From 98cd2e3a4dfd9523c8137b4920c7384eb171d359 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 14:35:27 +0200 Subject: [PATCH 01/70] added COLCON_IGNORE to every controller folder to not build it every time --> added gitignore, to not push it to github --> remove it after everything is done --- .gitignore | 1 + 1 file changed, 1 insertion(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..57aaf61f1e --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +**/COLCON_IGNORE \ No newline at end of file From 783d129b3be106146b6777f2dc4d5d4562b5d1a9 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 14:59:21 +0200 Subject: [PATCH 02/70] added motion_primitive_forward_controller from https://github.com/mathias31415/ros2_motion_primitives_controller_pkg --- .../CMakeLists.txt | 112 +++++ motion_primitives_controller_pkg/LICENSE | 25 + motion_primitives_controller_pkg/README.md | 9 + .../execution_state.hpp | 13 + .../motion_primitives_forward_controller.hpp | 117 +++++ .../motion_type.hpp | 13 + ...imitives_forward_controller_parameters.hpp | 43 ++ .../visibility_control.h | 54 +++ ...on_primitives_controller_pkg.rolling.repos | 6 + ...ives_controller_pkg.rolling.upstream.repos | 6 + .../motion_primitives_controller_pkg.xml | 28 ++ motion_primitives_controller_pkg/package.xml | 35 ++ .../motion_primitives_forward_controller.cpp | 429 ++++++++++++++++++ .../motion_primitives_forward_controller.yaml | 52 +++ ..._primitives_forward_controller_params.yaml | 26 ++ ..._forward_controller_preceeding_params.yaml | 28 ++ ...d_motion_primitives_forward_controller.cpp | 44 ++ ...t_motion_primitives_forward_controller.cpp | 277 +++++++++++ ...t_motion_primitives_forward_controller.hpp | 274 +++++++++++ ...imitives_forward_controller_preceeding.cpp | 80 ++++ 20 files changed, 1671 insertions(+) create mode 100644 motion_primitives_controller_pkg/CMakeLists.txt create mode 100644 motion_primitives_controller_pkg/LICENSE create mode 100644 motion_primitives_controller_pkg/README.md create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp create mode 100644 motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos create mode 100644 motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml create mode 100644 motion_primitives_controller_pkg/package.xml create mode 100644 motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml create mode 100644 motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml create mode 100644 motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml create mode 100644 motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp create mode 100644 motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp diff --git a/motion_primitives_controller_pkg/CMakeLists.txt b/motion_primitives_controller_pkg/CMakeLists.txt new file mode 100644 index 0000000000..4ac8f424c8 --- /dev/null +++ b/motion_primitives_controller_pkg/CMakeLists.txt @@ -0,0 +1,112 @@ +cmake_minimum_required(VERSION 3.8) +project(motion_primitives_controller_pkg) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) +endif() + +# find dependencies +set(THIS_PACKAGE_INCLUDE_DEPENDS + control_msgs + controller_interface + hardware_interface + pluginlib + rclcpp + rclcpp_lifecycle + realtime_tools + std_srvs +) + +find_package(ament_cmake REQUIRED) +find_package(generate_parameter_library REQUIRED) +find_package(ament_cmake_gmock REQUIRED) +find_package(controller_manager REQUIRED) +find_package(hardware_interface REQUIRED) +find_package(ros2_control_test_assets REQUIRED) +find_package(industrial_robot_motion_interfaces REQUIRED) +foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) + find_package(${Dependency} REQUIRED) +endforeach() + +# Add motion_primitives_forward_controller library related compile commands +generate_parameter_library(motion_primitives_forward_controller_parameters + src/motion_primitives_forward_controller.yaml + include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp +) +add_library( + motion_primitives_forward_controller + SHARED + src/motion_primitives_forward_controller.cpp +) +target_include_directories(motion_primitives_forward_controller PUBLIC + "$" + "$") +target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) +ament_target_dependencies(motion_primitives_forward_controller + ${THIS_PACKAGE_INCLUDE_DEPENDS} + industrial_robot_motion_interfaces +) +target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") + +pluginlib_export_plugin_description_file( + controller_interface motion_primitives_controller_pkg.xml) + +install( + TARGETS + motion_primitives_forward_controller + RUNTIME DESTINATION bin + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib +) + +# install( +# DIRECTORY include/ +# DESTINATION include/${PROJECT_NAME} +# ) + +install( + DIRECTORY include/ + DESTINATION include +) + +if(BUILD_TESTING) + + ament_add_gmock(test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp) + target_include_directories(test_load_motion_primitives_forward_controller PRIVATE include) + ament_target_dependencies( + test_load_motion_primitives_forward_controller + controller_manager + hardware_interface + ros2_control_test_assets + ) + + # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) + # target_include_directories(test_motion_primitives_forward_controller PRIVATE include) + # target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + # ament_target_dependencies( + # test_motion_primitives_forward_controller + # controller_interface + # hardware_interface + # ) + + # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) + # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) + # target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + # ament_target_dependencies( + # test_motion_primitives_forward_controller_preceeding + # controller_interface + # hardware_interface + # ) +endif() + +ament_export_include_directories( + include +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_export_libraries( + motion_primitives_forward_controller +) + +ament_package() diff --git a/motion_primitives_controller_pkg/LICENSE b/motion_primitives_controller_pkg/LICENSE new file mode 100644 index 0000000000..574ef07902 --- /dev/null +++ b/motion_primitives_controller_pkg/LICENSE @@ -0,0 +1,25 @@ +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 the copyright holder 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 HOLDER 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. diff --git a/motion_primitives_controller_pkg/README.md b/motion_primitives_controller_pkg/README.md new file mode 100644 index 0000000000..dd7e2ae218 --- /dev/null +++ b/motion_primitives_controller_pkg/README.md @@ -0,0 +1,9 @@ +motion_primitives_controller_pkg +========================================== + +Package to control robots using motion primitives like PTP, LIN and CIRC + +![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) + + + diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp new file mode 100644 index 0000000000..1d2c101f4c --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp @@ -0,0 +1,13 @@ +#ifndef EXECUTION_STATE_HPP +#define EXECUTION_STATE_HPP + + +namespace ExecutionState +{ + static constexpr uint8_t IDLE = 0; + static constexpr uint8_t EXECUTING = 1; + static constexpr uint8_t SUCCESS = 2; + static constexpr uint8_t ERROR = 3; +} + +#endif // EXECUTION_STATE_HPP diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp new file mode 100644 index 0000000000..273cec3f3c --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp @@ -0,0 +1,117 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +#include +#include +#include +#include + +#include "controller_interface/controller_interface.hpp" +#include +#include "motion_primitives_controller_pkg/visibility_control.h" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "realtime_tools/realtime_buffer.hpp" +#include "realtime_tools/realtime_publisher.hpp" + +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "std_msgs/msg/int8.hpp" + + +namespace motion_primitives_controller_pkg +{ +// name constants for state interfaces +static constexpr size_t STATE_MY_ITFS = 0; + +// name constants for command interfaces +static constexpr size_t CMD_MY_ITFS = 0; + +class MotionPrimitivesForwardController : public controller_interface::ControllerInterface +{ +public: + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + MotionPrimitivesForwardController(); + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_init() override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::InterfaceConfiguration command_interface_configuration() const override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::InterfaceConfiguration state_interface_configuration() const override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_activate( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::CallbackReturn on_deactivate( + const rclcpp_lifecycle::State & previous_state) override; + + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC + controller_interface::return_type update( + const rclcpp::Time & time, const rclcpp::Duration & period) override; + + // state and command message types + using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using ControllerStateMsg = std_msgs::msg::Int8; + + +protected: + std::shared_ptr param_listener_; + motion_primitives_forward_controller::Params params_; + + // Command subscribers and Controller State publisher + rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; + // realtime_tools::RealtimeBuffer> input_ref_; + + using ControllerStatePublisher = realtime_tools::RealtimePublisher; + + rclcpp::Publisher::SharedPtr s_publisher_; + std::unique_ptr state_publisher_; + +private: + // callback for topic interface + MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL + void reference_callback(const std::shared_ptr msg); // callback for reference message + // std::atomic new_msg_available_ = false; // flag to indicate if new message is available + void reset_command_interfaces(); // Reset all command interfaces to NaN() + bool set_command_interfaces(); // Set command interfaces from the message + + std::queue> msg_queue_; + size_t queue_size_ = 0; + + bool was_executing_{false}; // Flag to check if the robot was executing a motion command + bool was_stopped_{false}; // Flag to check if the robot was stopped + bool first_cmd_{true}; // Flag to check if the first command is sent + + bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR +}; + +} // namespace motion_primitives_controller_pkg + +#endif // MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp new file mode 100644 index 0000000000..9a552043d0 --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp @@ -0,0 +1,13 @@ +#ifndef MOTION_TYPE_HPP +#define MOTION_TYPE_HPP + + +namespace MotionType +{ + static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value + static constexpr uint8_t LINEAR_CARTESIAN = 50; + static constexpr uint8_t CIRCULAR_CARTESIAN = 51; + static constexpr uint8_t STOP_MOTION = 66; // added to stop motion +} + +#endif // MOTION_TYPE_HPP diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp new file mode 100644 index 0000000000..d9c55b99b9 --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp @@ -0,0 +1,43 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ + +#include + +#include "parameter_traits/parameter_traits.hpp" + +namespace parameter_traits +{ +Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) +{ + auto const & interface_name = parameter.as_string(); + + if (interface_name.rfind("blup_", 0) == 0) + { + return ERROR("'interface_name' parameter can not start with 'blup_'"); + } + + return OK; +} + +} // namespace parameter_traits + +#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h new file mode 100644 index 0000000000..88afabcafa --- /dev/null +++ b/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h @@ -0,0 +1,54 @@ +// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ +#ifdef __GNUC__ +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((dllexport)) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __attribute__((dllimport)) +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __declspec(dllexport) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __declspec(dllimport) +#endif +#ifdef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_BUILDING_DLL +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT +#endif +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((visibility("default"))) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT +#if __GNUC__ >= 4 +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC __attribute__((visibility("default"))) +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL __attribute__((visibility("hidden"))) +#else +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL +#endif +#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE +#endif + +#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos new file mode 100644 index 0000000000..1b3910e7e7 --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos @@ -0,0 +1,6 @@ +repositories: + ## EXAMPLE DEPENDENCY +# : +# type: git +# url: git@github.com:/.git +# version: master diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos new file mode 100644 index 0000000000..1b3910e7e7 --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos @@ -0,0 +1,6 @@ +repositories: + ## EXAMPLE DEPENDENCY +# : +# type: git +# url: git@github.com:/.git +# version: master diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml new file mode 100644 index 0000000000..a2abd194ae --- /dev/null +++ b/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml @@ -0,0 +1,28 @@ + + + + + + MotionPrimitivesForwardController ros2_control controller. + + + diff --git a/motion_primitives_controller_pkg/package.xml b/motion_primitives_controller_pkg/package.xml new file