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Initialize MotionData using initial values from ros2_control xacro #45

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Initialize MotionData using initial values from ros2_control xacro #45

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a6be37b
Get initial values from hardware info
Yadunund Feb 16, 2023
26dbbec
Update ros2 contol xacro
Yadunund Feb 16, 2023
e755f17
Merge branch 'rolling' into yadu/support_initial_joint_values
Yadunund Jun 19, 2023
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24 changes: 23 additions & 1 deletion abb_hardware_interface/src/abb_hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
RCLCPP_INFO_STREAM(LOGGER, "Robot controller description:\n"
<< abb::robot::summaryText(robot_controller_description_));

std::vector<abb::robot::InitialJointValue> initial_joint_values = {};
for (const hardware_interface::ComponentInfo& joint : info_.joints)
{
if (joint.command_interfaces.size() != 2)
Expand Down Expand Up @@ -89,6 +90,27 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
joint.name.c_str(), joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY);
return CallbackReturn::ERROR;
}
// Set the initial values for state and position interfaces.
auto get_value_from_info =
[](const std::string& info_value) -> double
{
if (info_value.empty())
return 0.0;
try
{
return std::stod(info_value);
}
catch(const std::exception& e)
{
return 0.0;
}
};
abb::robot::InitialJointValue initial_value;
initial_value.position_state = get_value_from_info(joint.state_interfaces[0].initial_value);
initial_value.velocity_state = get_value_from_info(joint.state_interfaces[1].initial_value);
initial_value.position_command = get_value_from_info(joint.command_interfaces[0].initial_value);
initial_value.velocity_command = get_value_from_info(joint.command_interfaces[1].initial_value);
initial_joint_values.push_back(std::move(initial_value));
}

// Configure EGM
Expand All @@ -97,7 +119,7 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
// Initialize motion data from robot controller description
try
{
abb::robot::initializeMotionData(motion_data_, robot_controller_description_);
abb::robot::initializeMotionData(motion_data_, robot_controller_description_, initial_joint_values);
}
catch (...)
{
Expand Down
45 changes: 35 additions & 10 deletions robot_specific_config/abb_irb1200_support/urdf/irb1200.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -26,23 +26,33 @@
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity">
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}joint_2">
<command_interface name="position">
<param name="min">-2.41</param>
<param name="max">2.41</param>
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity">
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}joint_3">
<command_interface name="position">
Expand All @@ -59,34 +69,49 @@
<command_interface name="position">
<param name="min">-2.66</param>
<param name="max">2.66</param>
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity">
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}joint_5">
<command_interface name="position">
<param name="min">{-2*pi}</param>
<param name="max">{2*pi}</param>
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity">
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<joint name="${prefix}joint_6">
<command_interface name="position">
<param name="min">-2.23</param>
<param name="max">2.23</param>
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity">
<param name="initial_value">0.0</param>
</command_interface>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</ros2_control>
</xacro:macro>
Expand Down