Component parser: Get mimic information from URDF #1256

christophfroehlich · 2023-12-28T21:37:54Z

I started implementing the parsing of information about mimic joints from the URDF (instead of duplicating information in the ros2_control tag).
This will fix #652:

After a discussion with @destogl it seems we converged on a solution very close to the above.

Overview: Using a mimic joint should work out-of-the-box, on by default. Users who want to opt-in can do so in the configuration of their hardware component. The mimic property should be defined in the wider URDF section, not under the <ros2_control> tag.

In the example with the setup below, ros2_control should do the check on each joint to figure out if it is a mimic joint or not. This could be part of JointInfo (will need to reach up to the full urdf to find it) ((implementation detail))
<joint name="right_finger_joint" type="prismatic">
  <axis xyz="0 1 0"/>
  <origin xyz="0.0 -0.48 1" rpy="0.0 0.0 0.0"/>
  <parent link="base"/>
  <child link="finger_right"/>
  <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<joint name="left_finger_joint" type="prismatic">
  <mimic joint="right_finger_joint" multiplier="1" offset="0"/>
  <axis xyz="0 1 0"/>
  <origin xyz="0.0 0.48 1" rpy="0.0 0.0 3.1415926535"/>
  <parent link="base"/>
  <child link="finger_left"/>
  <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
</joint>
<ros2_control>
  <joint name="right_finger_joint">
    <command_interface name="effort"/>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>
  <joint name="left_finger_joint">
    <command_interface name="position"/>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>
</ros2_control>
If one wants to disable mimic behaviour for some reason, they can still turn this functionality off by adding mimic="false" to the joint like so
  <joint name="left_finger_joint" mimic="false">
    <command_interface name="position"/>
    <state_interface name="position"/>
    <state_interface name="velocity"/>
    <state_interface name="effort"/>
  </joint>

Originally posted by @bmagyar in #652 (comment)

Decisions in WG meeting on 2024 01 03:

mimic="false" should be for opt-out; missing or mimic="true" has the same effect
component_parser throws an error if an invalid URDF is given. Additionally, I added a check if a joint defined in the ros2_control tag is available in the URDF and throw an error otherwise. Is this ok, or are there any use-cases for an incomplete URDF?
As a consequence of the above point: The tests failed, because there are some interfaces like "configuration/max_tcp_jerk" defined as joint. IMHO we should use the semantic information of the type and changed them to be of gpio type.

migration notes

I moved existing migration notes directly below the ros2_control heading and added migration notes for this change. Or should we put them at top-level? (can be done in a different PR).

codecov · 2023-12-28T23:38:29Z

Codecov Report

Attention: Patch coverage is 89.23077% with 7 lines in your changes are missing coverage. Please review.

Project coverage is 76.14%. Comparing base (35bb5f7) to head (3a1c1cd).
Report is 15 commits behind head on master.

❗ Current head 3a1c1cd differs from pull request most recent head 931f108. Consider uploading reports for the commit 931f108 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1256      +/-   ##
==========================================
+ Coverage   75.51%   76.14%   +0.63%     
==========================================
  Files          41       41              
  Lines        3328     3396      +68     
  Branches     1921     1957      +36     
==========================================
+ Hits         2513     2586      +73     
+ Misses        421      420       -1     
+ Partials      394      390       -4

Flag	Coverage Δ
unittests	`76.14% <89.23%> (+0.63%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...terface/include/mock_components/generic_system.hpp	`100.00% <ø> (ø)`
...e_interface/src/mock_components/generic_system.cpp	`79.18% <100.00%> (-1.17%)`	⬇️
hardware_interface/src/component_parser.cpp	`92.83% <88.88%> (-0.42%)`	⬇️

... and 5 files with indirect coverage changes

saikishor

I'll continue my review for the other files later

hardware_interface/src/component_parser.cpp

hardware_interface/include/hardware_interface/tools.hpp

hardware_interface/src/component_parser.cpp

hardware_interface/include/hardware_interface/hardware_info.hpp

mergify · 2024-01-04T15:56:32Z

This pull request is in conflict. Could you fix it @christophfroehlich?

saikishor

Rest of the changes, look fine to me

hardware_interface/src/component_parser.cpp

ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp

controller_manager/test/test_controllers_chaining_with_controller_manager.cpp

saikishor

The changes look good to me.
Just few minor suggestions :)

hardware_interface/src/component_parser.cpp

mergify · 2024-01-12T17:42:03Z

This pull request is in conflict. Could you fix it @christophfroehlich?

