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Merged
merged 4 commits into from
May 4, 2020
Merged

do not use https://github.com/start-jsk/rtmros_common/pull/1095 #4

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5e06221
do not use https://github.com/start-jsk/rtmros_common/pull/1095
k-okada May 4, 2020
3d23ebe
clean up install rules
k-okada May 4, 2020
caa9478
add :add-controller (limbs)
k-okada May 4, 2020
abb79ce
allow override :type in (instance hironxjsk-interface :init)
k-okada May 4, 2020
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19 changes: 3 additions & 16 deletions hironx_tutorial/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,22 +28,9 @@ include_directories(
#############
## Install ##
#############
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY euslisp DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY scenes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY script DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(DIRECTORY worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
#install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# USE_SOURCE_PERMISSIONS)
install(DIRECTORY config script worlds euslisp models config launch scenes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)

#############
## Testing ##
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115 changes: 41 additions & 74 deletions hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -3,30 +3,6 @@
(when (probe-file (ros::resolve-ros-path "package://hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-utils.l"))
(require :hironxjsk-utils "package://hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-utils.l"))

;; Waiting for https://github.com/start-jsk/rtmros_common/pull/1095 to be released
(defmethod rtm-ros-robot-interface
(:def-limb-controller-method
(limb &key (debugp nil))
"Method to add limb controller action by default setting.
Currently, FollowJointTrajectoryAction is used.
This method calls defmethod. If :debugp t, we can see defmethod s-expressions."
(let ((sexp `(defmethod ,(send (class self):name)
(,(read-from-string (format nil "~A-controller" limb))
()
(list
(list
(cons :group-name ,(string-downcase limb))
(cons :controller-action ,(format nil "~A_controller/follow_joint_trajectory_action" (string-downcase limb)))
(cons :controller-state ,(format nil "~A_controller/state" (string-downcase limb)))
(cons :action-type control_msgs::FollowJointTrajectoryAction)
(cons :joint-names (send-all (send robot ,limb :joint-list) :name)))
)))))
(if debugp
(pprint (macroexpand sexp)))
(eval sexp)
))
)

(defclass hironxjsk-interface
:super rtm-ros-robot-interface
:slots (hand-actions
Expand All @@ -35,58 +11,49 @@

;; Initialize
(defmethod hironxjsk-interface
;; Based on https://github.com/start-jsk/rtmros_tutorials/blob/9132c58702b3b193e14271b4c231ad0080187850/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-interface.l
(:init (&rest args &key (show-default-controller nil) &allow-other-keys)
(let ((limbs '(:rarm :larm :head :torso)))
(dolist (limb limbs)
(send self :def-limb-controller-method limb))
;; If gazebo with ros_control, overwrite :default-controller
(ros::roseus "default_robot_interface")
(when (setq on-gazebo-ros-control
(and (ros::get-param "/gazebo/time_step" nil)
(ros::service-exists "/controller_manager/load_controller")))
(let ((sexp `(defmethod ,(send (class self):name)
(:default-controller ()
(append
,@(mapcar
#'(lambda (limb)
`(send self ,(read-from-string
(format nil "~A-controller" limb))))
limbs))))))
(when show-default-controller
(pprint (macroexpand sexp)))
(eval sexp)))
(prog1
;; Hironx has two types of joint_states on one topic: whole body and hand,
;; so queue size of joint_states should be two.
;; https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.13/pr2eus/robot-interface.l#L120
(send-super* :init :joint-states-queue-size 2 :robot hironxjsk-robot args)
;; add controller
(dolist (limb limbs)
(let ((ctype (read-from-string (format nil "~A-controller" limb))))
;; Avoid overwriting existing controllers to let actionlib-comm-state work
;; Without this avoidance, "old client's goal" warning is showed after :angle-vector
(unless (send self :add-controller ctype :create-actions nil)
(send self :add-controller ctype
:joint-enable-check t :create-actions t))))
;; add hand controller for gazebo with ros_control
(when on-gazebo-ros-control
(setq hand-actions (make-hash-table))
(dolist (hand (list :rhand :lhand))
;; initialize hand action
(sethash hand hand-actions
(instance ros::simple-action-client :init
(format nil "/~A_controller/follow_joint_trajectory_action"
(:init (&rest args)
(setq robot (instance hironxjsk-robot :init))
;; Define {limb}-controller, usually we can define manually as jsk_robots
(dolist (limb '(:rarm :larm :head :torso))
(send self :def-limb-controller-method limb))
;; If gazebo with ros_control, overwrite :default-controller
(setq on-gazebo-ros-control
(and (ros::get-param "/gazebo/time_step" nil)
;; rtm-ros-bridge does not have type parametrs
(ros::get-param "/torso_controller/type" nil)))
(when on-gazebo-ros-control
(ros::ros-warn "Found Gazebo/ros_control environment"))
(prog1
;; Hironx has two types of joint_states on one topic: whole body and hand,
;; so queue size of joint_states should be two.
;; https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.13/pr2eus/robot-interface.l#L120
(send-super* :init :joint-states-queue-size 2 :robot robot :type
(if on-gazebo-ros-control :gazebo-ros-controller :default-controller)
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@pazeshun pazeshun May 4, 2020

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これだと、Gazeboでは以下のように:default-controllerを明示的に指定した場合に送れなくなるのですが、僕自身:default-controllerを明示的に指定したことはあまりないので、大丈夫だとは思います。

3.irteusgl$ send *ri* :angle-vector (send *hironxjsk* :reset-manip-pose) 1000 :default-controller
;; controller-type: :default-controller not foundnil

args)
;; add hand controller for gazebo with ros_control
(when on-gazebo-ros-control
(setq hand-actions (make-hash-table))
(dolist (hand (list :rhand :lhand))
;; initialize hand action
(sethash hand hand-actions
(instance ros::simple-action-client :init
(format nil "/~A_controller/follow_joint_trajectory_action"
(string-downcase hand))
control_msgs::FollowJointTrajectoryAction
:groupname groupname))
;; check if hand action is respond (based on baxter-interface)
(unless
control_msgs::FollowJointTrajectoryAction
:groupname groupname))
;; check if hand action is respond (based on baxter-interface)
(unless
(and joint-action-enable (send (gethash hand hand-actions) :wait-for-server 3))
(ros::ros-warn "~A is not respond" (gethash hand hand-actions))
(ros::ros-info "*** if you do not have hand, you can ignore this message ***"))))
;; number of servo motors in one hand
(setq hand-servo-num 4))))
(ros::ros-warn "~A is not respond" (gethash hand hand-actions))
(ros::ros-info "*** if you do not have hand, you can ignore this message ***"))))
;; number of servo motors in one hand
(setq hand-servo-num 4)))
(:gazebo-ros-controller ()
(append
(send self :rarm-controller)
(send self :larm-controller)
(send self :head-controller)
(send self :torso-controller)))
(:call-operation-return (method &rest args)
;; Call method until it returns true
;; Used to ensure operation on the hand service calls, that sometimes fail
Expand Down