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Olivier Stasse
gz_gep_tools
Commits
2612378e
Commit
2612378e
authored
4 weeks ago
by
Olivier Stasse
Browse files
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Add mutex to joint state interface reading robot's state and writing
ctrl.
parent
e933b727
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2 changed files
include/gz_gep_tools/joint_state_interface.hh
+39
-11
39 additions, 11 deletions
include/gz_gep_tools/joint_state_interface.hh
src/joint_state_interface.cc
+67
-14
67 additions, 14 deletions
src/joint_state_interface.cc
with
106 additions
and
25 deletions
include/gz_gep_tools/joint_state_interface.hh
+
39
−
11
View file @
2612378e
#pragma once
/// Standard includes
#include
<vector>
#include
<string>
...
...
@@ -8,13 +9,40 @@
namespace
gz_transport_hw_tools
{
class
LastState
{
public:
/// Time
int64_t
time_sec_
;
int64_t
time_nsec_
;
/// Position
std
::
vector
<
double
>
positions_
;
/// Velocity
std
::
vector
<
double
>
velocities_
;
void
resize
(
std
::
size_t
asize
);
std
::
mutex
lock_state_access_
;
LastState
();
};
class
JointValues
{
double
pos_mes
;
double
vel_mes
;
double
force_ctrl
;
std
::
string
cmd_force_topic
;
gz
::
transport
::
Node
::
Publisher
;
};
/// This class handles the interface to the joints and the sensors
/// of a robot simulated by Gazebo (Harmonic)
class
JointStateInterface
{
public:
/// Constructor
JointStateInterface
(
std
::
string
&
a_prefix_model_root
,
std
::
string
&
a_prefix_world
);
std
::
string
&
a_prefix_world
,
bool
debug_level
=
false
);
/// Destructor
~
JointStateInterface
();
...
...
@@ -24,26 +52,27 @@ class JointStateInterface {
bool
SetCmd
(
const
std
::
vector
<
double
>
&
cmd_vec
);
void
GetPosVel
(
std
::
vector
<
double
>
&
pos_vecd
,
std
::
vector
<
double
>
&
vel_vecd
);
bool
GetPosVel
(
std
::
vector
<
double
>
&
pos_vecd
,
std
::
vector
<
double
>
&
vel_vecd
,
double
&
time
);
private:
/// Callback function for state model update.
void
CallbackJointState
(
const
gz
::
msgs
::
Model
&
a_gz_model_msg
);
/// Root of the prefix model
std
::
string
prefix_model_root_
;
/// Prefix world
std
::
string
prefix_world_
;
/// List of joints
std
::
vector
<
std
::
string
>
list_of_joints_
;
/// Map joints to index in list
std
::
map
<
std
::
string
,
std
::
size_t
>
map_name_2_indx_
;
/// Vector of string describing the topics to command forces on actuators.
std
::
vector
<
std
::
string
>
cmd_force_topics_
;
...
...
@@ -56,11 +85,10 @@ class JointStateInterface {
/// GZ node
gz
::
transport
::
Node
node_
;
///
Position
std
::
vector
<
double
>
positions
_
;
///
Last state of the robot
LastState
last_state
_
;
/// Velocity
std
::
vector
<
double
>
velocities_
;
bool
debug_level_
;
};
}
This diff is collapsed.
Click to expand it.
src/joint_state_interface.cc
+
67
−
14
View file @
2612378e
...
...
@@ -4,8 +4,27 @@
namespace
gz_transport_hw_tools
{
LastState
::
LastState
()
:
time_sec_
(
0
),
time_nsec_
(
0
)
{}
void
LastState
::
resize
(
size_t
asize
)
{
positions_
.
clear
();
positions_
.
resize
(
asize
);
velocities_
.
clear
();
velocities_
.
resize
(
asize
);
for
(
unsigned
i
=
0
;
i
<
positions_
.
size
();
i
++
)
{
positions_
[
i
]
=
0.0
;
velocities_
[
i
]
=
0.0
;
}
}
JointStateInterface
::
JointStateInterface
(
std
::
string
&
a_prefix_model_root
,
std
::
string
&
a_prefix_world
)
{
std
::
string
&
a_prefix_world
,
bool
debug_level
)
:
debug_level_
(
debug_level
)
{
prefix_model_root_
=
a_prefix_model_root
;
prefix_world_
=
a_prefix_world
;
joint_state_topic_
=
a_prefix_world
+
a_prefix_model_root
+
"joint_state"
;
...
...
