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Adding use of robot description parameter in the Admittance Controller #1247

Merged
merged 9 commits into from
Nov 6, 2024
Merged

Adding use of robot description parameter in the Admittance Controller #1247

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609d98b
Use the urdf_ to set the robot_description in admittance controller
SyllogismRXS Apr 5, 2024
a4b90db
Pass robot_description to kinematics_interface using input arg
SyllogismRXS Apr 9, 2024
30c149a
admittance_controller: skip large dt periods
SyllogismRXS Apr 15, 2024
0a944d1
get robot_description correctly
Nibanovic Aug 1, 2024
79f6ebf
correct for kinematics_interface initialize() API change
Nibanovic Aug 1, 2024
48131cd
Remove skipping of large dts because why to add that?
destogl Aug 14, 2024
34d76cd
Merge branch 'master' into admittance-robot-description-param-1094
bmagyar Nov 4, 2024
8046a1a
Merge branch 'master' into admittance-robot-description-param-1094
christophfroehlich Nov 6, 2024
45e37e9
pass robot_description at controller init
bmagyar Nov 6, 2024
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3 changes: 2 additions & 1 deletion admittance_controller/include/admittance_controller/admittance_rule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,8 @@ class AdmittanceRule

/// Configure admittance rule memory using number of joints.
controller_interface::return_type configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
const std::string & robot_description);

/// Reset all values back to default
controller_interface::return_type reset(const size_t num_joints);
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6 changes: 4 additions & 2 deletions admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
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Expand Up @@ -20,6 +20,7 @@
#include "admittance_controller/admittance_rule.hpp"

#include <memory>
#include <string>
#include <vector>

#include <control_toolbox/filters.hpp>
Expand All @@ -34,7 +35,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6; // (3 translation + 3 rotation)

/// Configure admittance rule memory for num joints and load kinematics interface
controller_interface::return_type AdmittanceRule::configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
const std::string & robot_description)
{
num_joints_ = num_joints;

Expand All @@ -58,7 +60,7 @@ controller_interface::return_type AdmittanceRule::configure(
kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));

if (!kinematics_->initialize(
node->get_node_parameters_interface(), parameters_.kinematics.tip))
robot_description, node->get_node_parameters_interface(), "kinematics"))
{
return controller_interface::return_type::ERROR;
}
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4 changes: 3 additions & 1 deletion admittance_controller/src/admittance_controller.cpp
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Expand Up @@ -280,7 +280,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));

// configure admittance rule
if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
if (
admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==
controller_interface::return_type::ERROR)
{
return controller_interface::CallbackReturn::ERROR;
}
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9 changes: 3 additions & 6 deletions admittance_controller/test/test_admittance_controller.hpp
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Expand Up @@ -102,18 +102,14 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
}
}

private:
const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
};

class AdmittanceControllerTest : public ::testing::Test
{
public:
static void SetUpTestCase()
{
// rclcpp::init(0, nullptr);
}
static void SetUpTestCase() {}

void SetUp()
{
Expand Down Expand Up @@ -163,7 +159,8 @@ class AdmittanceControllerTest : public ::testing::Test
controller_interface::return_type SetUpControllerCommon(
const std::string & controller_name, const rclcpp::NodeOptions & options)
{
auto result = controller_->init(controller_name, "", 0, "", options);
auto result =
controller_->init(controller_name, controller_->robot_description_, 0, "", options);

controller_->export_reference_interfaces();
assign_interfaces();
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