mode 100644 index 0000000000..9f32bd1b7e --- /dev/null +++ b/motion_primitives_controller_pkg/package.xml @@ -0,0 +1,35 @@ + + + + motion_primitives_controller_pkg + 0.0.0 + Package to control robots using motion primitives like PTP, LIN and CIRC + mathias31415 + BSD-3-Clause + + ament_cmake + + generate_parameter_library + + control_msgs + + controller_interface + + hardware_interface + + pluginlib + + industrial_robot_motion_interfaces + + rclcpp + + rclcpp_lifecycle + + realtime_tools + + std_srvs + + + ament_cmake + + diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..a4d305a3b7 --- /dev/null +++ b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp @@ -0,0 +1,429 @@ +// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" + +#include +#include +#include +#include + +#include "controller_interface/helpers.hpp" +#include "motion_primitives_controller_pkg/motion_type.hpp" +#include "motion_primitives_controller_pkg/execution_state.hpp" + + +namespace +{ // utility + +// TODO(destogl): remove this when merged upstream +// Changed services history QoS to keep all so we don't lose any client service calls +static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { + RMW_QOS_POLICY_HISTORY_KEEP_ALL, + 1, // message queue depth + RMW_QOS_POLICY_RELIABILITY_RELIABLE, + RMW_QOS_POLICY_DURABILITY_VOLATILE, + RMW_QOS_DEADLINE_DEFAULT, + RMW_QOS_LIFESPAN_DEFAULT, + RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, + RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, + false}; + +using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; + +// reset the controller reference message to NaN +void reset_controller_reference_msg(std::shared_ptr & msg) +{ + msg->type = 0; + msg->blend_radius = std::numeric_limits::quiet_NaN(); + + for (auto & arg : msg->additional_arguments) { + arg.argument_name = ""; + arg.argument_value = std::numeric_limits::quiet_NaN(); + } + + for (auto & pose : msg->poses) { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + } +} + +} // namespace + + +namespace motion_primitives_controller_pkg +{ +MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() +{ + RCLCPP_INFO(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); + + try + { + param_listener_ = std::make_shared(get_node()); + } + catch (const std::exception & e) + { + fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_configure( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + RCLCPP_INFO(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); + + params_ = param_listener_->get_params(); + + // Check if the name is not empty + if (params_.name.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // Check if there are exactly 18 command interfaces + if (params_.command_interfaces.size() !=25) { // 1 status + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // Check if there is exactly one state interface + if (params_.state_interfaces.size() != 1) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); + return controller_interface::CallbackReturn::ERROR; + } + + // topics QoS + auto subscribers_qos = rclcpp::SystemDefaultsQoS(); + subscribers_qos.keep_last(1); + subscribers_qos.best_effort(); + + // Reference Subscriber + ref_subscriber_ = get_node()->create_subscription( + "~/reference", subscribers_qos, + std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); + + std::shared_ptr msg = std::make_shared(); + reset_controller_reference_msg(msg); + + queue_size_ = params_.queue_size; + if (queue_size_ == 0) { + RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); + return controller_interface::CallbackReturn::ERROR; + } + + try + { + // State publisher + s_publisher_ = + get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); + state_publisher_ = std::make_unique(s_publisher_); + } + catch (const std::exception & e) + { + fprintf( + stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", + e.what()); + return controller_interface::CallbackReturn::ERROR; + } + + RCLCPP_INFO(get_node()->get_logger(), "configure successful"); + return controller_interface::CallbackReturn::SUCCESS; +} + +// Function gets called when a new message is received +void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg) +{ + // Check if the type is one of the allowed motion types + switch (msg->type) + { + case MotionType::STOP_MOTION: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); + reset_command_interfaces(); // Reset all command interfaces to NaN + // TODO(mathias31415): Use mutex? + (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver + while (!msg_queue_.empty()) { // clear the queue + msg_queue_.pop(); + } + was_stopped_ = true; + return; + + case MotionType::LINEAR_JOINT: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); + // Check if joint positions are provided + if (msg->joint_positions.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); + return; + } + break; + + case MotionType::LINEAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); + // Check if poses are provided + if (msg->poses.empty()) { + RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); + return; + } + break; + + case MotionType::CIRCULAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); + // Check if poses are provided + if (msg->poses.size() != 2) { + RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); + return; + } + break; + + case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); + break; + + // Additional motion types can be added here + default: + RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); + return; + } + + // Check if the queue size is exceeded + if (msg_queue_.size() >= queue_size_) { + RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + return; + } + + msg_queue_.push(msg); +} + + +controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const +{ + controller_interface::InterfaceConfiguration command_interfaces_config; + command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + // Reserve memory for the command interfaces + command_interfaces_config.names.reserve(params_.command_interfaces.size()); + + // Iterate over all command interfaces from the config yaml file + for (const auto & interface_name : params_.command_interfaces) + { + // Combine the joint with the interface name and add it to the list + command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + } + return command_interfaces_config; +} + +controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::state_interface_configuration() const +{ + controller_interface::InterfaceConfiguration state_interfaces_config; + state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; + + // Reserve memory for the state interfaces + state_interfaces_config.names.reserve(params_.state_interfaces.size()); + + // Iterate over all state interfaces from the config yaml file + for (const auto & interface_name : params_.state_interfaces) + { + // Combine the joint with the interface name and add it to the list + state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + } + return state_interfaces_config; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); // Reset all command interfaces to NaN + RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); + return controller_interface::CallbackReturn::SUCCESS; +} + +controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deactivate( + const rclcpp_lifecycle::State & /*previous_state*/) +{ + reset_command_interfaces(); // Reset all command interfaces to NaN + RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); + return controller_interface::CallbackReturn::SUCCESS; +} + + +controller_interface::return_type MotionPrimitivesForwardController::update( + const rclcpp::Time & time, const rclcpp::Duration & /*period*/) +{ + // read the status from the state interface + // TODO(mathias31415) Is check needed if the value is .0? + uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + + // publish the state + state_publisher_->lock(); + state_publisher_->msg_.data = execution_status; + state_publisher_->unlockAndPublish(); + + if(!msg_queue_.empty()) + { + switch (execution_status) { + case ExecutionState::IDLE: // no motion primitive sent yet + print_error_once_ = true; + if(first_cmd_ || was_executing_ || was_stopped_){ + if(!set_command_interfaces()){ // Set the command interfaces with the current reference message + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + first_cmd_ = false; + was_executing_ = false; + was_stopped_ = false; + } + return controller_interface::return_type::OK; + + case ExecutionState::EXECUTING: // executing + if(!was_executing_){ + was_executing_ = true; + } + return controller_interface::return_type::OK; + + case ExecutionState::SUCCESS: // success + print_error_once_ = true; + if(was_executing_){ + was_executing_ = false; + if(!set_command_interfaces()){ // Set the command interfaces with the current reference message + return controller_interface::return_type::ERROR; + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + } + } + return controller_interface::return_type::OK; + + case ExecutionState::ERROR: // error + if(print_error_once_){ + print_error_once_ = false; + RCLCPP_ERROR(get_node()->get_logger(), "Error: Can't send new command, execution status is ERROR"); + } + return controller_interface::return_type::OK; + + default: + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + return controller_interface::return_type::ERROR; + } + } + return controller_interface::return_type::OK; +} + +// Reset Command-Interfaces to nan +void MotionPrimitivesForwardController::reset_command_interfaces() +{ + for (size_t i = 0; i < command_interfaces_.size(); ++i) + { + if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) { + RCLCPP_ERROR(get_node()->get_logger(), "Failed to reset command interface %ld", i); + } + } +} + +// Set command interfaces from the message, gets called in the update function +bool MotionPrimitivesForwardController::set_command_interfaces() +{ + // Get the oldest message from the queue + std::shared_ptr current_ref = msg_queue_.front(); + msg_queue_.pop(); + + // Check if the message is valid + if (!current_ref){ + RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + return false; + } + + // Set the motion_type + (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + + // Process joint positions if available + if (!current_ref->joint_positions.empty()) + { + for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) + { + (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + } + } + + // Process Cartesian poses if available + if (!current_ref->poses.empty()) + { + const auto & goal_pose = current_ref->poses[0].pose; // goal pose + (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x + (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y + (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z + (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx + (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy + (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz + (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw + + // Process via poses if available (only for circular motion) + if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) + { + const auto & via_pose = current_ref->poses[1].pose; // via pose + (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x + (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y + (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z + (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx + (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy + (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz + (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw + } + } + + // Set blend_radius + (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + + // Read additional arguments + for (const auto &arg : current_ref->additional_arguments) + { + if (arg.argument_name == "velocity") + { + (void)command_interfaces_[22].set_value(arg.argument_value); + } + else if (arg.argument_name == "acceleration") + { + (void)command_interfaces_[23].set_value(arg.argument_value); + } + else if (arg.argument_name == "move_time") + { + (void)command_interfaces_[24].set_value(arg.argument_value); + } + else + { + RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + } + } + return true; +} + + +} // namespace motion_primitives_controller_pkg + +#include "pluginlib/class_list_macros.hpp" + +PLUGINLIB_EXPORT_CLASS( + motion_primitives_controller_pkg::MotionPrimitivesForwardController, controller_interface::ControllerInterface) diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml new file mode 100644 index 0000000000..8c4ec46897 --- /dev/null +++ b/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml @@ -0,0 +1,52 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. + + +motion_primitives_forward_controller: + name: { + type: string, + default_value: "", + description: "Name for /", + read_only: true, + } + command_interfaces: { + type: string_array, + default_value: [], + description: "Names of the command interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } + state_interfaces: { + type: string_array, + default_value: [], + description: "Names of the state interfaces used by the controller.", + read_only: true, + validation: { + unique<>: null, + not_empty<>: null, + } + } + queue_size: { + type: int, + default_value: 10, + description: "Queue size to buffer incoming commands", + read_only: true, + } diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml new file mode 100644 index 0000000000..6be68ba92e --- /dev/null +++ b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml @@ -0,0 +1,26 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# + +test_motion_primitives_forward_controller: + ros__parameters: + + joints: + - joint1 + + interface_name: acceleration diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml new file mode 100644 index 0000000000..1bcadb0c65 --- /dev/null +++ b/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -0,0 +1,28 @@ +# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Source of this file are templates in +# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# + +test_motion_primitives_forward_controller: + ros__parameters: + joints: + - joint1 + + interface_name: acceleration + + state_joints: + - joint1state diff --git a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..c660587acc --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp @@ -0,0 +1,44 @@ +// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// +// Source of this file are templates in +// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// + +#include +#include + +#include "controller_manager/controller_manager.hpp" +#include "hardware_interface/resource_manager.