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Add force mode controller (UniversalRobots#1049)
This enables using the robot's force_mode in a standalone controller. Force mode can be enabled and parametrized using a service call provided by the controller. --------- Co-authored-by: urmarp <marp@universal-robots.com> Co-authored-by: Felix Exner <feex@universal-robots.com>
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ur_controllers/include/ur_controllers/force_mode_controller.hpp
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| // Copyright 2023, FZI Forschungszentrum Informatik, Created on behalf of Universal Robots A/S | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the {copyright_holder} nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
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| //---------------------------------------------------------------------- | ||
| /*!\file | ||
| * | ||
| * \author Felix Exner exner@fzi.de | ||
| * \date 2023-06-29 | ||
| */ | ||
| //---------------------------------------------------------------------- | ||
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| #pragma once | ||
| #include <tf2_ros/buffer.h> | ||
| #include <tf2_ros/transform_listener.h> | ||
| #include <realtime_tools/realtime_buffer.h> | ||
| #include <array> | ||
| #include <memory> | ||
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| #include <controller_interface/controller_interface.hpp> | ||
| #include <geometry_msgs/msg/pose_stamped.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <std_srvs/srv/trigger.hpp> | ||
| #include <ur_msgs/srv/set_force_mode.hpp> | ||
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| #include "force_mode_controller_parameters.hpp" | ||
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| namespace ur_controllers | ||
| { | ||
| enum CommandInterfaces | ||
| { | ||
| FORCE_MODE_TASK_FRAME_X = 0u, | ||
| FORCE_MODE_TASK_FRAME_Y = 1, | ||
| FORCE_MODE_TASK_FRAME_Z = 2, | ||
| FORCE_MODE_TASK_FRAME_RX = 3, | ||
| FORCE_MODE_TASK_FRAME_RY = 4, | ||
| FORCE_MODE_TASK_FRAME_RZ = 5, | ||
| FORCE_MODE_SELECTION_VECTOR_X = 6, | ||
| FORCE_MODE_SELECTION_VECTOR_Y = 7, | ||
| FORCE_MODE_SELECTION_VECTOR_Z = 8, | ||
| FORCE_MODE_SELECTION_VECTOR_RX = 9, | ||
| FORCE_MODE_SELECTION_VECTOR_RY = 10, | ||
| FORCE_MODE_SELECTION_VECTOR_RZ = 11, | ||
| FORCE_MODE_WRENCH_X = 12, | ||
| FORCE_MODE_WRENCH_Y = 13, | ||
| FORCE_MODE_WRENCH_Z = 14, | ||
| FORCE_MODE_WRENCH_RX = 15, | ||
| FORCE_MODE_WRENCH_RY = 16, | ||
| FORCE_MODE_WRENCH_RZ = 17, | ||
| FORCE_MODE_TYPE = 18, | ||
| FORCE_MODE_LIMITS_X = 19, | ||
| FORCE_MODE_LIMITS_Y = 20, | ||
| FORCE_MODE_LIMITS_Z = 21, | ||
| FORCE_MODE_LIMITS_RX = 22, | ||
| FORCE_MODE_LIMITS_RY = 23, | ||
| FORCE_MODE_LIMITS_RZ = 24, | ||
| FORCE_MODE_ASYNC_SUCCESS = 25, | ||
| FORCE_MODE_DISABLE_CMD = 26, | ||
| FORCE_MODE_DAMPING = 27, | ||
| FORCE_MODE_GAIN_SCALING = 28, | ||
| }; | ||
| enum StateInterfaces | ||
| { | ||
| INITIALIZED_FLAG = 0u, | ||
| }; | ||
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| struct ForceModeParameters | ||
| { | ||
| std::array<double, 6> task_frame; | ||
| std::array<double, 6> selection_vec; | ||
| std::array<double, 6> limits; | ||
| geometry_msgs::msg::Wrench wrench; | ||
| double type; | ||
| double damping_factor; | ||
| double gain_scaling; | ||
| }; | ||
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| class ForceModeController : public controller_interface::ControllerInterface | ||
| { | ||
| public: | ||
| controller_interface::InterfaceConfiguration command_interface_configuration() const override; | ||
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| controller_interface::InterfaceConfiguration state_interface_configuration() const override; | ||
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| controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override; | ||
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| CallbackReturn on_configure(const rclcpp_lifecycle::State& previous_state) override; | ||
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| CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override; | ||
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| CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override; | ||
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| CallbackReturn on_init() override; | ||
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| CallbackReturn on_cleanup(const rclcpp_lifecycle::State& previous_state) override; | ||
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| private: | ||
| bool setForceMode(const ur_msgs::srv::SetForceMode::Request::SharedPtr req, | ||
| ur_msgs::srv::SetForceMode::Response::SharedPtr resp); | ||
| bool disableForceMode(const std_srvs::srv::Trigger::Request::SharedPtr req, | ||
| std_srvs::srv::Trigger::Response::SharedPtr resp); | ||
| rclcpp::Service<ur_msgs::srv::SetForceMode>::SharedPtr set_force_mode_srv_; | ||
| rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr disable_force_mode_srv_; | ||
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| std::unique_ptr<tf2_ros::Buffer> tf_buffer_; | ||
| std::unique_ptr<tf2_ros::TransformListener> tf_listener_; | ||
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| std::shared_ptr<force_mode_controller::ParamListener> param_listener_; | ||
| force_mode_controller::Params params_; | ||
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| realtime_tools::RealtimeBuffer<ForceModeParameters> force_mode_params_buffer_; | ||
| std::atomic<bool> force_mode_active_; | ||
| std::atomic<bool> change_requested_; | ||
| std::atomic<double> async_state_; | ||
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| static constexpr double ASYNC_WAITING = 2.0; | ||
| /** | ||
| * @brief wait until a command interface isn't in state ASYNC_WAITING anymore or until the parameter maximum_retries | ||
| * have been reached | ||
| */ | ||
| bool waitForAsyncCommand(std::function<double(void)> get_value); | ||
| }; | ||
| } // namespace ur_controllers |
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