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Add service to pause/resume ci from sending references to the robot #82

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Merged
merged 1 commit into from
Nov 22, 2023
Merged

Add service to pause/resume ci from sending references to the robot #82

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8 changes: 6 additions & 2 deletions include/cartesian_interface/ros/RosExecutor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,9 @@ namespace XBot { namespace Cartesian {
bool reset_joints_callback(cartesian_interface::ResetJointsRequest& req,
cartesian_interface::ResetJointsResponse& res);

bool pause_cartesio_callback(std_srvs::SetBoolRequest& req,
std_srvs::SetBoolRequest& res);

void timer_callback(const ros::TimerEvent& timer_ev);

void publish_fb_cmd_vel();
Expand Down Expand Up @@ -100,14 +103,15 @@ namespace XBot { namespace Cartesian {
ros::ServiceServer _loader_srv;
ros::ServiceServer _reset_srv;
ros::ServiceServer _reset_joints_srv;
ros::ServiceServer _pause_ci_srv;
ros::Subscriber _fb_sub;

ros::Timer _loop_timer;
double _time, _period;

MatLogger2::Ptr _logger;


bool _pause_command;

};

Expand Down
25 changes: 24 additions & 1 deletion src/ros/RosExecutor.cpp
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Expand Up @@ -47,6 +47,9 @@ void RosExecutor::init_ros()
_reset_srv = _nh.advertiseService("reset", &RosExecutor::reset_callback, this);
_reset_joints_srv = _nh.advertiseService("reset_joints", &RosExecutor::reset_joints_callback, this);

/* Pause Cartesio to publish commands */
_pause_ci_srv = _nh.advertiseService("pause", &RosExecutor::pause_cartesio_callback, this);

/* Floating base override topic */
ros::NodeHandle nh_fb_queue(_nh);
nh_fb_queue.setCallbackQueue(&_fb_queue);
Expand Down Expand Up @@ -84,6 +87,7 @@ void RosExecutor::init_load_config()

_period = 1.0 / _nh_priv.param("rate", 100.0);

_pause_command = false;
}

void RosExecutor::init_load_robot()
Expand Down Expand Up @@ -496,7 +500,7 @@ void RosExecutor::timer_callback(const ros::TimerEvent& timer_ev)

_model->update();

if(_robot && !_visual_mode)
if(!_pause_command && _robot && !_visual_mode)
{
_robot->setReferenceFrom(*_model, Sync::Position, Sync::Velocity);
_robot->move();
Expand Down Expand Up @@ -575,6 +579,25 @@ bool RosExecutor::reset_joints_callback(cartesian_interface::ResetJointsRequest&
}


bool RosExecutor::pause_cartesio_callback(std_srvs::SetBoolRequest& req,
std_srvs::SetBoolRequest& res)
{
/* If resume --> Update robot pos */
if(_pause_command && !req.data){
reset_model_state();

_current_impl->reset(_time);

XBot::JointNameMap q_map;
_model->getJointPosition(q_map);
_current_impl->setReferencePosture(q_map);
}

_pause_command = req.data;

return true;
}

void RosExecutor::world_frame_to_param()
{
/* Upload floating base pose to parameter server */
Expand Down