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/executors/single_threaded_executor.hpp" +#include "rclcpp/utilities.hpp" +#include "ros2_control_test_assets/descriptions.hpp" + +TEST(TestLoadMotionPrimitivesForwardController, load_controller) +{ + rclcpp::init(0, nullptr); + + std::shared_ptr executor = + std::make_shared(); + + controller_manager::ControllerManager cm( + executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); + + ASSERT_NO_THROW( + cm.load_controller("test_motion_primitives_controller_pkg", "motion_primitives_controller_pkg/MotionPrimitivesForwardController")); + + rclcpp::shutdown(); +} diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp new file mode 100644 index 0000000000..de939ba81b --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp @@ -0,0 +1,277 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #include +// #include +// #include +// #include +// #include + +// #include "rclcpp/rclcpp.hpp" +// #include "test_motion_primitives_forward_controller.hpp" + +// using motion_primitives_controller_pkg::CMD_MY_ITFS; +// using motion_primitives_controller_pkg::control_mode_type; +// using motion_primitives_controller_pkg::STATE_MY_ITFS; + +// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +// { +// }; + +// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +// { +// SetUpController(); + +// ASSERT_TRUE(controller_->params_.joints.empty()); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_TRUE(controller_->params_.interface_name.empty()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); +// ASSERT_EQ(controller_->params_.interface_name, interface_name_); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// auto command_intefaces = controller_->command_interface_configuration(); +// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); +// for (size_t i = 0; i < command_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } + +// auto state_intefaces = controller_->state_interface_configuration(); +// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); +// for (size_t i = 0; i < state_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, activate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // check that the message is reset +// auto msg = controller_->input_ref_.readFromNonRT(); +// EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); +// for (const auto & cmd : (*msg)->displacements) +// { +// EXPECT_TRUE(std::isnan(cmd)); +// } +// EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); +// for (const auto & cmd : (*msg)->velocities) +// { +// EXPECT_TRUE(std::isnan(cmd)); +// } + +// ASSERT_TRUE(std::isnan((*msg)->duration)); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, update_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); +// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) +// { +// SetUpController(); + +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// // initially set to false +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // should stay false +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + +// // set to true +// ASSERT_NO_THROW(call_service(true, executor)); +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + +// // set back to false +// ASSERT_NO_THROW(call_service(false, executor)); +// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // set command statically +// static constexpr double TEST_DISPLACEMENT = 23.24; +// std::shared_ptr msg = std::make_shared(); +// msg->joint_names = joint_names_; +// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); +// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); +// msg->duration = std::numeric_limits::quiet_NaN(); +// controller_->input_ref_.writeFromNonRT(msg); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); +// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); +// executor.add_node(service_caller_node_->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// // set command statically +// static constexpr double TEST_DISPLACEMENT = 23.24; +// std::shared_ptr msg = std::make_shared(); +// // When slow mode is enabled command ends up being half of the value +// msg->joint_names = joint_names_; +// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); +// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); +// msg->duration = std::numeric_limits::quiet_NaN(); +// controller_->input_ref_.writeFromNonRT(msg); +// controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); + +// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); +// ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); +// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// ControllerStateMsg msg; +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 101.101); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) +// { +// SetUpController(); +// rclcpp::executors::MultiThreadedExecutor executor; +// executor.add_node(controller_->get_node()->get_node_base_interface()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); +// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// ControllerStateMsg msg; +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 101.101); + +// publish_commands(); +// ASSERT_TRUE(controller_->wait_for_commands(executor)); + +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + +// subscribe_and_get_messages(msg); + +// ASSERT_EQ(msg.set_point, 0.45); +// } + +// int main(int argc, char ** argv) +// { +// ::testing::InitGoogleTest(&argc, argv); +// rclcpp::init(argc, argv); +// int result = RUN_ALL_TESTS(); +// rclcpp::shutdown(); +// return result; +// } diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp new file mode 100644 index 0000000000..61b72494a1 --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp @@ -0,0 +1,274 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +// #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +// #include +// #include +// #include +// #include +// #include +// #include +// #include + +// #include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +// #include "gmock/gmock.h" +// #include "hardware_interface/loaned_command_interface.hpp" +// #include "hardware_interface/loaned_state_interface.hpp" +// #include "hardware_interface/types/hardware_interface_return_values.hpp" +// #include "rclcpp/executor.hpp" +// #include "rclcpp/parameter_value.hpp" +// #include "rclcpp/time.hpp" +// #include "rclcpp/utilities.hpp" +// #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +// // TODO(anyone): replace the state and command message types +// using ControllerStateMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerStateMsg; +// using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; +// using ControllerModeSrvType = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerModeSrvType; + +// namespace +// { +// constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; +// constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; +// } // namespace + +// // subclassing and friending so we can access member variables +// class TestableMotionPrimitivesForwardController : public motion_primitives_controller_pkg::MotionPrimitivesForwardController +// { +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); +// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); + +// public: +// controller_interface::CallbackReturn on_configure( +// const rclcpp_lifecycle::State & previous_state) override +// { +// auto ret = motion_primitives_controller_pkg::MotionPrimitivesForwardController::on_configure(previous_state); +// // Only if on_configure is successful create subscription +// if (ret == CallbackReturn::SUCCESS) +// { +// ref_subscriber_wait_set_.add_subscription(ref_subscriber_); +// } +// return ret; +// } + +// /** +// * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. +// * Requires that the executor is not spinned elsewhere between the +// * message publication and the call to this function. +// * +// * @return true if new ControllerReferenceMsg msg was received, false if timeout. +// */ +// bool wait_for_command( +// rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, +// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) +// { +// bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; +// if (success) +// { +// executor.spin_some(); +// } +// return success; +// } + +// bool wait_for_commands( +// rclcpp::Executor & executor, +// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) +// { +// return wait_for_command(executor, ref_subscriber_wait_set_, timeout); +// } + +// // TODO(anyone): add implementation of any methods of your controller is needed + +// private: +// rclcpp::WaitSet ref_subscriber_wait_set_; +// }; + +// // We are using template class here for easier reuse of Fixture in specializations of controllers +// template +// class MotionPrimitivesForwardControllerFixture : public ::testing::Test +// { +// public: +// static void SetUpTestCase() {} + +// void SetUp() +// { +// // initialize controller +// controller_ = std::make_unique(); + +// command_publisher_node_ = std::make_shared("command_publisher"); +// command_publisher_ = command_publisher_node_->create_publisher( +// "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); + +// service_caller_node_ = std::make_shared("service_caller"); +// slow_control_service_client_ = service_caller_node_->create_client( +// "/test_motion_primitives_forward_controller/set_slow_control_mode"); +// } + +// static void TearDownTestCase() {} + +// void TearDown() { controller_.reset(nullptr); } + +// protected: +// void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") +// { +// ASSERT_EQ( +// controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), +// controller_interface::return_type::OK); + +// std::vector command_ifs; +// command_itfs_.reserve(joint_command_values_.size()); +// command_ifs.reserve(joint_command_values_.size()); + +// for (size_t i = 0; i < joint_command_values_.size(); ++i) +// { +// command_itfs_.emplace_back(hardware_interface::CommandInterface( +// joint_names_[i], interface_name_, &joint_command_values_[i])); +// command_ifs.emplace_back(command_itfs_.back()); +// } +// // TODO(anyone): Add other command interfaces, if any + +// std::vector state_ifs; +// state_itfs_.reserve(joint_state_values_.size()); +// state_ifs.reserve(joint_state_values_.size()); + +// for (size_t i = 0; i < joint_state_values_.size(); ++i) +// { +// state_itfs_.emplace_back(hardware_interface::StateInterface( +// joint_names_[i], interface_name_, &joint_state_values_[i])); +// state_ifs.emplace_back(state_itfs_.back()); +// } +// // TODO(anyone): Add other state interfaces, if any + +// controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); +// } + +// void subscribe_and_get_messages(ControllerStateMsg & msg) +// { +// // create a new subscriber +// rclcpp::Node test_subscription_node("test_subscription_node"); +// auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; +// auto subscription = test_subscription_node.create_subscription( +// "/test_motion_primitives_forward_controller/state", 10, subs_callback); + +// // call update to publish the test value +// ASSERT_EQ( +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), +// controller_interface::return_type::OK); + +// // call update to publish the test value +// // since update doesn't guarantee a published message, republish until received +// int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop +// rclcpp::WaitSet wait_set; // block used to wait on message +// wait_set.add_subscription(subscription); +// while (max_sub_check_loop_count--) +// { +// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); +// // check if message has been received +// if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) +// { +// break; +// } +// } +// ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " +// "controller/broadcaster update loop"; + +// // take message from subscription +// rclcpp::MessageInfo msg_info; +// ASSERT_TRUE(subscription->take(msg, msg_info)); +// } + +// // TODO(anyone): add/remove arguments as it suites your command message type +// void publish_commands( +// const std::vector & displacements = {0.45}, +// const std::vector & velocities = {0.0}, const double duration = 1.25) +// { +// auto wait_for_topic = [&](const auto topic_name) +// { +// size_t wait_count = 0; +// while (command_publisher_node_->count_subscribers(topic_name) == 0) +// { +// if (wait_count >= 5) +// { +// auto error_msg = +// std::string("publishing to ") + topic_name + " but no node subscribes to it"; +// throw std::runtime_error(error_msg); +// } +// std::this_thread::sleep_for(std::chrono::milliseconds(100)); +// ++wait_count; +// } +// }; + +// wait_for_topic(command_publisher_->get_topic_name()); + +// ControllerReferenceMsg msg; +// msg.joint_names = joint_names_; +// msg.displacements = displacements; +// msg.velocities = velocities; +// msg.duration = duration; + +// command_publisher_->publish(msg); +// } + +// std::shared_ptr