From 2d6e2be18199c6e71ce5ccef269eb9221e8f5bd2 Mon Sep 17 00:00:00 2001 From: RobertWilbrandt Date: Wed, 9 Oct 2024 17:08:43 +0200 Subject: [PATCH] Add `PoseSensor` semantic component (#1775) --- controller_interface/CMakeLists.txt | 8 ++ .../semantic_components/pose_sensor.hpp | 110 ++++++++++++++++++ controller_interface/package.xml | 2 + .../test/test_pose_sensor.cpp | 98 ++++++++++++++++ .../test/test_pose_sensor.hpp | 59 ++++++++++ doc/release_notes.rst | 5 + 6 files changed, 282 insertions(+) create mode 100644 controller_interface/include/semantic_components/pose_sensor.hpp create mode 100644 controller_interface/test/test_pose_sensor.cpp create mode 100644 controller_interface/test/test_pose_sensor.hpp diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt index 4f28622bd6..7486ee3414 100644 --- a/controller_interface/CMakeLists.txt +++ b/controller_interface/CMakeLists.txt @@ -44,6 +44,7 @@ if(BUILD_TESTING) find_package(hardware_interface REQUIRED) find_package(sensor_msgs REQUIRED) + find_package(geometry_msgs REQUIRED) ament_add_gmock(test_controller_interface test/test_controller_interface.cpp) target_link_libraries(test_controller_interface ${PROJECT_NAME}) @@ -88,6 +89,13 @@ if(BUILD_TESTING) hardware_interface sensor_msgs ) + + ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp) + target_include_directories(test_pose_sensor PRIVATE include) + ament_target_dependencies(test_pose_sensor + hardware_interface + geometry_msgs + ) endif() ament_export_dependencies( diff --git a/controller_interface/include/semantic_components/pose_sensor.hpp b/controller_interface/include/semantic_components/pose_sensor.hpp new file mode 100644 index 0000000000..60dbecd718 --- /dev/null +++ b/controller_interface/include/semantic_components/pose_sensor.hpp @@ -0,0 +1,110 @@ +// Copyright 2024 FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ +#define SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ + +#include +#include +#include + +#include "geometry_msgs/msg/pose.hpp" +#include "semantic_components/semantic_component_interface.hpp" + +namespace semantic_components +{ + +class PoseSensor : public SemanticComponentInterface +{ +public: + /// Constructor for a standard pose sensor with interface names set based on sensor name. + explicit PoseSensor(const std::string & name) : SemanticComponentInterface{name, 7} + { + // Use standard interface names + interface_names_.emplace_back(name_ + '/' + "position.x"); + interface_names_.emplace_back(name_ + '/' + "position.y"); + interface_names_.emplace_back(name_ + '/' + "position.z"); + interface_names_.emplace_back(name_ + '/' + "orientation.x"); + interface_names_.emplace_back(name_ + '/' + "orientation.y"); + interface_names_.emplace_back(name_ + '/' + "orientation.z"); + interface_names_.emplace_back(name_ + '/' + "orientation.w"); + + // Set all sensor values to default value NaN + std::fill(position_.begin(), position_.end(), std::numeric_limits::quiet_NaN()); + std::fill(orientation_.begin(), orientation_.end(), std::numeric_limits::quiet_NaN()); + } + + virtual ~PoseSensor() = default; + + /// Update and return position. + /*! + * Update and return current pose position from state interfaces. + * + * \return Array of position coordinates. + */ + std::array get_position() + { + for (size_t i = 0; i < 3; ++i) + { + position_[i] = state_interfaces_[i].get().get_value(); + } + + return position_; + } + + /// Update and return orientation + /*! + * Update and return current pose orientation from state interfaces. + * + * \return Array of orientation coordinates in xyzw convention. + */ + std::array get_orientation() + { + for (size_t i = 3; i < 7; ++i) + { + orientation_[i - 3] = state_interfaces_[i].get().get_value(); + } + + return orientation_; + } + + /// Fill pose message with current values. + /** + * Fill a pose message with current position and orientation from the state interfaces. + */ + bool get_values_as_message(geometry_msgs::msg::Pose & message) + { + // Update state from state interfaces + get_position(); + get_orientation(); + + // Set message values from current state + message.position.x = position_[0]; + message.position.y = position_[1]; + message.position.z = position_[2]; + message.orientation.x = orientation_[0]; + message.orientation.y = orientation_[1]; + message.orientation.z = orientation_[2]; + message.orientation.w = orientation_[3]; + + return true; + } + +protected: + std::array position_; + std::array orientation_; +}; + +} // namespace semantic_components + +#endif // SEMANTIC_COMPONENTS__POSE_SENSOR_HPP_ diff --git a/controller_interface/package.xml b/controller_interface/package.xml index ca23197bf5..3aca05b65f 100644 --- a/controller_interface/package.xml +++ b/controller_interface/package.xml @@ -22,6 +22,8 @@ rclcpp_lifecycle ament_cmake_gmock + geometry_msgs + sensor_msgs ament_cmake diff --git a/controller_interface/test/test_pose_sensor.cpp b/controller_interface/test/test_pose_sensor.cpp new file mode 100644 index 0000000000..1ceb7c32a6 --- /dev/null +++ b/controller_interface/test/test_pose_sensor.cpp @@ -0,0 +1,98 @@ +// Copyright (c) 2024, FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "test_pose_sensor.hpp" + +void