mergify · 2024-01-25T18:48:35Z

This pull request is in conflict. Could you fix it @christophfroehlich?

mergify · 2024-02-01T18:50:30Z

This pull request is in conflict. Could you fix it @christophfroehlich?

saikishor · 2024-02-15T14:37:24Z

Niceee!
Thanks for fixing it. Can we get this merged soon? I have 2 more PRs waiting for these changes.

destogl · 2024-03-25T18:36:44Z

hardware_interface/src/component_parser.cpp

+      const auto & joint = hw_info.joints.at(i);
+
+      // Search for mimic joints defined in ros2_control tag (deprecated)
+      // TODO(christophfroehlich) delete deprecated config with ROS-J


Can you open follow up on this by removing it add ading migration notes to ROS-J. Even better make 2 PR from it, so we can merge already migration notes, but then later (end of april) delete the code.

destogl · 2024-03-25T18:57:02Z

ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp

@@ -169,18 +299,18 @@ const auto hardware_resources =
      <state_interface name="velocity"/>
      <state_interface name="acceleration"/>
    </joint>
-    <joint name="configuration">
+    <gpio name="configuration">


This should be also marked in the migration notes

done. I added a screenshot in the PR summary on top.

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

christophfroehlich · 2024-03-27T19:31:13Z

@Bence @destogl Let's merge this and then ros-controls/control.ros.org#262 to put the migration notes on the top level of the docs.

bmagyar · 2024-03-28T19:23:58Z

Say no more!

github-actions bot requested review from bmagyar, destogl, livanov93, moriarty, olivier-stasse, progtologist and saikishor December 28, 2023 21:38

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christophfroehlich force-pushed the component_parser_add_mimic branch from 53fa708 to f24c341 Compare January 10, 2024 10:09

christophfroehlich force-pushed the component_parser_add_mimic branch from d48cd88 to eb04030 Compare January 19, 2024 19:57

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christophfroehlich and others added 9 commits March 27, 2024 09:21

Add comments to test code

aeb99e4

Use enum instead of std::optional

92b195b

Make std::string comparison more readable

721f9bd

Remove unnecessary std::string()

eb568f1

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

Add description on mock_gpio_commands

916e9e7

Add test for initial value of GPIO state interfaces

b61641f

Rename wheel_0/1 to wheel_left/right

9112088

Fix uninitialize typos and use SizeIs for vector size comparisons

6a95524

Add migration notes

6143636

christophfroehlich force-pushed the component_parser_add_mimic branch from 9bdcda2 to 6143636 Compare March 27, 2024 08:21

christophfroehlich requested review from destogl and bmagyar March 27, 2024 08:21

christophfroehlich mentioned this pull request Mar 27, 2024

Remove deprecated mimic options #1463

Open

Remove duplicte section

2fdcca4

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saikishor assigned christophfroehlich Mar 27, 2024

christophfroehlich and others added 2 commits March 27, 2024 20:07

Merge branch 'master' into component_parser_add_mimic

71c9d30

Remove migration notes from ros2_control page

931f108

christophfroehlich dismissed bmagyar’s stale review via 931f108 March 27, 2024 19:30

bmagyar approved these changes Mar 28, 2024

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bmagyar merged commit 5ae5cc3 into ros-controls:master Mar 28, 2024
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christophfroehlich deleted the component_parser_add_mimic branch March 28, 2024 21:14

christophfroehlich mentioned this pull request Apr 7, 2024

Rewrite mimic joints ros-controls/gazebo_ros2_control#297

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christophfroehlich mentioned this pull request Apr 22, 2024

Rewrite mimic joints ros-controls/gz_ros2_control#276

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azeey mentioned this pull request Apr 30, 2024

Use Gazebo ROS vendor packages ros-controls/gz_ros2_control#277

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christophfroehlich mentioned this pull request May 10, 2024

[RQT-JTC] Find limits only in jtc joints | add robot_description combo ros-controls/ros2_controllers#1131

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christophfroehlich mentioned this pull request May 26, 2024

Remove deprecated mimic parameter from ros2_control tag #1553

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JafarAbdi mentioned this pull request Oct 8, 2024

Rolling/Jazzy updates PickNikRobotics/topic_based_ros2_control#27

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Component parser: Get mimic information from URDF #1256

Component parser: Get mimic information from URDF #1256

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Component parser: Get mimic information from URDF #1256

Component parser: Get mimic information from URDF #1256

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