@@ -43,32 +62,48 @@ void JointStateInterface::SetListOfJoints(
map_name_2_indx_
[
*
jointItr
]
=
idx
;
idx
++
;
}
positions_
.
clear
();
positions_
.
resize
(
a_list_of_joints
.
size
());
velocities_
.
clear
();
velocities_
.
resize
(
a_list_of_joints
.
size
());
last_state_
.
resize
(
a_list_of_joints
.
size
());
}
void
JointStateInterface
::
CallbackJointState
(
const
gz
::
msgs
::
Model
&
a_gz_model_msg
)
{
std
::
lock_guard
(
last_state_
.
lock_state_access_
);
unsigned
int
idx_joints
=
0
;
for
(
auto
jointItr
=
a_gz_model_msg
.
joint
().
begin
();
jointItr
!=
a_gz_model_msg
.
joint
().
end
();
jointItr
++
)
{
const
::
gz
::
msgs
::
Axis
&
axis1
=
jointItr
->
axis1
();
long
unsigned
int
local_joint_idx
=
map_name_2_indx_
[
jointItr
->
name
()];
if
(
positions_
.
size
()
!=
0
)
positions_
[
local_joint_idx
]
=
axis1
.
position
();
if
(
velocities_
.
size
()
!=
0
)
velocities_
[
local_joint_idx
]
=
axis1
.
velocity
();
if
(
last_state_
.
positions_
.
size
()
!=
0
)
last_state_
.
positions_
[
local_joint_idx
]
=
axis1
.
position
();
if
(
last_state_
.
velocities_
.
size
()
!=
0
)
last_state_
.
velocities_
[
local_joint_idx
]
=
axis1
.
velocity
();
idx_joints
++
;
}
if
(
debug_level_
)
{
std
::
cerr
<<
"JointStateInterface::CallbackJointState: time: "
<<
" "
<<
last_state_
.
time_sec_
<<
" "
<<
last_state_
.
time_nsec_
;
if
(
last_state_
.
positions_
.
size
()
>
1
)
std
::
cerr
<<
" "
<<
last_state_
.
positions_
[
1
];
std
::
cerr
<<
std
::
endl
;
}
last_state_
.
time_sec_
=
a_gz_model_msg
.
header
().
stamp
().
sec
();
last_state_
.
time_nsec_
=
a_gz_model_msg
.
header
().
stamp
().
nsec
();
}
bool
JointStateInterface
::
SetCmd
(
const
std
::
vector
<
double
>
&
a_cmd_vec_d
)
...
...
@@ -76,7 +111,8 @@ bool JointStateInterface::SetCmd( const std::vector<double> &a_cmd_vec_d)
if
(
a_cmd_vec_d
.
size
()
!=
gz_pub_cmd_forces_
.
size
())
return
false
;
for
(
unsigned
int
i
=
0
;
i
<
a_cmd_vec_d
.
size
();
i
++
)
{
for
(
unsigned
int
i
=
0
;
i
<
a_cmd_vec_d
.
size
();
i
++
)
{
gz
::
msgs
::
Double
msg
;
msg
.
set_data
(
a_cmd_vec_d
[
i
]);
...
...
@@ -84,20 +120,37 @@ bool JointStateInterface::SetCmd( const std::vector<double> &a_cmd_vec_d)
std
::
cerr
<<
"Unable to publish on "
<<
cmd_force_topics_
[
i
]
<<
std
::
endl
;
return
false
;
}
}
return
true
;
}
void
JointStateInterface
::
GetPosVel
(
std
::
vector
<
double
>
&
pos_vecd
,
std
::
vector
<
double
>
&
vel_vecd
)
bool
JointStateInterface
::
GetPosVel
(
std
::
vector
<
double
>
&
pos_vecd
,
std
::
vector
<
double
>
&
vel_vecd
,
double
&
time
)
{
if
((
pos_vecd
.
size
()
!=
last_state_
.
positions_
.
size
())
||
(
vel_vecd
.
size
()
!=
last_state_
.
velocities_
.
size
()))
return
false
;
std
::
lock_guard
(
last_state_
.
lock_state_access_
);
time
=
last_state_
.
time_sec_
+
1e-9
*
last_state_
.
time_nsec_
;
for
(
std
::
vector
<
double
>::
size_type
idx
=
0
;
idx
<
pos_vecd
.
size
();
idx
++
)
{
pos_vecd
[
idx
]
=
positions_
[
idx
];
vel_vecd
[
idx
]
=
velocities_
[
idx
];
pos_vecd
[
idx
]
=
last_state_
.
positions_
[
idx
];
vel_vecd
[
idx
]
=
last_state_
.
velocities_
[
idx
];
}
if
(
debug_level_
)
std
::
cerr
<<
"JointStateInterface::GetPosVel: time: "
<<
time
<<
" "
<<
pos_vecd
[
1
]
<<
" "
<<
std
::
endl
;
return
true
;
}
};
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