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[MSA] ros2_control Integration (moveit#1299)
* Modified URDF Infrastructure * Control Xacro Config * URDF Modifications Widget * Use same base class for ROS2Controllers and MoveItControllers (widget/config/setup_step) * Further cleanup * Fix ModifiedURDF Generation * Apply suggestions from code review Co-authored-by: AndyZe <[email protected]> * Rename button variable * Clang line length fix Co-authored-by: AndyZe <[email protected]>
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Vatan Aksoy Tezer
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Jun 14, 2022
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2022, Metro Robots | ||
| * All rights reserved. | ||
| * | ||
| * 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 Metro Robots 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 OWNER 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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| /* Author: David V. Lu!! */ | ||
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| #pragma once | ||
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| #include <moveit_setup_controllers/modified_urdf_config.hpp> | ||
| #include <moveit_setup_framework/data/srdf_config.hpp> | ||
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| namespace moveit_setup | ||
| { | ||
| namespace controllers | ||
| { | ||
| struct ControlInterfaces | ||
| { | ||
| std::vector<std::string> command_interfaces; | ||
| std::vector<std::string> state_interfaces; | ||
| }; | ||
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| inline std::vector<std::string> getAvailableInterfaceNames() | ||
| { | ||
| return { "position", "velocity", "effort" }; | ||
| } | ||
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| class ControlXacroConfig : public IncludedXacroConfig | ||
| { | ||
| public: | ||
| /**@name SetupConfig overrides */ | ||
| /**@{*/ | ||
| void onInit() override; | ||
| void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override; | ||
| YAML::Node saveToYaml() const override; | ||
| bool isConfigured() const override; | ||
| /**@}*/ | ||
|
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| /**@name IncludedXacroConfig overrides */ | ||
| /**@{*/ | ||
| std::string getFilepath() const override; | ||
| bool hasChanges() const override; | ||
| std::vector<std::pair<std::string, std::string>> getArguments() const override; | ||
| std::vector<std::string> getCommands() const override; | ||
| /**@}*/ | ||
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| /** | ||
| * @brief Load the original command interfaces from the original (unmodified) URDF | ||
| * | ||
| * Needs to be run whenever the URDF/SRDF may have changed | ||
| */ | ||
| void loadFromDescription(); | ||
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| bool hasAllControlTagsInOriginal() const; | ||
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| /**@name Data access and modification */ | ||
| /**@{*/ | ||
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| const ControlInterfaces& getAvailableControlInterfaces() const | ||
| { | ||
| return available_ci_; | ||
| } | ||
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| const ControlInterfaces& getDefaultControlInterfaces() const | ||
| { | ||
| return default_ci_; | ||
| } | ||
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| /** | ||
| * @brief Use the specified controller interfaces for all the lacking joints | ||
| */ | ||
| void setControlInterfaces(const ControlInterfaces& ci); | ||
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| /** | ||
| * @brief Get all the control interfaces for all of the specified joint names | ||
| */ | ||
| const ControlInterfaces getControlInterfaces(const std::vector<std::string>& joint_names) const; | ||
|
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| /**@}*/ | ||
|
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| /** | ||
| * @brief Return the additional joint xml needed for ros2_control tags | ||
| */ | ||
| std::string getJointsXML() const; | ||
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| class GeneratedControlHeader : public TemplatedGeneratedFile | ||
| { | ||
| public: | ||
| GeneratedControlHeader(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
| ControlXacroConfig& parent) | ||
| : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent) | ||
| { | ||
| } | ||
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| std::filesystem::path getRelativePath() const override | ||
| { | ||
| return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".ros2_control.xacro"); | ||
| } | ||
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| std::filesystem::path getTemplatePath() const override | ||
| { | ||
| return getSharePath("moveit_setup_controllers") / "templates" / "config" / "ros2_control.xacro"; | ||
| } | ||
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| std::string getDescription() const override | ||
| { | ||
| return "Macro definition for required ros2_control xacro additions."; | ||
| } | ||
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| bool hasChanges() const override | ||
| { | ||
| return parent_.hasChanges(); | ||
| } | ||
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| protected: | ||
| ControlXacroConfig& parent_; | ||
| }; | ||
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| class GeneratedInitialPositions : public YamlGeneratedFile | ||
| { | ||
| public: | ||
| GeneratedInitialPositions(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
| ControlXacroConfig& parent) | ||
| : YamlGeneratedFile(package_path, last_gen_time), parent_(parent) | ||
| { | ||
| } | ||
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| bool hasChanges() const override | ||
| { | ||
| return parent_.hasChanges(); | ||
| } | ||
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| std::filesystem::path getRelativePath() const override | ||
| { | ||
| return "config/initial_positions.yaml"; | ||
| } | ||
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| std::string getDescription() const override | ||
| { | ||
| return "Initial positions for ros2_control"; | ||
| } | ||
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| bool writeYaml(YAML::Emitter& emitter) override; | ||
|
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| protected: | ||
| ControlXacroConfig& parent_; | ||
| }; | ||
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| void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time, | ||
| std::vector<GeneratedFilePtr>& files) override | ||
| { | ||
| files.push_back(std::make_shared<GeneratedControlHeader>(package_path, last_gen_time, *this)); | ||
| files.push_back(std::make_shared<GeneratedInitialPositions>(package_path, last_gen_time, *this)); | ||
| } | ||
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| void collectVariables(std::vector<TemplateVariable>& variables) override; | ||
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| protected: | ||
| void getControlInterfaces(const std::string& joint_name, ControlInterfaces& ci) const; | ||
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| std::vector<std::string> joint_names_; /// A list of all joints used by the current SRDF groups | ||
| std::unordered_map<std::string, ControlInterfaces> original_joint_interfaces_, new_joint_interfaces_; | ||
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| ControlInterfaces default_ci_, available_ci_; | ||
| srdf::Model::GroupState initial_group_state_; | ||
|
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| bool changed_; | ||
| }; | ||
| } // namespace controllers | ||
| } // namespace moveit_setup |
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