripper`` + - If you are using the simulated gripper and want to control the gripper + + +Action Server - Commander +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Commander Package Action Servers + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``robot_action`` + - :ref:`RobotMove` + - Command the arm and tools through an action server + +Services - Commander +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Commander Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``is_active`` + - :ref:`GetBool` + - Indicate whereas a command is actually running or not + * - ``stop_command`` + - :ref:`Trigger` + - Stop the actual command + * - ``set_max_velocity_scaling_factor`` + - :ref:`SetInt` + - Set a percentage of maximum speed + * - ``/niryo_robot/kinematics/forward`` + - :ref:`GetFK` + - Compute a Forward Kinematic + * - ``/niryo_robot/kinematics/inverse`` + - :ref:`GetIK` + - Compute a Inverse Kinematic + +Messages - Commander +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Commander Package Messages + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - :ref:`ArmMoveCommand` + - Message to command the arm + * - :ref:`RobotCommand` + - Message to command the robot (arm + tool) + * - :ref:`ShiftPose` + - Message for shifting pose + * - :ref:`PausePlanExecution` + - Pause movement execution + +All these services are available as soon as the node is started + +Dependencies - Commander +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :wiki_ros:`actionlib` +- :msgs_index:`actionlib_msgs` +- :msgs_index:`control_msgs` +- :msgs_index:`geometry_msgs` +- `MoveIt! `_ +- :msgs_index:`moveit_msgs` +- :ref:`niryo_robot_msgs ` +- :ref:`niryo_robot_tools ` +- `python-numpy `_ +- :wiki_ros:`ros_controllers` +- :wiki_ros:`rosbridge_server` +- :msgs_index:`sensor_msgs` +- :msgs_index:`std_msgs` +- :wiki_ros:`tf2_web_republisher` +- :msgs_index:`trajectory_msgs` + + +Action, Services & Messages files - Commander +------------------------------------------------------ + +RobotMove (Action) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/action/RobotMove.action + :language: rostype + +GetFK (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/srv/GetFK.srv + :language: rostype + +GetIK (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/srv/GetIK.srv + :language: rostype + +JogShift (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/srv/JogShift.srv + :language: rostype + +ArmMoveCommand (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/msg/ArmMoveCommand.msg + :language: rostype + + +PausePlanExecution (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/msg/PausePlanExecution.msg + :language: rostype + + +RobotCommand (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/msg/RobotCommand.msg + :language: rostype + + +ShiftPose (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_commander/msg/ShiftPose.msg + :language: rostype + + + +.. |namespace| replace:: /niryo_robot_commander/ +.. |namespace_emphasize| replace:: ``/niryo_robot_commander/`` +.. |package_path| replace:: ../../../niryo_robot_commander diff --git a/sphinx_doc/source/ros/niryo_robot_description.rst b/sphinx_doc/source/ros/niryo_robot_description.rst new file mode 100644 index 000000000..372dd9235 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_description.rst @@ -0,0 +1,12 @@ +Niryo Robot Description Package +======================================== + +This package contains URDF files and meshes (collada + stl) for Ned. + +To display Ned on Rviz :: + + roslaunch niryo_robot_description display.launch + + +**Note** : 3D visualization is not available on Ned Raspberry Pi4 image. +To use the following commands, you must have setup Ned ros stack on your computer. diff --git a/sphinx_doc/source/ros/niryo_robot_gazebo.rst b/sphinx_doc/source/ros/niryo_robot_gazebo.rst new file mode 100644 index 000000000..ff7ff70a6 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_gazebo.rst @@ -0,0 +1,32 @@ +Niryo Robot Gazebo Package +======================================== + + +.. figure:: ../../images/ros/gazebo_logo.png + :alt: Gazebo logo + :height: 200px + :align: center + + Gazebo + +Usage +---------- +This package contains models, materials & Gazebo worlds. + +When launching the Gazebo version of the ROS Stack, the file +**niryo_robot_gazebo_world.launch.xml** will be called to generate the Gazebo world + + +Create your own World +--------------------------------- + +Create your world's file and put it on the folder *worlds*. Once it done, +you have to change the parameter **world_name** in the file +**niryo_robot_gazebo_world.launch.xml**. + +You can take a look at the Gazebo world by launching it without robot by precising +the world name in the arg *world_name* :: + + roslaunch niryo_robot_gazebo niryo_gazebo_world.launch world_name:=niryo_cube_world + + diff --git a/sphinx_doc/source/ros/niryo_robot_msgs.rst b/sphinx_doc/source/ros/niryo_robot_msgs.rst new file mode 100644 index 000000000..8b2d6cbfa --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_msgs.rst @@ -0,0 +1,151 @@ +Niryo Robot Messages Package +=========================================================== + +This package contains standard messages which can be used by all other packages. + + +Niryo Messages +--------------------- + +.. list-table:: Ned Messages + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - :ref:`CommandStatus` + - Enum-wise message for status code + * - :ref:`ObjectPose` + - x, y, z, roll, pitch, yaw + * - :ref:`RobotState` + - position, rpy, quaternion + * - :ref:`RPY` + - roll, pitch, yaw + * - :ref:`HardwareStatus` + - several hardware informations + * - :ref:`SoftwareVersion` + - several software version + +Niryo Services +---------------------- + +.. list-table:: Ned Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - :ref:`GetBool` + - Return a bool + * - :ref:`GetInt` + - Return a integer + * - :ref:`GetStringList` + - Return a list of string + * - :ref:`SetBool` + - Set a bool and return status + * - :ref:`SetInt` + - Set a integer and return status + * - :ref:`SetString` + - Set a string and return status + * - :ref:`Trigger` + - Trigger a task + + +Niryo Message Dependencies +----------------------------------- + +- :msgs_index:`geometry_msgs` + +Niryo Message files +----------------------------------- + +CommandStatus +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/CommandStatus.msg + :language: rostype + +ObjectPose +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/ObjectPose.msg + :language: rostype + +RobotState +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/RobotState.msg + :language: rostype + +RPY +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/RPY.msg + :language: rostype + +HardwareStatus +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/HardwareStatus.msg + :language: rostype + +SoftwareVersion +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/msg/SoftwareVersion.msg + :language: rostype + +Niryo Service files +--------------------------- + +GetBool +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/GetBool.srv + :language: rostype + +GetInt +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/GetInt.srv + :language: rostype + +GetNameDescriptionList +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/GetNameDescriptionList.srv + :language: rostype + +GetStringList +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/GetStringList.srv + :language: rostype + +SetBool +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/SetBool.srv + :language: rostype + +SetInt +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/SetInt.srv + :language: rostype + +SetString +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/SetString.srv + :language: rostype + +Trigger +^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_msgs/srv/Trigger.srv + :language: rostype diff --git a/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst b/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst new file mode 100644 index 000000000..9396aa603 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_poses_handlers.rst @@ -0,0 +1,214 @@ +Niryo Robot Poses Handlers Package +====================================================== + +This package is in charge of dealing with transforms, workspace, grips and +trajectories. + + +Poses Handlers Node +-------------------------- + +Description - Poses Handlers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The ROS Node is made of several services to deal with transforms, workspace, grips and +trajectories. + +The namespace used is : |namespace_emphasize| + +Workspaces +""""""""""""" + +A workspace is defined by 4 markers that form a rectangle. With the help of the robot's calibration +tip, the marker positions are learnt. The camera returns poses (x, y, yaw) relative to the workspace. +We can then infer the absolute object pose in robot coordinates. + +Grips +""""""""" + +When we know the object pose in robot coordinates, we can't directly send this pose to the robot because +we specify the target pose of the tool_link and not of the actual TCP (tool center point). Therefore +we introduce the notion of grip. Each end effector has its own grip that specifies where to place the +robot with respect to the object. Currently, the notion of grip is not part of the python/tcp/blockly +interface because it would add an extra layer of complexity that is not really necessary for the moment. +Therefore we have a default grip for all tools that is selected automatically based on the current +tool id. However, everything is ready if you want to define custom grips, e.g. for custom tools or +for custom grip positions. + +The vision pick loop +"""""""""""""""""""""""""""""" + +1. Camera detects object relative to markers and sends xrel, yrel, yawrel +2. The object is placed on the workspace, revealing the object pose in robot coordinates x, y, z, roll, pitch, yaw +3. The grip is applied on the absolute object pose and gives the pose the robot should move to. + +Poses & Trajectories +"""""""""""""""""""""""""""""""""" + +List of Poses + +Parameters - Poses Handlers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. list-table:: Poses Handlers' Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``workspace_dir`` + - Path to the Workspace storage mother folder + * - ``grip_dir`` + - Path to the Grip storage mother folder + * - ``poses_dir`` + - Path to the Poses storage mother folder + * - ``trajectories_dir`` + - Path to the Trajectory storage mother folder + +Services - Poses Handlers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Poses Handlers' Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + + * - ``manage_workspace`` + - :ref:`ManageWorkspace` + - Save/Delete a workspace + * - ``get_workspace_ratio`` + - :ref:`GetWorkspaceRatio` + - Get ratio of a workspace + * - ``get_workspace_list`` + - :ref:`GetNameDescriptionList` + - Get list of workspaces' name & description + * - ``get_workspace_poses`` + - :ref:`GetWorkspaceRobotPoses` + - Get workspace's robot poses + + * - ``get_target_pose`` + - :ref:`GetTargetPose` + - Get saved programs' name + + * - ``manage_pose`` + - :ref:`ManagePose` + - Save/Delete a Pose + * - ``get_pose`` + - :ref:`GetPose` + - Get Pose + * - ``get_pose_list`` + - :ref:`GetNameDescriptionList` + - Get list of poses' name & description + + * - ``manage_trajectory`` + - :ref:`ManageTrajectory` + - Save/Delete a Trajectory + * - ``get_trajectory`` + - :ref:`GetTrajectory` + - Get Trajectory + * - ``get_trajectory_list`` + - :ref:`GetNameDescriptionList` + - Get list of trajectories' name & description + + +All these services are available as soon as the node is started + +Dependencies - Poses Handlers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :msgs_index:`geometry_msgs` +- :msgs_index:`moveit_msgs` +- :ref:`niryo_robot_msgs ` +- :wiki_ros:`tf` + + +Services & Messages files - Poses Handlers +---------------------------------------------- + +GetPose (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetPose.srv + :language: rostype + + +GetTargetPose (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetTargetPose.srv + :language: rostype + + +GetTrajectory (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetTrajectory.srv + :language: rostype + + +GetWorkspaceRatio (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetWorkspaceRatio.srv + :language: rostype + + +GetWorkspaceRobotPoses (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/GetWorkspaceRobotPoses.srv + :language: rostype + + +ManagePose (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManagePose.srv + :language: rostype + + +ManageTrajectory (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManageTrajectory.srv + :language: rostype + + +ManageWorkspace (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/srv/ManageWorkspace.srv + :language: rostype + + +NiryoPose (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/NiryoPose.msg + :language: rostype + + +Trajectory (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/Trajectory.msg + :language: rostype + + +Workspace (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_poses_handlers/msg/Workspace.msg + :language: rostype + + + +.. |namespace| replace:: /niryo_robot_poses_handlers/ +.. |namespace_emphasize| replace:: ``/niryo_robot_poses_handlers/`` +.. |package_path| replace:: ../../../niryo_robot_poses_handlers diff --git a/sphinx_doc/source/ros/niryo_robot_programs_manager.rst b/sphinx_doc/source/ros/niryo_robot_programs_manager.rst new file mode 100644 index 000000000..e0c676aa6 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_programs_manager.rst @@ -0,0 +1,152 @@ +Niryo Robot Programs Manager Package +====================================================== + +This package is in charge of interpreting/running/saving programs. +It is used by Niryo Studio. + + +Programs Manager Node +-------------------------- +The ROS Node is made of several services to deal with the storage and running of +programs + +Call are not available from the Python ROS Wrapper, as it made to run its programs +with the Python ROS Wrapper + +The namespace used is : |namespace_emphasize| + +Parameters - Programs Manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. list-table:: Programs Manager's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``autorun_file_name`` + - Name of the file containing auto run infos + * - ``programs_dir`` + - Path to the Program storage mother folder + +Services - Programs Manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Programs manager Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``execute_program`` + - :ref:`ExecuteProgram` + - Execute a program + * - ``execute_program_autorun`` + - :ref:`Trigger` + - Execute autorun program + * - ``get_program`` + - :ref:`GetProgram` + - Retrieve saved program + * - ``get_program_autorun_infos`` + - :ref:`GetProgramAutorunInfos` + - Get autorun settings + * - ``get_program_list`` + - :ref:`GetProgramList` + - Get saved programs' name + * - ``manage_program`` + - :ref:`ManageProgram` + - Save and Delete programs + * - ``set_program_autorun`` + - :ref:`SetProgramAutorun` + - Set autorun settings + * - ``stop_program`` + - :ref:`Trigger` + - Stop the current running program + + +All these services are available as soon as the node is started +whereas on standalone mode or not + +Dependencies - Programs Manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :ref:`niryo_robot_commander ` +- :ref:`niryo_robot_msgs ` +- `python-yaml `_ +- :msgs_index:`std_msgs` + + +Services & Messages files - Programs Manager +---------------------------------------------- + +ExecuteProgram (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/ExecuteProgram.srv + :language: rostype + + +GetProgram (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgram.srv + :language: rostype + + +GetProgramAutorunInfos (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgramAutorunInfos.srv + :language: rostype + + +GetProgramList (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/GetProgramList.srv + :language: rostype + + +ManageProgram (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/ManageProgram.srv + :language: rostype + + +SetProgramAutorun (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/srv/SetProgramAutorun.srv + :language: rostype + + +ProgramLanguage (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramLanguage.msg + :language: rostype + + +ProgramLanguageList (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramLanguageList.msg + :language: rostype + + +ProgramList (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_programs_manager/msg/ProgramList.msg + :language: rostype + + + +.. |namespace| replace:: /niryo_robot_programs_manager/ +.. |namespace_emphasize| replace:: ``/niryo_robot_programs_manager/`` +.. |package_path| replace:: ../../../niryo_robot_programs_manager diff --git a/sphinx_doc/source/ros/niryo_robot_rpi.rst b/sphinx_doc/source/ros/niryo_robot_rpi.rst new file mode 100644 index 000000000..8725cf1d7 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_rpi.rst @@ -0,0 +1,141 @@ +Niryo Robot RPI Package +======================================== + +This package deals with raspberry pi related stuff (Button, fans, I/O, leds, ...) + + +RPI Node +-------------------------- +The ROS Node manages the following components: +- Physical top button: executes actions when the button is pressed. +- Digital I/O panel : gets commands and sends the current state of digital I/Os. Also controls tools like the electromagnet. +- Robot fans +- Led : sets the LED color. +- ROS log : can remove all previous logs on startup to prevent a lack of disk space in the long run (SD cards do not have infinite storage). + +The namespace used is : |namespace_emphasize| + +**Note that this package should not be used when you are using Ned ROS stack on your computer, in simulation mode.**executes actions when the button is pressed.** + +Publisher - RPI +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: RPI Package's Publishers + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``pause_state`` + - :ref:`PausePlanExecution` + - Publish the current execution state launched when button is pressed + * - ``/niryo_robot/blockly/save_current_point`` + - :std_msgs:`std_msgs/Int32` + - Publish current point when user is in blockly page to save block by pressing button + * - ``/niryo_robot/rpi/is_button_pressed`` + - :std_msgs:`std_msgs/Bool` + - Publish the button state (true if pressed) + * - ``digital_io_state`` + - :ref:`DigitalIOState` + - Publish the I/Os state by giving for each it's pin / name / mode / state + * - ``/niryo_robot/rpi/led_state`` + - :std_msgs:`std_msgs/Int8` + - Publish the current led color + * - ``ros_log_status`` + - :ref:`LogStatus` + - Publish the current log status (log size / available disk / boolean if should delete ros log on startup) + +Services - RPI +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: RPI Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``shutdown_rpi`` + - :ref:`SetInt` + - Shutdown the raspberry pi + * - ``/niryo_robot/rpi/change_button_mode`` + - :ref:`SetInt` + - Change top button mode (autorun program, blockly, nothing, ...) + * - ``get_digital_io`` + - :ref:`GetDigitalIO` + - Get digital IO state list + * - ``set_digital_io_mode`` + - :ref:`SetDigitalIO` + - Set a digital IO to the mode given + * - ``set_digital_io_state`` + - :ref:`SetDigitalIO` + - Set a digital IO to the state given + * - ``set_led_state`` + - :ref:`std_msgs/SetInt` + - Set led state + * - ``set_led_custom_blinker`` + - :ref:`LedBlinker` + - Set the led in blink mode with the color given + * - ``purge_ros_logs`` + - :ref:`SetInt` + - Purge ros log + * - ``set_purge_ros_log_on_startup`` + - :ref:`SetInt` + - Modify the permanent settings that tells if robot should purge it's ros log at each boot + +Dependencies - RPI +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :msgs_index:`std_msgs` +- :msgs_index:`actionlib_msgs` +- :msgs_index:`sensor_msgs` +- :ref:`niryo_robot_msgs ` +- :ref:`niryo_robot_commander ` + +Services & Messages files - RPI +---------------------------------------------- + +ChangeMotorConfig (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/srv/ChangeMotorConfig.srv + :language: rostype + + +GetDigitalIO (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/srv/GetDigitalIO.srv + :language: rostype + +LedBlinker (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/srv/LedBlinker.srv + :language: rostype + +SetDigitalIO (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/srv/SetDigitalIO.srv + :language: rostype + +DigitalIOState (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/msg/DigitalIOState.msg + :language: rostype + +LogStatus (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_rpi/msg/LogStatus.msg + :language: rostype + +.. |namespace| replace:: /niryo_robot_rpi/ +.. |namespace_emphasize| replace:: ``/niryo_robot_rpi/`` \ No newline at end of file diff --git a/sphinx_doc/source/ros/niryo_robot_tools.rst b/sphinx_doc/source/ros/niryo_robot_tools.rst new file mode 100644 index 000000000..3a0be5814 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_tools.rst @@ -0,0 +1,3 @@ +Niryo Robot Tools Package +======================================== + diff --git a/sphinx_doc/source/ros/niryo_robot_unit_tests.rst b/sphinx_doc/source/ros/niryo_robot_unit_tests.rst new file mode 100644 index 000000000..989aa0833 --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_unit_tests.rst @@ -0,0 +1,62 @@ +Niryo Robot Unit Tests Package +======================================== +This packages provides config and launch files to start Ned unit tests. + +Currently, tested packages are : + - :ref:`Niryo