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EXPERIMENTAL: Add effort command interface to hardware interface #1411

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EXPERIMENTAL: Add effort command interface to hardware interface #1411

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14 changes: 14 additions & 0 deletions ur_robot_driver/config/ur_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,9 @@ controller_manager:
forward_velocity_controller:
type: velocity_controllers/JointGroupVelocityController

forward_effort_controller:
type: effort_controllers/JointGroupEffortController

forward_position_controller:
type: position_controllers/JointGroupPositionController

Expand Down Expand Up @@ -159,6 +162,17 @@ forward_velocity_controller:
- $(var tf_prefix)wrist_3_joint
interface_name: velocity

forward_effort_controller:
ros__parameters:
joints:
- $(var tf_prefix)shoulder_pan_joint
- $(var tf_prefix)shoulder_lift_joint
- $(var tf_prefix)elbow_joint
- $(var tf_prefix)wrist_1_joint
- $(var tf_prefix)wrist_2_joint
- $(var tf_prefix)wrist_3_joint
interface_name: effort

forward_position_controller:
ros__parameters:
joints:
Expand Down
3 changes: 3 additions & 0 deletions ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Expand Up @@ -82,6 +82,7 @@ enum StoppingInterface
STOP_FORCE_MODE,
STOP_FREEDRIVE,
STOP_TOOL_CONTACT,
STOP_TORQUE,
};

// We define our own quaternion to use it as a buffer, since we need to pass pointers to the state
Expand Down Expand Up @@ -177,6 +178,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
urcl::vector6d_t urcl_position_commands_;
urcl::vector6d_t urcl_position_commands_old_;
urcl::vector6d_t urcl_velocity_commands_;
urcl::vector6d_t urcl_torque_commands_;
urcl::vector6d_t urcl_joint_positions_;
urcl::vector6d_t urcl_joint_velocities_;
urcl::vector6d_t urcl_joint_efforts_;
Expand Down Expand Up @@ -305,6 +307,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
std::vector<std::vector<std::string>> start_modes_;
bool position_controller_running_;
bool velocity_controller_running_;
bool torque_controller_running_;
bool force_mode_controller_running_ = false;

std::unique_ptr<urcl::UrDriver> ur_driver_;
Expand Down
1 change: 1 addition & 0 deletions ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,7 @@ def controller_spawner(controllers, active=True):
"joint_trajectory_controller",
"forward_velocity_controller",
"forward_position_controller",
"forward_effort_controller",
"force_mode_controller",
"passthrough_trajectory_controller",
"freedrive_mode_controller",
Expand Down
47 changes: 44 additions & 3 deletions ur_robot_driver/src/hardware_interface.cpp
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Expand Up @@ -60,37 +60,50 @@ namespace ur_robot_driver
URPositionHardwareInterface::URPositionHardwareInterface()
{
mode_compatibility_[hardware_interface::HW_IF_POSITION][hardware_interface::HW_IF_VELOCITY] = false;
mode_compatibility_[hardware_interface::HW_IF_POSITION][hardware_interface::HW_IF_EFFORT] = false;
mode_compatibility_[hardware_interface::HW_IF_POSITION][FORCE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_POSITION][PASSTHROUGH_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_POSITION][FREEDRIVE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_POSITION][TOOL_CONTACT_GPIO] = true;

mode_compatibility_[hardware_interface::HW_IF_VELOCITY][hardware_interface::HW_IF_POSITION] = false;
mode_compatibility_[hardware_interface::HW_IF_VELOCITY][hardware_interface::HW_IF_EFFORT] = false;
mode_compatibility_[hardware_interface::HW_IF_VELOCITY][FORCE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_VELOCITY][PASSTHROUGH_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_VELOCITY][FREEDRIVE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_VELOCITY][TOOL_CONTACT_GPIO] = true;

mode_compatibility_[hardware_interface::HW_IF_EFFORT][hardware_interface::HW_IF_POSITION] = false;
mode_compatibility_[hardware_interface::HW_IF_EFFORT][hardware_interface::HW_IF_VELOCITY] = false;
mode_compatibility_[hardware_interface::HW_IF_EFFORT][FORCE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_EFFORT][PASSTHROUGH_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_EFFORT][FREEDRIVE_MODE_GPIO] = false;
mode_compatibility_[hardware_interface::HW_IF_EFFORT][TOOL_CONTACT_GPIO] = true;

mode_compatibility_[FORCE_MODE_GPIO][hardware_interface::HW_IF_POSITION] = false;
mode_compatibility_[FORCE_MODE_GPIO][hardware_interface::HW_IF_VELOCITY] = false;
mode_compatibility_[FORCE_MODE_GPIO][hardware_interface::HW_IF_EFFORT] = false;
mode_compatibility_[FORCE_MODE_GPIO][PASSTHROUGH_GPIO] = true;
mode_compatibility_[FORCE_MODE_GPIO][FREEDRIVE_MODE_GPIO] = false;
mode_compatibility_[FORCE_MODE_GPIO][TOOL_CONTACT_GPIO] = false;