call_service( +// const bool slow_control, rclcpp::Executor & executor) +// { +// auto request = std::make_shared(); +// request->data = slow_control; + +// bool wait_for_service_ret = +// slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); +// EXPECT_TRUE(wait_for_service_ret); +// if (!wait_for_service_ret) +// { +// throw std::runtime_error("Services is not available!"); +// } +// auto result = slow_control_service_client_->async_send_request(request); +// EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + +// return result.get(); +// } + +// protected: +// // TODO(anyone): adjust the members as needed + +// // Controller-related parameters +// std::vector joint_names_ = {"joint1"}; +// std::vector state_joint_names_ = {"joint1state"}; +// std::string interface_name_ = "acceleration"; +// std::array joint_state_values_ = {1.1}; +// std::array joint_command_values_ = {101.101}; + +// std::vector state_itfs_; +// std::vector command_itfs_; + +// // Test related parameters +// std::unique_ptr controller_; +// rclcpp::Node::SharedPtr command_publisher_node_; +// rclcpp::Publisher::SharedPtr command_publisher_; +// rclcpp::Node::SharedPtr service_caller_node_; +// rclcpp::Client::SharedPtr slow_control_service_client_; +// }; + +// #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp new file mode 100644 index 0000000000..2699961d58 --- /dev/null +++ b/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -0,0 +1,80 @@ +// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// // +// // Licensed under the Apache License, Version 2.0 (the "License"); +// // you may not use this file except in compliance with the License. +// // You may obtain a copy of the License at +// // +// // http://www.apache.org/licenses/LICENSE-2.0 +// // +// // Unless required by applicable law or agreed to in writing, software +// // distributed under the License is distributed on an "AS IS" BASIS, +// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// // See the License for the specific language governing permissions and +// // limitations under the License. + +// // +// // Source of this file are templates in +// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// // + +// #include "test_motion_primitives_forward_controller.hpp" + +// #include +// #include +// #include +// #include +// #include + +// using motion_primitives_controller_pkg::CMD_MY_ITFS; +// using motion_primitives_controller_pkg::control_mode_type; +// using motion_primitives_controller_pkg::STATE_MY_ITFS; + +// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +// { +// }; + +// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +// { +// SetUpController(); + +// ASSERT_TRUE(controller_->params_.joints.empty()); +// ASSERT_TRUE(controller_->params_.state_joints.empty()); +// ASSERT_TRUE(controller_->params_.interface_name.empty()); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); +// ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); +// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); +// ASSERT_EQ(controller_->params_.interface_name, interface_name_); +// } + +// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +// { +// SetUpController(); + +// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + +// auto command_intefaces = controller_->command_interface_configuration(); +// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); +// for (size_t i = 0; i < command_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); +// } + +// auto state_intefaces = controller_->state_interface_configuration(); +// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); +// for (size_t i = 0; i < state_intefaces.names.size(); ++i) +// { +// EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); +// } +// } + +// int main(int argc, char ** argv) +// { +// ::testing::InitGoogleTest(&argc, argv); +// rclcpp::init(argc, argv); +// int result = RUN_ALL_TESTS(); +// rclcpp::shutdown(); +// return result; +// } From 6ed1181f75c1f7f4692ae707288213b8f2e7ae1e Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Apr 2025 15:25:01 +0200 Subject: [PATCH 03/70] renamed motion_primitives_controller_pkg to motion_primitives_forward_controller --- .../CMakeLists.txt | 6 +++--- .../LICENSE | 0 .../README.md | 2 +- .../execution_state.hpp | 0 .../motion_primitives_forward_controller.hpp | 14 +++++++------- .../motion_type.hpp | 0 ...on_primitives_forward_controller_parameters.hpp | 0 .../visibility_control.h | 0 ...rimitives_controller_pkg.rolling.upstream.repos | 0 ...ion_primitives_forward_controller.rolling.repos | 0 .../motion_primitives_forward_controller.xml | 4 ++-- .../package.xml | 2 +- .../src/motion_primitives_forward_controller.cpp | 14 +++++++------- .../src/motion_primitives_forward_controller.yaml | 0 ...otion_primitives_forward_controller_params.yaml | 0 ...tives_forward_controller_preceeding_params.yaml | 0 ...t_load_motion_primitives_forward_controller.cpp | 2 +- .../test_motion_primitives_forward_controller.cpp | 6 +++--- .../test_motion_primitives_forward_controller.hpp | 12 ++++++------ ...on_primitives_forward_controller_preceeding.cpp | 6 +++--- 20 files changed, 34 insertions(+), 34 deletions(-) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/CMakeLists.txt (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/LICENSE (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/README.md (83%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/execution_state.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/motion_primitives_forward_controller.hpp (89%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/motion_type.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/validate_motion_primitives_forward_controller_parameters.hpp (100%) rename {motion_primitives_controller_pkg/include/motion_primitives_controller_pkg => motion_primitives_forward_controller/include/motion_primitives_forward_controller}/visibility_control.h (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/motion_primitives_controller_pkg.rolling.upstream.repos (100%) rename motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos => motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos (100%) rename motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml => motion_primitives_forward_controller/motion_primitives_forward_controller.xml (79%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/package.xml (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/src/motion_primitives_forward_controller.cpp (96%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/src/motion_primitives_forward_controller.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/motion_primitives_forward_controller_params.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/motion_primitives_forward_controller_preceeding_params.yaml (100%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_load_motion_primitives_forward_controller.cpp (91%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller.cpp (98%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller.hpp (94%) rename {motion_primitives_controller_pkg => motion_primitives_forward_controller}/test/test_motion_primitives_forward_controller_preceeding.cpp (93%) diff --git a/motion_primitives_controller_pkg/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt similarity index 94% rename from motion_primitives_controller_pkg/CMakeLists.txt rename to motion_primitives_forward_controller/CMakeLists.txt index 4ac8f424c8..c73778c958 100644 --- a/motion_primitives_controller_pkg/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(motion_primitives_controller_pkg) +project(motion_primitives_forward_controller) if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) @@ -31,7 +31,7 @@ endforeach() # Add motion_primitives_forward_controller library related compile commands generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml - include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp + include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp ) add_library( motion_primitives_forward_controller @@ -49,7 +49,7 @@ ament_target_dependencies(motion_primitives_forward_controller target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") pluginlib_export_plugin_description_file( - controller_interface motion_primitives_controller_pkg.xml) + controller_interface motion_primitives_forward_controller.xml) install( TARGETS diff --git a/motion_primitives_controller_pkg/LICENSE b/motion_primitives_forward_controller/LICENSE similarity index 100% rename from motion_primitives_controller_pkg/LICENSE rename to motion_primitives_forward_controller/LICENSE diff --git a/motion_primitives_controller_pkg/README.md b/motion_primitives_forward_controller/README.md similarity index 83% rename from motion_primitives_controller_pkg/README.md rename to motion_primitives_forward_controller/README.md index dd7e2ae218..2a7aba8649 100644 --- a/motion_primitives_controller_pkg/README.md +++ b/motion_primitives_forward_controller/README.md @@ -1,4 +1,4 @@ -motion_primitives_controller_pkg +motion_primitives_forward_controller ========================================== Package to control robots using motion primitives like PTP, LIN and CIRC diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/execution_state.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp similarity index 89% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 273cec3f3c..9924017d48 100644 --- a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -17,8 +17,8 @@ // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // -#ifndef MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -#define MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include #include @@ -26,8 +26,8 @@ #include #include "controller_interface/controller_interface.hpp" -#include -#include "motion_primitives_controller_pkg/visibility_control.h" +#include +#include "motion_primitives_forward_controller/visibility_control.h" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -37,7 +37,7 @@ #include "std_msgs/msg/int8.hpp" -namespace motion_primitives_controller_pkg +namespace motion_primitives_forward_controller { // name constants for state interfaces static constexpr size_t STATE_MY_ITFS = 0; @@ -112,6 +112,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; -} // namespace motion_primitives_controller_pkg +} // namespace motion_primitives_forward_controller -#endif // MOTION_PRIMITIVES_CONTROLLER_PKG__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/motion_type.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/validate_motion_primitives_forward_controller_parameters.hpp rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp diff --git a/motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h similarity index 100% rename from motion_primitives_controller_pkg/include/motion_primitives_controller_pkg/visibility_control.h rename to motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos similarity index 100% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.upstream.repos rename to motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos b/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos similarity index 100% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.rolling.repos rename to motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos diff --git a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml similarity index 79% rename from motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml rename to motion_primitives_forward_controller/motion_primitives_forward_controller.xml index a2abd194ae..1d9ac20e10 100644 --- a/motion_primitives_controller_pkg/motion_primitives_controller_pkg.xml +++ b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml @@ -19,8 +19,8 @@ Source of this file are templates in --> - + MotionPrimitivesForwardController ros2_control controller. diff --git a/motion_primitives_controller_pkg/package.xml b/motion_primitives_forward_controller/package.xml similarity index 94% rename from motion_primitives_controller_pkg/package.xml rename to motion_primitives_forward_controller/package.xml index 9f32bd1b7e..1265dac284 100644 --- a/motion_primitives_controller_pkg/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -1,7 +1,7 @@ - motion_primitives_controller_pkg + motion_primitives_forward_controller 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC mathias31415 diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp similarity index 96% rename from motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a4d305a3b7..4067fd88cc 100644 --- a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -17,7 +17,7 @@ // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // -#include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include #include @@ -25,8 +25,8 @@ #include #include "controller_interface/helpers.hpp" -#include "motion_primitives_controller_pkg/motion_type.hpp" -#include "motion_primitives_controller_pkg/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" +#include "motion_primitives_forward_controller/execution_state.hpp" namespace @@ -45,7 +45,7 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; -using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; +using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; // reset the controller reference message to NaN void reset_controller_reference_msg(std::shared_ptr & msg) @@ -73,7 +73,7 @@ void reset_controller_reference_msg(std::shared_ptr & ms } // namespace -namespace motion_primitives_controller_pkg +namespace motion_primitives_forward_controller { MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} @@ -421,9 +421,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } -} // namespace motion_primitives_controller_pkg +} // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - motion_primitives_controller_pkg::MotionPrimitivesForwardController, controller_interface::ControllerInterface) + motion_primitives_forward_controller::MotionPrimitivesForwardController, controller_interface::ControllerInterface) diff --git a/motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml similarity index 100% rename from motion_primitives_controller_pkg/src/motion_primitives_forward_controller.yaml rename to motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml similarity index 100% rename from motion_primitives_controller_pkg/test/motion_primitives_forward_controller_params.yaml rename to motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml diff --git a/motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml similarity index 100% rename from motion_primitives_controller_pkg/test/motion_primitives_forward_controller_preceeding_params.yaml rename to motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml diff --git a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp similarity index 91% rename from motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index c660587acc..2c7a6d38cc 100644 --- a/motion_primitives_controller_pkg/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -38,7 +38,7 @@ TEST(TestLoadMotionPrimitivesForwardController, load_controller) executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); ASSERT_NO_THROW( - cm.load_controller("test_motion_primitives_controller_pkg", "motion_primitives_controller_pkg/MotionPrimitivesForwardController")); + cm.load_controller("test_motion_primitives_forward_controller", "motion_primitives_forward_controller/MotionPrimitivesForwardController")); rclcpp::shutdown(); } diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp similarity index 98% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index de939ba81b..01e062623f 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -26,9 +26,9 @@ // #include "rclcpp/rclcpp.hpp" // #include "test_motion_primitives_forward_controller.hpp" -// using motion_primitives_controller_pkg::CMD_MY_ITFS; -// using motion_primitives_controller_pkg::control_mode_type; -// using motion_primitives_controller_pkg::STATE_MY_ITFS; +// using motion_primitives_forward_controller::CMD_MY_ITFS; +// using motion_primitives_forward_controller::control_mode_type; +// using motion_primitives_forward_controller::STATE_MY_ITFS; // class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture // { diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp similarity index 94% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 61b72494a1..deb3122f0d 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -28,7 +28,7 @@ // #include // #include -// #include "motion_primitives_controller_pkg/motion_primitives_forward_controller.hpp" +// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" // #include "gmock/gmock.h" // #include "hardware_interface/loaned_command_interface.hpp" // #include "hardware_interface/loaned_state_interface.hpp" @@ -40,9 +40,9 @@ // #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" // // TODO(anyone): replace the state and command message types -// using ControllerStateMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerStateMsg; -// using ControllerReferenceMsg = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerReferenceMsg; -// using ControllerModeSrvType = motion_primitives_controller_pkg::MotionPrimitivesForwardController::ControllerModeSrvType; +// using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; +// using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; +// using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; // namespace // { @@ -51,7 +51,7 @@ // } // namespace // // subclassing and friending so we can access member variables -// class TestableMotionPrimitivesForwardController : public motion_primitives_controller_pkg::MotionPrimitivesForwardController +// class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController // { // FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); // FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); @@ -64,7 +64,7 @@ // controller_interface::CallbackReturn on_configure( // const rclcpp_lifecycle::State & previous_state) override // { -// auto ret = motion_primitives_controller_pkg::MotionPrimitivesForwardController::on_configure(previous_state); +// auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); // // Only if on_configure is successful create subscription // if (ret == CallbackReturn::SUCCESS) // { diff --git a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp similarity index 93% rename from motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp rename to motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 2699961d58..0c0f13a949 100644 --- a/motion_primitives_controller_pkg/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -25,9 +25,9 @@ // #include // #include -// using motion_primitives_controller_pkg::CMD_MY_ITFS; -// using motion_primitives_controller_pkg::control_mode_type; -// using motion_primitives_controller_pkg::STATE_MY_ITFS; +// using motion_primitives_forward_controller::CMD_MY_ITFS; +// using motion_primitives_forward_controller::control_mode_type; +// using motion_primitives_forward_controller::STATE_MY_ITFS; // class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture // { From 9074829833d03d3ef12fa8a860f65ab49f614048 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 10:47:58 +0200 Subject: [PATCH 04/70] added functionallity to execute multiple primitives as a motion sequence --- .../motion_primitives_forward_controller/motion_type.hpp | 6 +++++- .../src/motion_primitives_forward_controller.cpp | 8 ++++++++ 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 9a552043d0..ac1fda9b0b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -3,11 +3,15 @@ namespace MotionType -{ +{ // Motion Primitives static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value static constexpr uint8_t LINEAR_CARTESIAN = 50; static constexpr uint8_t CIRCULAR_CARTESIAN = 51; + + // Helper types static constexpr uint8_t STOP_MOTION = 66; // added to stop motion + static constexpr uint8_t MOTION_SEQUENCE_START = 100; // added to indicate motion sequence instead of executing single primitives + static constexpr uint8_t MOTION_SEQUENCE_END = 101; // added to indicate end of motion sequence } #endif // MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4067fd88cc..72c4a80b13 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -201,6 +201,14 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr } break; + case MotionType::MOTION_SEQUENCE_START: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_START"); + break; + + case MotionType::MOTION_SEQUENCE_END: + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); + break; + case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); break; From 2cf7b094bb5ce79345df317e5a4a690e3066ac85 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 13:27:24 +0200 Subject: [PATCH 05/70] =?UTF-8?q?Added=20new=20state=20interface=20ready?= =?UTF-8?q?=5Ffor=5Fnew=5Fprimitive=20to=20indicate=20whether=20the=20hard?= =?UTF-8?q?ware=20interface=20can=20receive=20a=20new=20motion=20primitive?= =?UTF-8?q?=20=E2=80=94=20replaces=20the=20previous,=20more=20complex=20ha?= =?UTF-8?q?ndling=20via=20execution=5Fstatus?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../motion_primitives_forward_controller.hpp | 6 +- .../ready_for_new_primitive.hpp | 11 +++ .../motion_primitives_forward_controller.cpp | 91 ++++++++++--------- 3 files changed, 59 insertions(+), 49 deletions(-) create mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 9924017d48..850aad7746 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -104,11 +104,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; size_t queue_size_ = 0; - - bool was_executing_{false}; // Flag to check if the robot was executing a motion command - bool was_stopped_{false}; // Flag to check if the robot was stopped - bool first_cmd_{true}; // Flag to check if the first command is sent - + bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp new file mode 100644 index 0000000000..26b0c01dbc --- /dev/null +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -0,0 +1,11 @@ +#ifndef READY_FOR_NEW_PRIMITIVE_HPP +#define READY_FOR_NEW_PRIMITIVE_HPP + + +namespace ReadyForNewPrimitive +{ + static constexpr uint8_t NOT_READY = 0; + static constexpr uint8_t READY = 1; +} + +#endif // READY_FOR_NEW_PRIMITIVE_HPP diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 72c4a80b13..524222b874 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -27,7 +27,7 @@ #include "controller_interface/helpers.hpp" #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" - +#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace { // utility @@ -107,14 +107,14 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - // Check if there are exactly 18 command interfaces - if (params_.command_interfaces.size() !=25) { // 1 status + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + // Check if there are exactly 25 command interfaces + if (params_.command_interfaces.size() !=25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } - // Check if there is exactly one state interface - if (params_.state_interfaces.size() != 1) { + // Check if there are exactly 2 state interfaces + if (params_.state_interfaces.size() != 2) { // execution_status + ready_for_new_primitive RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); return controller_interface::CallbackReturn::ERROR; } @@ -171,7 +171,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } - was_stopped_ = true; return; case MotionType::LINEAR_JOINT: @@ -287,53 +286,57 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // TODO(mathias31415) Is check needed if the value is .0? uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); - // publish the state + switch (execution_status) { + case ExecutionState::IDLE: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); + print_error_once_ = true; + break; + case ExecutionState::EXECUTING: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); + print_error_once_ = true; + break; + + case ExecutionState::SUCCESS: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); + print_error_once_ = true; + break; + + case ExecutionState::ERROR: + if (print_error_once_) { + RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); + print_error_once_ = false; + } + break; + + default: + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + return controller_interface::return_type::ERROR; + } + + // publish the execution_status state_publisher_->lock(); state_publisher_->msg_.data = execution_status; state_publisher_->unlockAndPublish(); - if(!msg_queue_.empty()) - { - switch (execution_status) { - case ExecutionState::IDLE: // no motion primitive sent yet - print_error_once_ = true; - if(first_cmd_ || was_executing_ || was_stopped_){ - if(!set_command_interfaces()){ // Set the command interfaces with the current reference message - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; - } - first_cmd_ = false; - was_executing_ = false; - was_stopped_ = false; - } - return controller_interface::return_type::OK; - - case ExecutionState::EXECUTING: // executing - if(!was_executing_){ - was_executing_ = true; - } - return controller_interface::return_type::OK; + // TODO(mathias31415) Is check needed if the value is .0? + uint8_t ready_for_new_primitive = static_cast(std::round(state_interfaces_[1].get_value())); - case ExecutionState::SUCCESS: // success - print_error_once_ = true; - if(was_executing_){ - was_executing_ = false; - if(!set_command_interfaces()){ // Set the command interfaces with the current reference message - return controller_interface::return_type::ERROR; - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - } - } + // sending new command? + if(!msg_queue_.empty()) // check if new command is available + { + switch (ready_for_new_primitive) { + case ReadyForNewPrimitive::NOT_READY:{ // hw-interface is not ready for a new command return controller_interface::return_type::OK; - - case ExecutionState::ERROR: // error - if(print_error_once_){ - print_error_once_ = false; - RCLCPP_ERROR(get_node()->get_logger(), "Error: Can't send new command, execution status is ERROR"); + } + case ReadyForNewPrimitive::READY:{ // hw-interface is ready for a new command + if(!set_command_interfaces()){ // Set the command interfaces with next motion primitive + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; } return controller_interface::return_type::OK; - + } default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", ready_for_new_primitive); return controller_interface::return_type::ERROR; } } From c09d1fdba73abaf8eec3d7afbe88338a7b6992a2 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Apr 2025 13:35:07 +0200 Subject: [PATCH 06/70] removed case 33 block with hardcoded motion sequence (was only for testing) --- .../src/motion_primitives_forward_controller.