Robot Poses Handlers Package` + - :ref:`Niryo Robot Programs Manager Package` + - :doc:`Python ROS Wrapper <../ros_wrapper>` + + +Run tests With Launch File +--------------------------------------------- + +Using a launch file make the task easy as you do not have to bother about +your current directory. Nevertheless, it starts a roscore, and so, the process +won't end as "/rosout" will be still alive. +To overcome this issue, the test node is set as **required**, so do not worry +if you see some red lines at the execution's end + +Launch File with Rviz +^^^^^^^^^^^^^^^^^^^^^^^ +It will start the ROS Stack and Rviz, then run the tests :: + + roslaunch niryo_robot_unit_tests simulation_rviz_tests.launch + +Launch File with Gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +It will start the ROS Stack and Gazebo, then run the tests. +Gazebo add Physics, Gripper and Camera to the tests :: + + roslaunch niryo_robot_unit_tests simulation_gazebo_tests.launch + +Launch File Headless +^^^^^^^^^^^^^^^^^^^^^^^^ +It will start the ROS Stack then run the tests in a headless +version (no display). It is very useful for CI purposes :: + + roslaunch niryo_robot_unit_tests simulation_headless_tests.launch + +Run tests With Python File +--------------------------------------------- +Using a python file implies to use the correct relative directory, but +it also allows to get status code at the end of the script + +Python File with Rviz +^^^^^^^^^^^^^^^^^^^^^^^ +:: + + python niryo_robot_unit_tests/scripts/script_test_rviz.py + +Python File with Gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^ +:: + + python niryo_robot_unit_tests/scripts/script_test_gazebo.py + +Python File Headless +^^^^^^^^^^^^^^^^^^^^^^^^ +:: + + python niryo_robot_unit_tests/scripts/script_test_headless.py + diff --git a/sphinx_doc/source/ros/niryo_robot_user_interface.rst b/sphinx_doc/source/ros/niryo_robot_user_interface.rst new file mode 100644 index 000000000..a4ed98dda --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_user_interface.rst @@ -0,0 +1,8 @@ +Niryo Robot User Interface Package +======================================== + +This packages handles high-level user interface commands coming from +MATLAB and TCP requests + +.. important:: + WIP diff --git a/sphinx_doc/source/ros/niryo_robot_vision.rst b/sphinx_doc/source/ros/niryo_robot_vision.rst new file mode 100644 index 000000000..a028b577a --- /dev/null +++ b/sphinx_doc/source/ros/niryo_robot_vision.rst @@ -0,0 +1,135 @@ +Niryo Robot Vision Package +====================================== + +This package is the one dealing with all vision related stuff. + + +Vision Node +-------------------------- +The ROS Node is made of several services to deal with video streaming, object detection. +The node is working exactly the same way if you chose to use it on simulation or reality. + +This node can be launched locally in a standalone mode via the command :: + + roslaunch niryo_robot_vision vision_node_local.launch + +Configuration (Frame Per Second, Camera Port, Video Resolution) can be +edited in the config file : + + - For "standard" Node : *niryo_robot_vision/config/video_server_setup.yaml* + - For local Node : *niryo_robot_vision/config/video_server_setup_local.yaml* + +The namespace used is : |namespace_emphasize| + +Parameters - Vision +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +.. list-table:: Vision Package's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``frame_rate`` + - Stream frame rate + * - ``simulation_mode`` + - | Set to True if you are using the gazebo simulation. + | It will adapt how the node get its video steam + * - ``debug_compression_quality`` + - Debug Stream compression quality + * - ``stream_compression_quality`` + - Stream compression quality + * - ``subsampling`` + - Stream subsampling factor + + +Publisher - Vision +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Vision Package's Publishers + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``compressed_video_stream`` + - :sensor_msgs:`CompressedImage` + - Publish the last image read as a compressed image + +Services - Vision +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Programs manager Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``debug_colors`` + - :ref:`DebugColorDetection` + - Return an annotated image to emphasize what happened with color detection + * - ``debug_markers`` + - :ref:`DebugMarkers` + - Return an annotated image to emphasize what happened with markers detection + * - ``obj_detection_rel`` + - :ref:`ObjDetection` + - Object detection service + * - ``start_stop_video_streaming`` + - :ref:`SetBool` + - Start or Stop video streaming + * - ``take_picture`` + - :ref:`TakePicture` + - Save a picture in the specified folder + + +All these services are available as soon as the node is started + + +Dependencies - Vision +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +* :ref:`niryo_robot_msgs ` +* :msgs_index:`sensor_msgs` + + +Services files - Vision +-------------------------- + +DebugColorDetection (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_vision/srv/DebugColorDetection.srv + :language: rostype + + +DebugMarkers (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_vision/srv/DebugMarkers.srv + :language: rostype + + +ObjDetection (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_vision/srv/ObjDetection.srv + :language: rostype + + +TakePicture (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_vision/srv/TakePicture.srv + :language: rostype + + + +.. |namespace| replace:: /niryo_robot_vision/ +.. |namespace_emphasize| replace:: ``/niryo_robot_vision/`` +.. |package_path| replace:: ../../../niryo_robot_vision diff --git a/sphinx_doc/source/ros_wrapper.rst b/sphinx_doc/source/ros_wrapper.rst new file mode 100644 index 000000000..97359e7e0 --- /dev/null +++ b/sphinx_doc/source/ros_wrapper.rst @@ -0,0 +1,50 @@ +Control with Python ROS Wrapper +==================================================== + +.. figure:: ../images/python_logo.png + :alt: Python Logo + :width: 400px + :align: center + + Python Logo + +In order to control Ned more easily than calling each topics & services one by one, +a Python ROS Wrapper has been built on top of ROS. + +For instance, a script realizing a moveJ via Python ROS Wrapper will look like : :: + + niryo_robot = NiryoRosWrapper() + niryo_robot.move_joints(0.1, -0.2, 0.0, 1.1, -0.5, 0.2) + + +What this code is doing in a hidden way : + + - It generates a :ref:`RobotMove Action Goal` and set + it as a joint command with the corresponding joints value + - Send goal to the Commander Action Server + - Wait for the Commander Action Server to set Action as Finished + - Check if action finished with a success + + +In this section, we will give some examples on how to use the Python ROS Wrapper to control the +Ned, as well as a complete documentation of the functions available in the +Ned Python ROS Wrapper + +.. hint:: + The Python ROS Wrapper forces the user to write his code directly in the robot, or, at least, + copy the code on the robot via a terminal command. + If you do not want that, and run code directly from your computer + you can use the python Package :ref:`PyNiryo` + + +.. toctree:: + :maxdepth: 2 + :caption: Section Contents: + + python_ros_wrapper/before_running + python_ros_wrapper/examples_basics + python_ros_wrapper/examples_movement + python_ros_wrapper/examples_tool_action + python_ros_wrapper/examples_conveyor + python_ros_wrapper/examples_vision + python_ros_wrapper/ros_wrapper_doc diff --git a/sphinx_doc/source/simulation.rst b/sphinx_doc/source/simulation.rst new file mode 100644 index 000000000..878a6d01c --- /dev/null +++ b/sphinx_doc/source/simulation.rst @@ -0,0 +1,233 @@ +******************************************* +Use Niryo Robot through Simulation +******************************************* + +The simulation allows to control a virtual Ned directly from +your computer. + +.. figure:: ../images/simulation_gazebo_1.png + :alt: Ned in Gazebo Simulation + + Ned in Gazebo Simulation + +In this tutorial, you will learn how to setup simulation on a computer + +Simulation Environment Installation +========================================= + +.. attention:: + The whole ROS Stack is developed and tested on ROS **Melodic** which requires + **Ubuntu 18.04** to run correctly. The using of another ROS version or OS + may lead to malfunctions of some packages + +To allow the simulation to run on your computer, you will need to install ROS and some +packages + +Installation Index : + +.. contents:: + :local: + :depth: 1 + +Prepare Environment +------------------------- +.. note:: + All terminal command listed are for Ubuntu users + +Place yourself in the folder of your choice and create a folder +**catkin_ws_niryo_ned** as well as a sub-folder **src** :: + + mkdir -p catkin_ws_niryo_ned/src + +Then go to the folder **catkin_ws_niryo_ned** and +clone Ned repository in the folder **src**. +For the future operation, be sure to stay in the **catkin_ws_niryo_ned** folder :: + + cd catkin_ws_niryo_ned + git clone src + +.. todo:: + Ajouter le lien du repo + +Install ROS Dependencies +------------------------------------ + +Install ROS +^^^^^^^^^^^^^ + +You firstly need to install ROS Melodic. To do so, follow the ROS official tutorial +`here `_ and chose the +**Desktop-Full Install** + +Install Additional Packages +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +To ensure the functioning of all Ned's packages, you need to +install several more packages : + +Method 1 : Quick install via ROSDep +"""""""""""""""""""""""""""""""""""""" +For each packages, we have referenced all the dependencies in their respective +*package.xml* file, which allow to install each dependency via *rosdep* command :: + + rosdep update + rosdep install --from-paths src --ignore-src --default-yes --rosdistro melodic + + +Method 2 : Full install +"""""""""""""""""""""""""""""""" + +ROS packages needed are : + +* build-essential +* catkin +* python-catkin-pkg +* python-rosdistro +* python-rospkg +* python-rosdep-modules +* python-rosinstall python-rosinstall-generator +* python-wstool + +To install a package on Ubuntu : :: + + sudo apt install + + +Melodic specific packages needed are : + +* moveit +* control +* controllers +* tf2-web-republisher +* rosbridge-server +* joint-state-publisher-gui + +To install a ROS Melodic's package on Ubuntu : :: + + sudo apt install ros-melodic- + + +Setup Ned ROS Environment +-------------------------------- + +.. note:: + Be sure to be still placed in the **catkin_ws_niryo_ned** folder + +Then perform the **make** of Ned's ROS Stack via the command :: + + catkin_make + +If no errors occurred during the **make** phase, the setup +of your environment is almost complete! + +It is necessary to source the configuration file to add all Ned +packages to ROS environment. To do so, run the command :: + + source devel/setup.bash + +It is necessary to run this command each time you launch a new terminal. +If you want to make this sourcing appends for all your futur terminals, +you can add it to your **bashrc** file :: + + echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc + source ~/.bashrc + +Installation is now finished ! + + +Simulation Utilisation +========================================= + +.. important:: + - If you haven't follow the step of + :ref:`Simulation Environment Installation `, + you won't be able to use the simulation + - Hardware features won't be accessible + +| The simulation is a powerful tool which allow to test new programs directly on your computer + which prevent to transfer new code on the robot. +| It also helps for developing purpose → no need to transfer code, compile and restart the robot + which is way slower than doing it on a desktop computer + + +Without Physics - Visualization +-------------------------------------- + +The visualization happens with Rviz which is a powerful tool + +Control with Trackbar +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +This visualization allows an easy first control of the robot, and helps to understand +joints disposal. You can access it by using the command :: + + roslaunch niryo_robot_description display.launch + +Rviz should open with a window containing 6 trackbars. Each of these trackbars allows to control +the corresponding joint + +.. figure:: ../images/visu_rviz_trackbar.jpg + :alt: Ned on Rviz + + Example of trackbars use + +Control with ROS +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +| Not only Rviz can display the Robot, it can also be linked with ROS controllers to show robot's actions + from ROS commands ! +| This method can help you debugging ROS topics, services and also, API scripts. + +To run it : :: + + roslaunch niryo_robot_bringup desktop_rviz_simulation.launch + +.. figure:: ../images/visu_rviz_ros.jpg + :alt: Ned on Rviz + + Rviz Opening, with the robot ready to be controlled with ROS ! + +With Physics - Simulation +-------------------------------------- + +For the simulation, Ned use Gazebo, a well known tool among the ROS community. +It allows : + +* collision +* world creation → An virtual environment in which the robot can deal with objects +* Gripper & Camera using + +The Niryo Gripper 1 has been replicated in Gazebo. +The Camera is also implemented + +.. note:: + Gazebo also generates camera distortion, which brings the simulation even closer from the reality ! + +Launch simulation +^^^^^^^^^^^^^^^^^^^^^^^^^^ +A specific world has been created to use Ned in Gazebo with 2 workspaces. + +To run it : :: + + roslaunch niryo_robot_bringup desktop_gazebo_simulation.launch + +.. figure:: ../images/simulation_gazebo_2.jpg + :alt: Ned on Gazebo + + Gazebo view, with the robot ready to be controlled with ROS ! + +.. note:: + You can edit Gazebo world to do your own ! It's placed in the folder *worlds* of the package + niryo_robot_gazebo + +Simulation option +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The user can disable 3 things by adding the specific string to the command line : + +* the Gazebo Graphical Interface : `gui:=false` +* the camera & the grupper - Vision & Gripper wise functions won't be usable : `gripper_n_camera:=false` + + +.. hint:: + Gazebo can be very slow. If your tests do not need gripper and camera, consider using Rviz + to alleviate your CPU diff --git a/sphinx_doc/source/stack_hardware.rst b/sphinx_doc/source/stack_hardware.rst new file mode 100644 index 000000000..ce42f8ef0 --- /dev/null +++ b/sphinx_doc/source/stack_hardware.rst @@ -0,0 +1,34 @@ +Hardware ROS Stack Documentation +========================================= + +.. figure:: ../images/ros_logo.png + :alt: ROS Logo + :width: 300px + :align: center + + ROS Logo + +ROS (Robot Operating System) is an Open-Source Robotic Framework which +allows to ease robot software development. The framework is used +in almost each part of Ned's software. + +The high-level packages (motion planner, vision, ...) are coded in Python to give +good readability whereas communication with Hardware is developed in C++ to ensure speed + +.. note:: + To learn more about ROS, go on `Official ROS Wiki `_ + +In this section, you will have access to all information about each Niryo Robot's ROS hardware stack packages + +.. toctree:: + :maxdepth: 2 + :caption: ROS Documentation Sections + + stack_hardware/niryo_robot_hardware_interface + stack_hardware/joints_interface + stack_hardware/conveyor_interface + stack_hardware/tools_interface + stack_hardware/cpu_interface + stack_hardware/fake_interface + stack_hardware/dynamixel_driver + stack_hardware/stepper_driver \ No newline at end of file diff --git a/sphinx_doc/source/stack_hardware/conveyor_interface.rst b/sphinx_doc/source/stack_hardware/conveyor_interface.rst new file mode 100644 index 000000000..fede9f03e --- /dev/null +++ b/sphinx_doc/source/stack_hardware/conveyor_interface.rst @@ -0,0 +1,99 @@ +Niryo Robot Conveyor Interface Package +=========================================== + +| This package handles Niryo's conveyor +| You can control two conveyors + +Conveyor Interface Node +-------------------------- +The ROS Node is made to : + - Initialize conveyor motor parameters + - Set and control conveyors + - Publish conveyors state + +The namespace used is : |namespace_emphasize| + +Parameters - Conveyor Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Conveyor Interface's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``publish_frequency`` + - | Publish rate for conveyors state. + | Default : '2.0' + +Published Topics - Conveyor Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Conveyor Interface's Published Topics + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``feedback`` + - :ref:`ConveyorFeedbackArray` + - Conveyors states + +Services - Conveyor Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Conveyor Interface Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``control_conveyor`` + - :ref:`ControlConveyor` + - Send a command to the desired conveyor + * - ``ping_and_set_conveyor`` + - :ref:`SetConveyor` + - Scan and set a new conveyor + +Dependencies - Conveyor Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :msgs_index:`std_msgs` +- :ref:`stepper_driver ` + +Services & Messages files - Conveyor Interface +---------------------------------------------- + +ControlConveyor (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/srv/ControlConveyor.srv + :language: rostype + +SetConveyor (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/srv/SetConveyor.srv + :language: rostype + +ConveyorFeedbackArray (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedbackArray.msg + :language: rostype + +ConveyorFeedback (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/conveyor_interface/msg/ConveyorFeedback.msg + :language: rostype + +.. |namespace_emphasize| replace:: ``/niryo_robot/conveyor/`` diff --git a/sphinx_doc/source/stack_hardware/cpu_interface.rst b/sphinx_doc/source/stack_hardware/cpu_interface.rst new file mode 100644 index 000000000..0c142c75b --- /dev/null +++ b/sphinx_doc/source/stack_hardware/cpu_interface.rst @@ -0,0 +1,30 @@ +Niryo Robot CPU Interface Package +================================= + +| This package handles CPU states + +CPU Interface Node +-------------------------- +The ROS Node is made to : + - monitor CPU temperature + +Parameters - CPU Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: CPU Interface's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``read_rpi_diagnostics_frequency`` + - | Publish rate for CPU temperature + | Default : '0.25' + * - ``temperature_warn_threshold`` + - | CPU temperature [celsius] threshold before a warn message + | Default : '75' + * - ``temperature_shutdown_threshold`` + - | CPU temperature [celsius] threshold before shutdown the robot + | Default : '85' diff --git a/sphinx_doc/source/stack_hardware/dynamixel_driver.rst b/sphinx_doc/source/stack_hardware/dynamixel_driver.rst new file mode 100644 index 000000000..121c70d9a --- /dev/null +++ b/sphinx_doc/source/stack_hardware/dynamixel_driver.rst @@ -0,0 +1,96 @@ +Niryo Robot Dynamixel Driver Package +===================================== + +| This package handles dynamixel motors communication through dynamixel sdk +| It provides an interface to :wiki_ros:`dynamixel_sdk` + +Dynamixel Driver Node +-------------------------- +The ROS Node is made to : + - Send commands to dynamixel motor + - Receive dynamixel motors data + +Parameters - Dynamixel Driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Dynamixel Driver's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``dxl_hardware_control_loop_frequency`` + - | control loop frequency. + | Default : '100.0' + * - ``dxl_hardware_write_frequency`` + - | Write frequency. + | Default : '50.0' + * - ``dxl_hardware_read_data_frequency`` + - | Read frequency. + | Default : '15.0' + * - ``dxl_hardware_read_status_frequency`` + - | Read dynmixels status frequency. + | Default : '0.5' + * - ``dxl_hardware_check_connection_frequency`` + - | Check dynmixels connection frequency. + | Default : '2.0' + * - ``dxl_motor_id_list`` + - | list of dynmixels ID + | Default : '[2,3,6]' + * - ``dxl_motor_type_list`` + - | list of dynmixels type + | Default : '["xl430","xl430","xl320"]' + +Services - Dynamixel Driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Dynmixel Driver Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``niryo_robot/dynamixel_driver/set_dxl_leds`` + - :ref:`SetInt` + - Control dynmixel LED + * - ``niryo_robot/dynamixel_driver/send_custom_dxl_value`` + - :ref:`dynamixel_driver/SendCustomDxlValue` + - Send a custom dynamixel command + +Dependencies - Dynamixel Driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :wiki_ros:`dynamixel_sdk` +- :ref:`niryo_robot_msgs ` + +Services & Messages files - Dynamixel Driver +-------------------------------------------------- + +SendCustomDxlValue (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/srv/SendCustomDxlValue.srv + :language: rostype + +DxlMotorHardwareStatus (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorHardwareStatus.msg + :language: rostype + +DxlMotorCommand (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlMotorCommand.msg + :language: rostype + +DxlArrayMotorHardwareStatus (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/dynamixel_driver/msg/DxlArrayMotorHardwareStatus.msg + :language: rostype diff --git a/sphinx_doc/source/stack_hardware/fake_interface.rst b/sphinx_doc/source/stack_hardware/fake_interface.rst new file mode 100644 index 000000000..7a4a5fecb --- /dev/null +++ b/sphinx_doc/source/stack_hardware/fake_interface.rst @@ -0,0 +1,83 @@ +Niryo Robot Fake Interface Package +=================================== + +| This