mode_compatibility_[PASSTHROUGH_GPIO][hardware_interface::HW_IF_POSITION] = false;
mode_compatibility_[PASSTHROUGH_GPIO][hardware_interface::HW_IF_VELOCITY] = false;
mode_compatibility_[PASSTHROUGH_GPIO][hardware_interface::HW_IF_EFFORT] = false;
mode_compatibility_[PASSTHROUGH_GPIO][FORCE_MODE_GPIO] = true;
mode_compatibility_[PASSTHROUGH_GPIO][FREEDRIVE_MODE_GPIO] = false;
mode_compatibility_[PASSTHROUGH_GPIO][TOOL_CONTACT_GPIO] = true;

mode_compatibility_[FREEDRIVE_MODE_GPIO][hardware_interface::HW_IF_POSITION] = false;
mode_compatibility_[FREEDRIVE_MODE_GPIO][hardware_interface::HW_IF_VELOCITY] = false;
mode_compatibility_[FREEDRIVE_MODE_GPIO][hardware_interface::HW_IF_EFFORT] = false;
mode_compatibility_[FREEDRIVE_MODE_GPIO][FORCE_MODE_GPIO] = false;
mode_compatibility_[FREEDRIVE_MODE_GPIO][PASSTHROUGH_GPIO] = false;
mode_compatibility_[FREEDRIVE_MODE_GPIO][TOOL_CONTACT_GPIO] = false;

mode_compatibility_[TOOL_CONTACT_GPIO][hardware_interface::HW_IF_POSITION] = true;
mode_compatibility_[TOOL_CONTACT_GPIO][hardware_interface::HW_IF_VELOCITY] = true;
mode_compatibility_[TOOL_CONTACT_GPIO][hardware_interface::HW_IF_EFFORT] = true;
mode_compatibility_[TOOL_CONTACT_GPIO][FORCE_MODE_GPIO] = false;
mode_compatibility_[TOOL_CONTACT_GPIO][PASSTHROUGH_GPIO] = true;
mode_compatibility_[TOOL_CONTACT_GPIO][FREEDRIVE_MODE_GPIO] = false;
Expand Down Expand Up @@ -120,6 +133,7 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
position_controller_running_ = false;
velocity_controller_running_ = false;
torque_controller_running_ = false;
freedrive_mode_controller_running_ = false;
passthrough_trajectory_controller_running_ = false;
tool_contact_controller_running_ = false;
Expand All @@ -143,9 +157,9 @@ URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& sys
trajectory_joint_accelerations_.reserve(32768);

for (const hardware_interface::ComponentInfo& joint : info_.joints) {
if (joint.command_interfaces.size() != 2) {
if (joint.command_interfaces.size() != 3) {
RCLCPP_FATAL(rclcpp::get_logger("URPositionHardwareInterface"),
"Joint '%s' has %zu command interfaces found. 2 expected.", joint.name.c_str(),
"Joint '%s' has %zu command interfaces found. 3 expected.", joint.name.c_str(),
joint.command_interfaces.size());
return hardware_interface::CallbackReturn::ERROR;
}
Expand Down Expand Up @@ -328,6 +342,9 @@ std::vector<hardware_interface::CommandInterface> URPositionHardwareInterface::e

command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &urcl_velocity_commands_[i]));

command_interfaces.emplace_back(hardware_interface::CommandInterface(
info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &urcl_torque_commands_[i]));
}
// Obtain the tf_prefix from the urdf so that we can have the general interface multiple times
// NOTE using the tf_prefix at this point is some kind of workaround. One should actually go through the list of gpio
Expand Down Expand Up @@ -810,6 +827,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
// initialize commands
urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
urcl_torque_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
target_speed_fraction_cmd_ = NO_NEW_CMD_;
resend_robot_program_cmd_ = NO_NEW_CMD_;
zero_ftsensor_cmd_ = NO_NEW_CMD_;
Expand Down Expand Up @@ -844,7 +862,8 @@ hardware_interface::return_type URPositionHardwareInterface::write(const rclcpp:

} else if (velocity_controller_running_) {
ur_driver_->writeJointCommand(urcl_velocity_commands_, urcl::comm::ControlMode::MODE_SPEEDJ, receive_timeout_);

} else if (torque_controller_running_) {
ur_driver_->writeJointCommand(urcl_torque_commands_, urcl::comm::ControlMode::MODE_TORQUE, receive_timeout_);
} else if (freedrive_mode_controller_running_ && freedrive_activated_) {
ur_driver_->writeFreedriveControlMessage(urcl::control::FreedriveControlMessage::FREEDRIVE_NOOP);