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 524222b874..211e8af363 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -208,10 +208,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); break; - case 33: // TODO(mathias31415): remove case 33 block with hardcoded motion sequence, only for testing - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: 33 (testing hardcoded motion sequence)"); - break; - // Additional motion types can be added here default: RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); From f4abcbd897ed62264dcdc1cc50863cc176b05ef6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 13:32:45 +0200 Subject: [PATCH 07/70] removed mail --- motion_primitives_forward_controller/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 1265dac284..537b46911e 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -4,7 +4,8 @@ motion_primitives_forward_controller 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC - mathias31415 + todo + Mathias Fuhrer BSD-3-Clause ament_cmake From 79e47bec8dde89eac4d55f13843343a4be5b317f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 13:33:03 +0200 Subject: [PATCH 08/70] added command_mutex_ --- .../motion_primitives_forward_controller.hpp | 2 ++ .../src/motion_primitives_forward_controller.cpp | 6 ++++-- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 850aad7746..13f2c4e134 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -104,6 +104,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; size_t queue_size_ = 0; + + std::mutex command_mutex_; bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR }; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 211e8af363..f08a0dcea6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -163,15 +163,16 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr // Check if the type is one of the allowed motion types switch (msg->type) { - case MotionType::STOP_MOTION: + case MotionType::STOP_MOTION:{ RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); // Reset all command interfaces to NaN - // TODO(mathias31415): Use mutex? + std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } return; + } case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); @@ -353,6 +354,7 @@ void MotionPrimitivesForwardController::reset_command_interfaces() // Set command interfaces from the message, gets called in the update function bool MotionPrimitivesForwardController::set_command_interfaces() { + std::lock_guard guard(command_mutex_); // Get the oldest message from the queue std::shared_ptr current_ref = msg_queue_.front(); msg_queue_.pop(); From 316ad5496389404c5af3d75fca9e17ea1a9523a6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 10 Apr 2025 16:26:43 +0200 Subject: [PATCH 09/70] edited readme --- .../README.md | 42 +++++++++++++++++- ...s2_control_motion_primitives_ur.drawio.png | Bin 0 -> 458182 bytes 2 files changed, 41 insertions(+), 1 deletion(-) create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 2a7aba8649..28f64f47b0 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -1,9 +1,49 @@ motion_primitives_forward_controller ========================================== -Package to control robots using motion primitives like PTP, LIN and CIRC +Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) ![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) +This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. +## Features + +- Support for basic motion primitives: + - `LINEAR_JOINT` + - `LINEAR_CARTESIAN` + - `CIRCULAR_CARTESIAN` +- Additional helper types: + - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue. + - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. + +## Architecture Overview +The following diagram shows the architecture for a UR robot. +For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. + +![UR Robot Architecture](doc/ros2_control_motion_primitives_ur.drawio.png) + + +1. **Command Reception** + Python scripts can publish motion primitives to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + +2. **Command Handling Logic** + - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. + - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. + +3. **Motion Execution Flow** + The `update()` method in the controller: + - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. + - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. + +4. **Sequencing Logic** + Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. + + +## Related Packages/ Repos +- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) +- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) +- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file diff --git 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10/70] changed image in readme to white background --- motion_primitives_forward_controller/README.md | 2 +- ...on_primitives_ur_whiteBackground.drawio.png | Bin 0 -> 441153 bytes 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 28f64f47b0..cb96e85a9a 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -22,7 +22,7 @@ This project provides an interface for sending motion primitives to an industria The following diagram shows the architecture for a UR robot. 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zm<=ojm2&BpH9B_zOAY=H$qxi8A)`5m>3g| Date: Fri, 11 Apr 2025 09:57:10 +0200 Subject: [PATCH 11/70] edited Related packages/ repos in readme --- motion_primitives_forward_controller/README.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index cb96e85a9a..372eed8e29 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -41,9 +41,8 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. -## Related Packages/ Repos -- [generate_parameter_library](https://github.com/PickNikRobotics/generate_parameter_library) +# Related packages/ repos - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [motion_primitives_forward_controller from StoglRobotics-forks/ros2_controllers](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver from StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) - [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file From c451fb46075feae443802fc3bd406a0ad3de521c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Fri, 11 Apr 2025 12:14:27 +0200 Subject: [PATCH 12/70] added/ modified copyright headers --- .../execution_state.hpp | 16 ++++++++++++++++ .../motion_primitives_forward_controller.hpp | 9 +++------ .../motion_type.hpp | 16 ++++++++++++++++ .../ready_for_new_primitive.hpp | 16 ++++++++++++++++ ..._primitives_forward_controller_parameters.hpp | 2 +- .../visibility_control.h | 2 +- .../src/motion_primitives_forward_controller.cpp | 8 +++----- .../motion_primitives_forward_controller.yaml | 6 ++---- 8 files changed, 58 insertions(+), 17 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index 1d2c101f4c..38c1458365 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef EXECUTION_STATE_HPP #define EXECUTION_STATE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 13f2c4e134..1de3bef76f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,11 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // +// Authors: Mathias Fuhrer #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index ac1fda9b0b..9074f4d45b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef MOTION_TYPE_HPP #define MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp index 26b0c01dbc..f8054f3dbc 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -1,3 +1,19 @@ +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Mathias Fuhrer + #ifndef READY_FOR_NEW_PRIMITIVE_HPP #define READY_FOR_NEW_PRIMITIVE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index d9c55b99b9..b724f6adec 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2025, b»robotized // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h index 88afabcafa..106bd9b866 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h @@ -1,4 +1,4 @@ -// Copyright (c) 2024, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2025, b»robotized // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f08a0dcea6..a17ee48a3a 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,10 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - // -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +// Authors: Mathias Fuhrer // #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index 8c4ec46897..d63573e0c1 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,4 +1,4 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) +# Copyright (c) 2025, b»robotized # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -11,10 +11,8 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. - # -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. +# Authors: Mathias Fuhrer motion_primitives_forward_controller: From 188f8b5dda67f4265d7c90cf1a1d8494e8ab8395 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:33:47 +0200 Subject: [PATCH 13/70] removed LICENSE file --- motion_primitives_forward_controller/LICENSE | 25 -------------------- 1 file changed, 25 deletions(-) delete mode 100644 motion_primitives_forward_controller/LICENSE diff --git a/motion_primitives_forward_controller/LICENSE b/motion_primitives_forward_controller/LICENSE deleted file mode 100644 index 574ef07902..0000000000 --- a/motion_primitives_forward_controller/LICENSE +++ /dev/null @@ -1,25 +0,0 @@ -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 the copyright holder 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 HOLDER 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. From 93cc78740f2b0666fe23bf4f78ed9efc00202802 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:36:35 +0200 Subject: [PATCH 14/70] removed repos files --- .../motion_primitives_controller_pkg.rolling.upstream.repos | 6 ------ .../motion_primitives_forward_controller.rolling.repos | 6 ------ 2 files changed, 12 deletions(-) delete mode 100644 motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos delete mode 100644 motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos diff --git a/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos b/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos deleted file mode 100644 index 1b3910e7e7..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_controller_pkg.rolling.upstream.repos +++ /dev/null @@ -1,6 +0,0 @@ -repositories: - ## EXAMPLE DEPENDENCY -# : -# type: git -# url: git@github.com:/.git -# version: master diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos b/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos deleted file mode 100644 index 1b3910e7e7..0000000000 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller.rolling.repos +++ /dev/null @@ -1,6 +0,0 @@ -repositories: - ## EXAMPLE DEPENDENCY -# : -# type: git -# url: git@github.com:/.git -# version: master From 1122a31a1a20b94d401c55914e2e40baad6387d8 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:42:25 +0200 Subject: [PATCH 15/70] changed license from BSD-3-Clause to Apache License 2.0 --- motion_primitives_forward_controller/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 537b46911e..3a853de316 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -6,7 +6,7 @@ Package to control robots using motion primitives like PTP, LIN and CIRC todo Mathias Fuhrer - BSD-3-Clause + Apache License 2.0 ament_cmake From af63eabaf5731513643b991002a954a633c76d19 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:48:09 +0200 Subject: [PATCH 16/70] added email to package.xml --- motion_primitives_forward_controller/package.xml | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 3a853de316..a3b5e8552b 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -5,7 +5,7 @@ 0.0.0 Package to control robots using motion primitives like PTP, LIN and CIRC todo - Mathias Fuhrer + Mathias Fuhrer Apache License 2.0 ament_cmake @@ -13,21 +13,13 @@ generate_parameter_library control_msgs - controller_interface - hardware_interface - pluginlib - industrial_robot_motion_interfaces - rclcpp - rclcpp_lifecycle - realtime_tools - std_srvs From 3f3881fb7ded5da8621dd07e01348f91a753b28c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 10:53:22 +0200 Subject: [PATCH 17/70] changed version to fit the rest of the repo, added maintainers and urls according to other controllers in the repo --- motion_primitives_forward_controller/package.xml | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index a3b5e8552b..eb107bd920 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -2,12 +2,22 @@ motion_primitives_forward_controller - 0.0.0 + 4.23.0 Package to control robots using motion primitives like PTP, LIN and CIRC - todo - Mathias Fuhrer + + Bence Magyar + Denis Štogl + Christoph Froehlich + Sai Kishor Kothakota + Apache License 2.0 + https://control.ros.org + https://github.com/ros-controls/ros2_controllers/issues + https://github.com/ros-controls/ros2_controllers/ + + Mathias Fuhrer + ament_cmake generate_parameter_library From ce8b93790dc4eb62839406a00527132ecee68e88 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 11:21:23 +0200 Subject: [PATCH 18/70] removed .gitignore (was not supposed to be pushed to the repo) --- .gitignore | 1 - 1 file changed, 1 deletion(-) delete mode 100644 .gitignore diff --git a/.gitignore b/.gitignore deleted file mode 100644 index 57aaf61f1e..0000000000 --- a/.gitignore +++ /dev/null @@ -1 +0,0 @@ -**/COLCON_IGNORE \ No newline at end of file From 92ee81042cc69a0b07a0938d647fbd253c3217ec Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 24 Apr 2025 11:27:43 +0200 Subject: [PATCH 19/70] removed visibility control --- .../motion_primitives_forward_controller.hpp | 10 ---- .../visibility_control.h | 54 ------------------- 2 files changed, 64 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 1de3bef76f..add7ad4ee0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -24,7 +24,6 @@ #include "controller_interface/controller_interface.hpp" #include -#include "motion_primitives_forward_controller/visibility_control.h" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -45,31 +44,23 @@ static constexpr size_t CMD_MY_ITFS = 0; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { public: - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MotionPrimitivesForwardController(); - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_init() override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_activate( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::CallbackReturn on_deactivate( const rclcpp_lifecycle::State & previous_state) override; - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; @@ -93,7 +84,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle private: // callback for topic interface - MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL void reference_callback(const std::shared_ptr msg); // callback for reference message // std::atomic new_msg_available_ = false; // flag to indicate if new message is available void reset_command_interfaces(); // Reset all command interfaces to NaN() diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h deleted file mode 100644 index 106bd9b866..