PoseSensorTest::SetUp() +{ + full_interface_names_.reserve(size_); + for (const auto & interface_name : interface_names_) + { + full_interface_names_.emplace_back(sensor_name_ + '/' + interface_name); + } +} + +void PoseSensorTest::TearDown() { pose_sensor_.reset(nullptr); } + +TEST_F(PoseSensorTest, validate_all) +{ + // Create sensor + pose_sensor_ = std::make_unique(sensor_name_); + EXPECT_EQ(pose_sensor_->name_, sensor_name_); + + // Validate reserved space for interface_names_ and state_interfaces_ + // As state_interfaces_ are not defined yet, use capacity() + ASSERT_EQ(pose_sensor_->interface_names_.size(), size_); + ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_); + + // Validate default interface_names_ + EXPECT_TRUE(std::equal( + pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(), + full_interface_names_.cbegin(), full_interface_names_.cend())); + + // Get interface names + std::vector interface_names = pose_sensor_->get_state_interface_names(); + + // Assign values to position + hardware_interface::StateInterface position_x{ + sensor_name_, interface_names_[0], &position_values_[0]}; + hardware_interface::StateInterface position_y{ + sensor_name_, interface_names_[1], &position_values_[1]}; + hardware_interface::StateInterface position_z{ + sensor_name_, interface_names_[2], &position_values_[2]}; + + // Assign values to orientation + hardware_interface::StateInterface orientation_x{ + sensor_name_, interface_names_[3], &orientation_values_[0]}; + hardware_interface::StateInterface orientation_y{ + sensor_name_, interface_names_[4], &orientation_values_[1]}; + hardware_interface::StateInterface orientation_z{ + sensor_name_, interface_names_[5], &orientation_values_[2]}; + hardware_interface::StateInterface orientation_w{ + sensor_name_, interface_names_[6], &orientation_values_[3]}; + + // Create state interface vector in jumbled order + std::vector temp_state_interfaces; + temp_state_interfaces.reserve(7); + + temp_state_interfaces.emplace_back(position_z); + temp_state_interfaces.emplace_back(orientation_y); + temp_state_interfaces.emplace_back(orientation_x); + temp_state_interfaces.emplace_back(position_x); + temp_state_interfaces.emplace_back(orientation_w); + temp_state_interfaces.emplace_back(position_y); + temp_state_interfaces.emplace_back(orientation_z); + + // Assign interfaces + pose_sensor_->assign_loaned_state_interfaces(temp_state_interfaces); + EXPECT_EQ(pose_sensor_->state_interfaces_.size(), size_); + + // Validate correct position and orientation + EXPECT_EQ(pose_sensor_->get_position(), position_values_); + EXPECT_EQ(pose_sensor_->get_orientation(), orientation_values_); + + // Validate generated message + geometry_msgs::msg::Pose temp_message; + ASSERT_TRUE(pose_sensor_->get_values_as_message(temp_message)); + EXPECT_EQ(temp_message.position.x, position_values_[0]); + EXPECT_EQ(temp_message.position.y, position_values_[1]); + EXPECT_EQ(temp_message.position.z, position_values_[2]); + EXPECT_EQ(temp_message.orientation.x, orientation_values_[0]); + EXPECT_EQ(temp_message.orientation.y, orientation_values_[1]); + EXPECT_EQ(temp_message.orientation.z, orientation_values_[2]); + EXPECT_EQ(temp_message.orientation.w, orientation_values_[3]); + + // Release state interfaces + pose_sensor_->release_interfaces(); + ASSERT_EQ(pose_sensor_->state_interfaces_.size(), 0); +} diff --git a/controller_interface/test/test_pose_sensor.hpp b/controller_interface/test/test_pose_sensor.hpp new file mode 100644 index 0000000000..c2344caaa2 --- /dev/null +++ b/controller_interface/test/test_pose_sensor.hpp @@ -0,0 +1,59 @@ +// Copyright (c) 2024, FZI Forschungszentrum Informatik +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_POSE_SENSOR_HPP_ +#define TEST_POSE_SENSOR_HPP_ + +#include + +#include +#include +#include +#include + +#include "semantic_components/pose_sensor.hpp" + +class TestablePoseSensor : public semantic_components::PoseSensor +{ + FRIEND_TEST(PoseSensorTest, validate_all); + +public: + // Use default interface names + explicit TestablePoseSensor(const std::string & name) : PoseSensor{name} {} + + virtual ~TestablePoseSensor() = default; +}; + +class PoseSensorTest : public ::testing::Test +{ +public: + void SetUp(); + void TearDown(); + +protected: + const size_t size_ = 7; + const std::string sensor_name_ = "test_pose_sensor"; + + std::vector full_interface_names_; + const std::vector interface_names_ = { + "position.x", "position.y", "position.z", "orientation.x", + "orientation.y", "orientation.z", "orientation.w"}; + + std::array position_values_ = {{1.1, 2.2, 3.3}}; + std::array orientation_values_ = {{4.4, 5.5, 6.6, 7.7}}; + + std::unique_ptr pose_sensor_; +}; + +#endif // TEST_POSE_SENSOR_HPP_ diff --git a/doc/release_notes.rst b/doc/release_notes.rst index a1c76f6caf..a945ff668e 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -7,3 +7,8 @@ This list summarizes the changes between Galactic (previous) and Humble (current .. note:: This list was created in July 2024, earlier changes may not be included. + +controller_interface +******************** + +* The new ``PoseSensor`` semantic component provides a standard interface for hardware providing cartesian poses (`#1775 `_)