package provides fakes hardware interface when the robot is used in simulation + +Fake Interface Node +-------------------------- +The ROS Node is made to simulate : + - tools interface + - conveyor interface + - joints interface + +Published Topics - Fake Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Fake Interface's Published Topics + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``/niryo_robot/learning_mode/state`` + - :std_msgs:`Bool` + - Learning mode state + * - ``/niryo_robot_hardware/tools/current_id`` + - :std_msgs:`Int32` + - Current tool ID + +Services - Fake Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Conveyor Interface Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``/niryo_robot/joints_interface/calibrate_motors`` + - :ref:`SetInt` + - Start motors calibration - value can be 1 for auto calibration, 2 for manual + * - ``/niryo_robot/joints_interface/request_new_calibration`` + - :ref:`Trigger` + - Unset motors calibration + * - ``niryo_robot/learning_mode/activate`` + - :ref:`Trigger` + - Either activate or deactivate learning mode + * - ``niryo_robot/tools/ping_and_set_dxl_tool`` + - :ref:`tools_interface/PingDxlTool` + - Scan and set for a tool plugged + * - ``niryo_robot/tools/open_gripper`` + - :ref:`tools_interface/OpenGripper` + - Open a gripper tool + * - ``niryo_robot/tools/close_gripper`` + - :ref:`tools_interface/CloseGripper` + - Close a gripper tool + * - ``niryo_robot/tools/pull_air_vacuum_pump`` + - :ref:`tools_interface/PullAirVacuumPump` + - Pull vacuum pump tool + * - ``niryo_robot/tools/push_air_vacuum_pump`` + - :ref:`tools_interface/PushAirVacuumPump` + - Push vacuum pump tool + * - ``/niryo_robot/conveyor/control_conveyor`` + - :ref:`ControlConveyor` + - Send a command to the desired conveyor + * - ``/niryo_robot/conveyor/ping_and_set_conveyor`` + - :ref:`SetConveyor` + - Scan and set a new conveyor + +Dependencies - Fake Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +- :msgs_index:`std_msgs` +- :wiki_ros:`hardware_interface ` +- :wiki_ros:`controller_manager ` +- :ref:`niryo_robot_msgs ` +- :ref:`tools_interface ` +- :ref:`joints_interface ` +- :ref:`conveyor_interface ` diff --git a/sphinx_doc/source/stack_hardware/joints_interface.rst b/sphinx_doc/source/stack_hardware/joints_interface.rst new file mode 100644 index 000000000..8e99e908b --- /dev/null +++ b/sphinx_doc/source/stack_hardware/joints_interface.rst @@ -0,0 +1,85 @@ +Niryo Robot Joints Interface Package +==================================== + +| This package handles packages related to the robot's joints controller. +| It provides an interface to :wiki_ros:`ros_control` + +Joints Interface Node +-------------------------- +The ROS Node is made to : + - Interface robot's motors to joint trajectory controller, from :wiki_ros:`ros_control` package + - Create a controller manager, from :wiki_ros:`controller_manager` package, to provides the infrastructure to load, unload, start and stop controllers. + - Interface with motors calibration + - Initialize motors parameters + + +Parameters - Joints Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Joint Interface's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``ros_control_loop_frequency`` + - | control loop frequency. + | Default : '100.0' + * - ``publish_learning_mode_frequency`` + - | Publish rate for learning mode state. + | Default : '2.0' + * - ``calibration_timeout`` + - | Waiting time in ms between 2 commands during the calibration process. + | Default : '30' + * - ``calibration_file`` + - | File directory where is saved motors calibration value. + | Default : '/home/niryo/niryo_robot_saved_files/stepper_motor_calibration_offsets.txt' + +Published Topics - Joints Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Joint Interface's Published Topics + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``/niryo_robot/learning_mode/state`` + - :std_msgs:`Bool` + - Learning mode state + +Services - Joints Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Joint Interface Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``/niryo_robot/joints_interface/calibrate_motors`` + - :ref:`SetInt` + - Start motors calibration - value can be 1 for auto calibration, 2 for manual + * - ``/niryo_robot/joints_interface/request_new_calibration`` + - :ref:`Trigger` + - Unset motors calibration + * - ``niryo_robot/learning_mode/activate`` + - :ref:`Trigger` + - Either activate or deactivate learning mode + +Dependencies - Joints Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :wiki_ros:`hardware_interface ` +- :wiki_ros:`controller_manager ` +- :ref:`dynamixel_driver ` +- :ref:`stepper_driver ` +- :ref:`niryo_robot_msgs ` diff --git a/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst b/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst new file mode 100644 index 000000000..a206ab138 --- /dev/null +++ b/sphinx_doc/source/stack_hardware/niryo_robot_hardware_interface.rst @@ -0,0 +1,95 @@ +Niryo Robot Hardware Interface Package +======================================= + +| This package handles packages related to the robot's hardware. +| It launches hardware interface nodes, motors communication and driver. + +.. figure:: ../../images/ros/hardware_stack_nodes.png + :alt: hardware packages organization + :height: 500px + :align: center + + Global overview of hardware stack packages organization + +Hardware Interface Node +-------------------------- +The ROS Node is made to launch hardware interface and communication : + - Conveyor interface + - Joints interface + - Tools interface + - Fake interface + - Dynamixel driver + - Stepper driver + +The namespace used is : |namespace_emphasize| + +Parameters - Hardware Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Hardware Interface's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``publish_hw_status_frequency`` + - | Publish rate for hardware status. + | Default : '2.0' + * - ``publish_software_version_frequency`` + - | Publish rate for software status. + | Default : '2.0' + +Published Topics - Hardware Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Hardware Interface's Published Topics + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``hardware_status`` + - :ref:`niryo_robot_msgs/HardwareStatus` + - Motors, bus, joints and CPU status + * - ``software_version`` + - :ref:`niryo_robot_msgs/SoftwareVersion` + - Raspberry and stepper software version + +Services - Hardware Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Hardware Interface Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``launch_motors_report`` + - :ref:`Trigger` + - Start motors report + * - ``reboot_motors`` + - :ref:`Trigger` + - Reboot motors + * - ``stop_motors_report`` + - :ref:`Trigger` + - Stop motors report + +Dependencies - Hardware Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :ref:`tools_interface ` +- :ref:`joints_interface ` +- :ref:`conveyor_interface ` +- :ref:`cpu_interface ` +- :ref:`fake_interface ` +- :ref:`niryo_robot_msgs ` + +.. |namespace_emphasize| replace:: ``/niryo_robot_hardware_interface/`` diff --git a/sphinx_doc/source/stack_hardware/stepper_driver.rst b/sphinx_doc/source/stack_hardware/stepper_driver.rst new file mode 100644 index 000000000..b8c9c5644 --- /dev/null +++ b/sphinx_doc/source/stack_hardware/stepper_driver.rst @@ -0,0 +1,62 @@ +Niryo Robot Stepper Driver Package +=================================== + +| This package handles stepper motors communication + +Stepper Driver Node +-------------------------- +The ROS Node is made to : + - Send commands to dynamixel motor + - Receive dynamixel motors data + +Parameters - Stepper Driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Dynamixel Driver's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``can_hardware_control_loop_frequency`` + - | control loop frequency. + | Default : '1500.0' + * - ``can_hw_write_frequency`` + - | Write frequency. + | Default : '50.0' + * - ``can_hw_check_connection_frequency`` + - | Check can connection frequency. + | Default : '2.0' + * - ``stepper_motor_id_list`` + - | list of steppers ID + | Default : '[1,2,3]' + + +Dependencies - Stepper Driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- `mcp_can_rpi `_ +- :ref:`niryo_robot_msgs ` + +Services & Messages files - Stepper Driver +------------------------------------------------- + +StepperMotorHardwareStatus (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorHardwareStatus.msg + :language: rostype + +StepperMotorCommand (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperMotorCommand.msg + :language: rostype + +StepperArrayMotorHardwareStatus (Message) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/stepper_driver/msg/StepperArrayMotorHardwareStatus.msg + :language: rostype diff --git a/sphinx_doc/source/stack_hardware/tools_interface.rst b/sphinx_doc/source/stack_hardware/tools_interface.rst new file mode 100644 index 000000000..2ac0b71fa --- /dev/null +++ b/sphinx_doc/source/stack_hardware/tools_interface.rst @@ -0,0 +1,115 @@ +Niryo Robot Tools Interface Package +==================================== + +| This package handles Niryo's conveyor +| You can control two conveyors + +Tools Interface Node +-------------------------- +The ROS Node is made to : + - Set and control tools + - Publish tool connection state + +Parameters - Tools Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Tools Interface's Parameters + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Description + * - ``check_tool_connection_frequency`` + - | Publish and control rate for tools connection state. + | Default : '2.0' + * - ``id_list`` + - | List of tools id + | Default : '[11,12,13,14,31]' + * - ``motor_type_list`` + - | List of motor tools type + | Default : '["xl320","xl320","xl320","xl320","xl320"]' + +Published Topics - Tools Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Tools Interface's Published Topics + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``/niryo_robot_hardware/tools/current_id`` + - :std_msgs:`Int32` + - Current tool ID + +Services - Tools Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. list-table:: Tool Interface Package Services + :header-rows: 1 + :widths: auto + :stub-columns: 0 + :align: center + + * - Name + - Message Type + - Description + * - ``niryo_robot/tools/ping_and_set_dxl_tool`` + - :ref:`tools_interface/PingDxlTool` + - Scan and set for a tool plugged + * - ``niryo_robot/tools/open_gripper`` + - :ref:`tools_interface/OpenGripper` + - Open a gripper tool + * - ``niryo_robot/tools/close_gripper`` + - :ref:`tools_interface/CloseGripper` + - Close a gripper tool + * - ``niryo_robot/tools/pull_air_vacuum_pump`` + - :ref:`tools_interface/PullAirVacuumPump` + - Pull vacuum pump tool + * - ``niryo_robot/tools/push_air_vacuum_pump`` + - :ref:`tools_interface/PushAirVacuumPump` + - Push vacuum pump tool + +Dependencies - Tools Interface +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +- :msgs_index:`std_msgs` +- :ref:`dynamixel_driver ` + +Services & Messages files - Tools Interface +---------------------------------------------- + +PingDxlTool (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PingDxlTool.srv + :language: rostype + +OpenGripper (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/OpenGripper.srv + :language: rostype + +CloseGripper (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/CloseGripper.srv + :language: rostype + +PullAirVacuumPump (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PullAirVacuumPump.srv + :language: rostype + +PushAirVacuumPump (Service) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. literalinclude:: ../../../niryo_robot_hardware_stack/tools_interface/srv/PushAirVacuumPump.srv + :language: rostype diff --git a/sphinx_doc/source/tcp_server.rst b/sphinx_doc/source/tcp_server.rst new file mode 100644 index 000000000..eaded1eeb --- /dev/null +++ b/sphinx_doc/source/tcp_server.rst @@ -0,0 +1,89 @@ +Use Ned TCP Server +======================================== + +Ned is permanently running a TCP Server to acquire requests. +This server is built on top of the :doc:`Ned Python ROS Wrapper ` + +It offers a simple way for developers to create programs for robot +to control them via remote communication on a computer, on a mobile +or any device with network facilities. + +Programs can communicate through network TCP with the robots +in any language available. + + +Connection +------------- +To access the server, you will have to use to Robot's IP Adress and communicate +via the **port 40001** + +Communication +----------------- +Only one client can communicate with the server (reconnection effective but no multi clients). + +The server answer only after the command is done, so it cannot deal with multiple commands at the same time. + +Packet Convention +----------------------- + +General format +^^^^^^^^^^^^^^^^^^ + +For easier usage and easier debugging, the communication is based on JSON format. + +Every package have this following shape : ``{}`` + +The JSON packet size is an unsigned short coded on 2 bytes + +The JSON contains command's name & params + +Payload contains *heavy* data like an image + +Request +^^^^^^^^^^^^^^^^^^ + +Format - Request +"""""""""""""""""""""""""""" + +As no function request a payload in input, requests have the following +format : ``{'param_list': [, , ....], 'command': }`` + +Examples - Request +"""""""""""""""""""""""""""" +Calibrate auto : ``{'param_list': ['AUTO'], 'command': 'CALIBRATE'}`` + +Move joints : ``{'param_list': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'command': 'MOVE_JOINTS'}`` + +Answer +^^^^^^^^^^^^^^^^^^ + +Format - Answer +"""""""""""""""""""""""""""" + +Firstly, answers indicate to the user if its command has been well executed. +This is indicated in the JSON by the parameter "status" + +A successful answer will have the format : + +``{'status': 'OK', 'list_ret_param': [, , ....], 'payload_size': , 'command': }`` + +An unsuccessful answer will have the format : +``{'status': 'KO', 'message': }`` + +Examples - Answer +"""""""""""""""""""""" +Calibrate Auto : +``{'status': 'OK', 'list_ret_param': [], 'payload_size': 0, 'command': 'CALIBRATE'}`` + +Get Pose: +``{'status': 'OK', 'list_ret_param': [0.2, 0.15, 0.35, 0.5, -0.6, 0.1], 'payload_size': 0, 'command': 'GET_POSE'}`` + + + +Commands enum for TCP Server +------------------------------- +.. automodule:: niryo_robot_python_ros_wrapper.ros_wrapper_enums + :members: CommandEnum + :undoc-members: + :exclude-members: + :member-order: bysource