Expand Down Expand Up @@ -1124,6 +1143,9 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
if (velocity_controller_running_) {
control_modes[i] = { hardware_interface::HW_IF_VELOCITY };
}
if (torque_controller_running_) {
control_modes[i] = { hardware_interface::HW_IF_EFFORT };
}
if (force_mode_controller_running_) {
control_modes[i].push_back(FORCE_MODE_GPIO);
}
Expand Down Expand Up @@ -1159,6 +1181,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
const std::vector<std::pair<std::string, std::string>> start_modes_to_check{
{ info_.joints[i].name + "/" + hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_POSITION },
{ info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_VELOCITY },
{ info_.joints[i].name + "/" + hardware_interface::HW_IF_EFFORT, hardware_interface::HW_IF_EFFORT },
{ tf_prefix + FORCE_MODE_GPIO + "/type", FORCE_MODE_GPIO },
{ tf_prefix + PASSTHROUGH_GPIO + "/setpoint_positions_" + std::to_string(i), PASSTHROUGH_GPIO },
{ tf_prefix + FREEDRIVE_MODE_GPIO + "/async_success", FREEDRIVE_MODE_GPIO },
Expand Down Expand Up @@ -1192,6 +1215,8 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
StoppingInterface::STOP_POSITION },
{ info_.joints[i].name + "/" + hardware_interface::HW_IF_VELOCITY, hardware_interface::HW_IF_VELOCITY,
StoppingInterface::STOP_VELOCITY },
{ info_.joints[i].name + "/" + hardware_interface::HW_IF_EFFORT, hardware_interface::HW_IF_EFFORT,
StoppingInterface::STOP_TORQUE },
{ tf_prefix + FORCE_MODE_GPIO + "/disable_cmd", FORCE_MODE_GPIO, StoppingInterface::STOP_FORCE_MODE },
{ tf_prefix + PASSTHROUGH_GPIO + "/setpoint_positions_" + std::to_string(i), PASSTHROUGH_GPIO,
StoppingInterface::STOP_PASSTHROUGH },
Expand Down Expand Up @@ -1237,6 +1262,11 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
velocity_controller_running_ = false;
urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
}
if (stop_modes_[0].size() != 0 &&
std::find(stop_modes_[0].begin(), stop_modes_[0].end(), StoppingInterface::STOP_TORQUE) != stop_modes_[0].end()) {
torque_controller_running_ = false;
urcl_torque_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
}
if (stop_modes_[0].size() != 0 && std::find(stop_modes_[0].begin(), stop_modes_[0].end(),
StoppingInterface::STOP_FORCE_MODE) != stop_modes_[0].end()) {
force_mode_controller_running_ = false;
Expand Down Expand Up @@ -1267,16 +1297,25 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
if (start_modes_.size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
hardware_interface::HW_IF_POSITION) != start_modes_[0].end()) {
velocity_controller_running_ = false;
torque_controller_running_ = false;
passthrough_trajectory_controller_running_ = false;
urcl_position_commands_ = urcl_position_commands_old_ = urcl_joint_positions_;
position_controller_running_ = true;

} else if (start_modes_[0].size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
hardware_interface::HW_IF_VELOCITY) != start_modes_[0].end()) {
position_controller_running_ = false;
torque_controller_running_ = false;
passthrough_trajectory_controller_running_ = false;
urcl_velocity_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
velocity_controller_running_ = true;
} else if (start_modes_[0].size() != 0 && std::find(start_modes_[0].begin(), start_modes_[0].end(),
hardware_interface::HW_IF_EFFORT) != start_modes_[0].end()) {
position_controller_running_ = false;
velocity_controller_running_ = false;
torque_controller_running_ = true;
passthrough_trajectory_controller_running_ = false;
urcl_torque_commands_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
}
if (start_modes_[0].size() != 0 &&
std::find(start_modes_[0].begin(), start_modes_[0].end(), FORCE_MODE_GPIO) != start_modes_[0].end()) {
Expand All @@ -1286,13 +1325,15 @@ hardware_interface::return_type URPositionHardwareInterface::perform_command_mod
std::find(start_modes_[0].begin(), start_modes_[0].end(), PASSTHROUGH_GPIO) != start_modes_[0].end()) {
velocity_controller_running_ = false;
position_controller_running_ = false;
torque_controller_running_ = false;
passthrough_trajectory_controller_running_ = true;
passthrough_trajectory_abort_ = 0.0;
}
if (start_modes_[0].size() != 0 &&
std::find(start_modes_[0].begin(), start_modes_[0].end(), FREEDRIVE_MODE_GPIO) != start_modes_[0].end()) {
velocity_controller_running_ = false;
position_controller_running_ = false;
torque_controller_running_ = false;
freedrive_mode_controller_running_ = true;
freedrive_activated_ = false;
}
Expand Down
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