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/visibility_control.h +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// - -#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ - -// This logic was borrowed (then namespaced) from the examples on the gcc wiki: -// https://gcc.gnu.org/wiki/Visibility - -#if defined _WIN32 || defined __CYGWIN__ -#ifdef __GNUC__ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((dllexport)) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __attribute__((dllimport)) -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __declspec(dllexport) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT __declspec(dllimport) -#endif -#ifdef MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_BUILDING_DLL -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT -#endif -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_EXPORT __attribute__((visibility("default"))) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_IMPORT -#if __GNUC__ >= 4 -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC __attribute__((visibility("default"))) -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL __attribute__((visibility("hidden"))) -#else -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_LOCAL -#endif -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_PUBLIC_TYPE -#endif - -#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VISIBILITY_CONTROL_H_ From bce1031039bd6303cfa891bb2b2eb458a9ecf401 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 30 Apr 2025 17:07:41 +0200 Subject: [PATCH 20/70] removed/ changed license headers from template files --- ...imitives_forward_controller_parameters.hpp | 7 ++-- .../motion_primitives_forward_controller.xml | 20 ----------- ..._primitives_forward_controller_params.yaml | 19 ----------- ..._forward_controller_preceeding_params.yaml | 19 ----------- ...d_motion_primitives_forward_controller.cpp | 10 ++---- ...t_motion_primitives_forward_controller.cpp | 33 +++++++++---------- ...t_motion_primitives_forward_controller.hpp | 33 +++++++++---------- ...imitives_forward_controller_preceeding.cpp | 33 +++++++++---------- 8 files changed, 50 insertions(+), 124 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index b724f6adec..aad3111815 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,11 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - -// -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. // +// Authors: #ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/motion_primitives_forward_controller.xml b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml index 1d9ac20e10..eab3a4113f 100644 --- a/motion_primitives_forward_controller/motion_primitives_forward_controller.xml +++ b/motion_primitives_forward_controller/motion_primitives_forward_controller.xml @@ -1,23 +1,3 @@ - - diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 6be68ba92e..573eb4364a 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,22 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - test_motion_primitives_forward_controller: ros__parameters: diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index 1bcadb0c65..e3113c2042 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,22 +1,3 @@ -# Copyright (c) 20224 Stogl Robotics Consulting UG (haftungsbeschränkt) -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# -# Source of this file are templates in -# [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -# - test_motion_primitives_forward_controller: ros__parameters: joints: diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index 2c7a6d38cc..a7bb555bd0 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// +// Copyright (c) 2025, b»robotized +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -11,12 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. - // -// Source of this file are templates in -// [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// - +// Authors: #include #include diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 01e062623f..ad0442f74c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #include // #include diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index deb3122f0d..c63549ce49 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ // #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 0c0f13a949..1182c14ea1 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -1,21 +1,18 @@ -// // Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) -// // -// // Licensed under the Apache License, Version 2.0 (the "License"); -// // you may not use this file except in compliance with the License. -// // You may obtain a copy of the License at -// // -// // http://www.apache.org/licenses/LICENSE-2.0 -// // -// // Unless required by applicable law or agreed to in writing, software -// // distributed under the License is distributed on an "AS IS" BASIS, -// // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// // See the License for the specific language governing permissions and -// // limitations under the License. - -// // -// // Source of this file are templates in -// // [RosTeamWorkspace](https://github.com/StoglRobotics/ros_team_workspace) repository. -// // +// Copyright (c) 2025, b»robotized +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: // #include "test_motion_primitives_forward_controller.hpp" From ae083e7381b847be68e9996fbebebe3338e322e5 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 08:33:58 +0200 Subject: [PATCH 21/70] removed license header from motion_primitives_forward_controller.yaml --- .../motion_primitives_forward_controller.yaml | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index d63573e0c1..62db1ccb09 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,20 +1,3 @@ -# Copyright (c) 2025, b»robotized -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Mathias Fuhrer - - motion_primitives_forward_controller: name: { type: string, From 487e88a120480c09b70c5353eabad8a8515b836c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 08:44:26 +0200 Subject: [PATCH 22/70] changed license in readme to apache 2.0 --- motion_primitives_forward_controller/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 372eed8e29..0d5215e491 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -3,7 +3,7 @@ motion_primitives_forward_controller Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ), LINEAR_CARTESIAN (LIN/ MOVEL) and CIRCULAR_CARTESIAN (CIRC/ MOVEC) -![Licence](https://img.shields.io/badge/License-BSD-3-Clause-blue.svg) +[![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. From e0d87c67c1ffe64a2d1cb62c5eaa9332846d1f78 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 09:24:23 +0200 Subject: [PATCH 23/70] uncommented test_motion_primitives_forward_controller --- .../CMakeLists.txt | 16 +- ...t_motion_primitives_forward_controller.cpp | 516 +++++++++--------- ...t_motion_primitives_forward_controller.hpp | 510 ++++++++--------- 3 files changed, 521 insertions(+), 521 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index c73778c958..3dd291754b 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -80,14 +80,14 @@ if(BUILD_TESTING) ros2_control_test_assets ) - # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) - # target_include_directories(test_motion_primitives_forward_controller PRIVATE include) - # target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) - # ament_target_dependencies( - # test_motion_primitives_forward_controller - # controller_interface - # hardware_interface - # ) + add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) + target_include_directories(test_motion_primitives_forward_controller PRIVATE include) + target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + ament_target_dependencies( + test_motion_primitives_forward_controller + controller_interface + hardware_interface + ) # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index ad0442f74c..1f31006fdc 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -14,261 +14,261 @@ // // Authors: -// #include -// #include -// #include -// #include -// #include - -// #include "rclcpp/rclcpp.hpp" -// #include "test_motion_primitives_forward_controller.hpp" - -// using motion_primitives_forward_controller::CMD_MY_ITFS; -// using motion_primitives_forward_controller::control_mode_type; -// using motion_primitives_forward_controller::STATE_MY_ITFS; - -// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture -// { -// }; - -// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) -// { -// SetUpController(); - -// ASSERT_TRUE(controller_->params_.joints.empty()); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_TRUE(controller_->params_.interface_name.empty()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); -// ASSERT_EQ(controller_->params_.interface_name, interface_name_); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// auto command_intefaces = controller_->command_interface_configuration(); -// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); -// for (size_t i = 0; i < command_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } - -// auto state_intefaces = controller_->state_interface_configuration(); -// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); -// for (size_t i = 0; i < state_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, activate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // check that the message is reset -// auto msg = controller_->input_ref_.readFromNonRT(); -// EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); -// for (const auto & cmd : (*msg)->displacements) -// { -// EXPECT_TRUE(std::isnan(cmd)); -// } -// EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); -// for (const auto & cmd : (*msg)->velocities) -// { -// EXPECT_TRUE(std::isnan(cmd)); -// } - -// ASSERT_TRUE(std::isnan((*msg)->duration)); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, update_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); -// ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) -// { -// SetUpController(); - -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// // initially set to false -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // should stay false -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - -// // set to true -// ASSERT_NO_THROW(call_service(true, executor)); -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); - -// // set back to false -// ASSERT_NO_THROW(call_service(false, executor)); -// ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // set command statically -// static constexpr double TEST_DISPLACEMENT = 23.24; -// std::shared_ptr msg = std::make_shared(); -// msg->joint_names = joint_names_; -// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); -// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); -// msg->duration = std::numeric_limits::quiet_NaN(); -// controller_->input_ref_.writeFromNonRT(msg); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); -// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); -// executor.add_node(service_caller_node_->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// // set command statically -// static constexpr double TEST_DISPLACEMENT = 23.24; -// std::shared_ptr msg = std::make_shared(); -// // When slow mode is enabled command ends up being half of the value -// msg->joint_names = joint_names_; -// msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); -// msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); -// msg->duration = std::numeric_limits::quiet_NaN(); -// controller_->input_ref_.writeFromNonRT(msg); -// controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); - -// EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); -// ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); -// EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) -// { -// SetUpController(); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// ControllerStateMsg msg; -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 101.101); -// } - -// TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) -// { -// SetUpController(); -// rclcpp::executors::MultiThreadedExecutor executor; -// executor.add_node(controller_->get_node()->get_node_base_interface()); - -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// ControllerStateMsg msg; -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 101.101); - -// publish_commands(); -// ASSERT_TRUE(controller_->wait_for_commands(executor)); - -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); - -// subscribe_and_get_messages(msg); - -// ASSERT_EQ(msg.set_point, 0.45); -// } - -// int main(int argc, char ** argv) -// { -// ::testing::InitGoogleTest(&argc, argv); -// rclcpp::init(argc, argv); -// int result = RUN_ALL_TESTS(); -// rclcpp::shutdown(); -// return result; -// } +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "test_motion_primitives_forward_controller.hpp" + +using motion_primitives_forward_controller::CMD_MY_ITFS; +using motion_primitives_forward_controller::control_mode_type; +using motion_primitives_forward_controller::STATE_MY_ITFS; + +class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +{ +}; + +TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +{ + SetUpController(); + + ASSERT_TRUE(controller_->params_.joints.empty()); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.interface_name.empty()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); + ASSERT_EQ(controller_->params_.interface_name, interface_name_); +} + +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + + auto command_intefaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { + EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } + + auto state_intefaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { + EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } +} + +TEST_F(MotionPrimitivesForwardControllerTest, activate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // check that the message is reset + auto msg = controller_->input_ref_.readFromNonRT(); + EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); + for (const auto & cmd : (*msg)->displacements) + { + EXPECT_TRUE(std::isnan(cmd)); + } + EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); + for (const auto & cmd : (*msg)->velocities) + { + EXPECT_TRUE(std::isnan(cmd)); + } + + ASSERT_TRUE(std::isnan((*msg)->duration)); +} + +TEST_F(MotionPrimitivesForwardControllerTest, update_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +TEST_F(MotionPrimitivesForwardControllerTest, deactivate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); +} + +TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) +{ + SetUpController(); + + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + // initially set to false + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // should stay false + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + + // set to true + ASSERT_NO_THROW(call_service(true, executor)); + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + + // set back to false + ASSERT_NO_THROW(call_service(false, executor)); + ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; + std::shared_ptr msg = std::make_shared(); + msg->joint_names = joint_names_; + msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->duration = std::numeric_limits::quiet_NaN(); + controller_->input_ref_.writeFromNonRT(msg); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); +} + +TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + executor.add_node(service_caller_node_->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; + std::shared_ptr msg = std::make_shared(); + // When slow mode is enabled command ends up being half of the value + msg->joint_names = joint_names_; + msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->duration = std::numeric_limits::quiet_NaN(); + controller_->input_ref_.writeFromNonRT(msg); + controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); + + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); +} + +TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + ControllerStateMsg msg; + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 101.101); +} + +TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + ControllerStateMsg msg; + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 101.101); + + publish_commands(); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + + subscribe_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 0.45); +} + +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index c63549ce49..0ea3c40b54 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -14,258 +14,258 @@ // // Authors: -// #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -// #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ - -// #include -// #include -// #include -// #include -// #include -// #include -// #include - -// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" -// #include "gmock/gmock.h" -// #include "hardware_interface/loaned_command_interface.hpp" -// #include "hardware_interface/loaned_state_interface.hpp" -// #include "hardware_interface/types/hardware_interface_return_values.hpp" -// #include "rclcpp/executor.hpp" -// #include "rclcpp/parameter_value.hpp" -// #include "rclcpp/time.hpp" -// #include "rclcpp/utilities.hpp" -// #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" - -// // TODO(anyone): replace the state and command message types -// using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; -// using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; -// using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; - -// namespace -// { -// constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; -// constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; -// } // namespace - -// // subclassing and friending so we can access member variables -// class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController -// { -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); -// FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); - -// public: -// controller_interface::CallbackReturn on_configure( -// const rclcpp_lifecycle::State & previous_state) override -// { -// auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); -// // Only if on_configure is successful create subscription -// if (ret == CallbackReturn::SUCCESS) -// { -// ref_subscriber_wait_set_.add_subscription(ref_subscriber_); -// } -// return ret; -// } - -// /** -// * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. -// * Requires that the executor is not spinned elsewhere between the -// * message publication and the call to this function. -// * -// * @return true if new ControllerReferenceMsg msg was received, false if timeout. -// */ -// bool wait_for_command( -// rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, -// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) -// { -// bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; -// if (success) -// { -// executor.spin_some(); -// } -// return success; -// } - -// bool wait_for_commands( -// rclcpp::Executor & executor, -// const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) -// { -// return wait_for_command(executor, ref_subscriber_wait_set_, timeout); -// } - -// // TODO(anyone): add implementation of any methods of your controller is needed - -// private: -// rclcpp::WaitSet ref_subscriber_wait_set_; -// }; - -// // We are using template class here for easier reuse of Fixture in specializations of controllers -// template -// class MotionPrimitivesForwardControllerFixture : public ::testing::Test -// { -// public: -// static void SetUpTestCase() {} - -// void SetUp() -// { -// // initialize controller -// controller_ = std::make_unique(); - -// command_publisher_node_ = std::make_shared("command_publisher"); -// command_publisher_ = command_publisher_node_->create_publisher( -// "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); - -// service_caller_node_ = std::make_shared("service_caller"); -// slow_control_service_client_ = service_caller_node_->create_client( -// "/test_motion_primitives_forward_controller/set_slow_control_mode"); -// } - -// static void TearDownTestCase() {} - -// void TearDown() { controller_.reset(nullptr); } - -// protected: -// void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") -// { -// ASSERT_EQ( -// controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), -// controller_interface::return_type::OK); - -// std::vector command_ifs; -// command_itfs_.reserve(joint_command_values_.size()); -// command_ifs.reserve(joint_command_values_.size()); - -// for (size_t i = 0; i < joint_command_values_.size(); ++i) -// { -// command_itfs_.emplace_back(hardware_interface::CommandInterface( -// joint_names_[i], interface_name_, &joint_command_values_[i])); -// command_ifs.emplace_back(command_itfs_.back()); -// } -// // TODO(anyone): Add other command interfaces, if any - -// std::vector state_ifs; -// state_itfs_.reserve(joint_state_values_.size()); -// state_ifs.reserve(joint_state_values_.size()); - -// for (size_t i = 0; i < joint_state_values_.size(); ++i) -// { -// state_itfs_.emplace_back(hardware_interface::StateInterface( -// joint_names_[i], interface_name_, &joint_state_values_[i])); -// state_ifs.emplace_back(state_itfs_.back()); -// } -// // TODO(anyone): Add other state interfaces, if any - -// controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); -// } - -// void subscribe_and_get_messages(ControllerStateMsg & msg) -// { -// // create a new subscriber -// rclcpp::Node test_subscription_node("test_subscription_node"); -// auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; -// auto subscription = test_subscription_node.create_subscription( -// "/test_motion_primitives_forward_controller/state", 10, subs_callback); - -// // call update to publish the test value -// ASSERT_EQ( -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), -// controller_interface::return_type::OK); - -// // call update to publish the test value -// // since update doesn't guarantee a published message, republish until received -// int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop -// rclcpp::WaitSet wait_set; // block used to wait on message -// wait_set.add_subscription(subscription); -// while (max_sub_check_loop_count--) -// { -// controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); -// // check if message has been received -// if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) -// { -// break; -// } -// } -// ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " -// "controller/broadcaster update loop"; - -// // take message from subscription -// rclcpp::MessageInfo msg_info; -// ASSERT_TRUE(subscription->take(msg, msg_info)); -// } - -// // TODO(anyone): add/remove arguments as it suites your command message type -// void publish_commands( -// const std::vector & displacements = {0.45}, -// const std::vector & velocities = {0.0}, const double duration = 1.25) -// { -// auto wait_for_topic = [&](const auto topic_name) -// { -// size_t wait_count = 0; -// while (command_publisher_node_->count_subscribers(topic_name) == 0) -// { -// if (wait_count >= 5) -// { -// auto error_msg = -// std::string("publishing to ") + topic_name + " but no node subscribes to it"; -// throw std::runtime_error(error_msg); -// } -// std::this_thread::sleep_for(std::chrono::milliseconds(100)); -// ++wait_count; -// } -// }; - -// wait_for_topic(command_publisher_->get_topic_name()); - -// ControllerReferenceMsg msg; -// msg.joint_names = joint_names_; -// msg.displacements = displacements; -// msg.velocities = velocities; -// msg.duration = duration; - -// command_publisher_->publish(msg); -// } - -// std::shared_ptr call_service( -// const bool slow_control, rclcpp::Executor & executor) -// { -// auto request = std::make_shared(); -// request->data = slow_control; - -// bool wait_for_service_ret = -// slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); -// EXPECT_TRUE(wait_for_service_ret); -// if (!wait_for_service_ret) -// { -// throw std::runtime_error("Services is not available!"); -// } -// auto result = slow_control_service_client_->async_send_request(request); -// EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); - -// return result.get(); -// } - -// protected: -// // TODO(anyone): adjust the members as needed - -// // Controller-related parameters -// std::vector joint_names_ = {"joint1"}; -// std::vector state_joint_names_ = {"joint1state"}; -// std::string interface_name_ = "acceleration"; -// std::array joint_state_values_ = {1.1}; -// std::array joint_command_values_ = {101.101}; - -// std::vector state_itfs_; -// std::vector command_itfs_; - -// // Test related parameters -// std::unique_ptr controller_; -// rclcpp::Node::SharedPtr command_publisher_node_; -// rclcpp::Publisher::SharedPtr command_publisher_; -// rclcpp::Node::SharedPtr service_caller_node_; -// rclcpp::Client::SharedPtr slow_control_service_client_; -// }; - -// #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" +#include "gmock/gmock.h" +#include "hardware_interface/loaned_command_interface.hpp" +#include "hardware_interface/loaned_state_interface.hpp" +#include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "rclcpp/executor.hpp" +#include "rclcpp/parameter_value.hpp" +#include "rclcpp/time.hpp" +#include "rclcpp/utilities.hpp" +#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" + +// TODO(anyone): replace the state and command message types +using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; +using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; +using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; + +namespace +{ +constexpr auto NODE_SUCCESS = controller_interface::CallbackReturn::SUCCESS; +constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; +} // namespace + +// subclassing and friending so we can access member variables +class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController +{ + FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); + +public: + controller_interface::CallbackReturn on_configure( + const rclcpp_lifecycle::State & previous_state) override + { + auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); + // Only if on_configure is successful create subscription + if (ret == CallbackReturn::SUCCESS) + { + ref_subscriber_wait_set_.add_subscription(ref_subscriber_); + } + return ret; + } + + /** + * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. + * Requires that the executor is not spinned elsewhere between the + * message publication and the call to this function. + * + * @return true if new ControllerReferenceMsg msg was received, false if timeout. + */ + bool wait_for_command( + rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, + const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) + { + bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; + if (success) + { + executor.spin_some(); + } + return success; + } + + bool wait_for_commands( + rclcpp::Executor & executor, + const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) + { + return wait_for_command(executor, ref_subscriber_wait_set_, timeout); + } + + // TODO(anyone): add implementation of any methods of your controller is needed + +private: + rclcpp::WaitSet ref_subscriber_wait_set_; +}; + +// We are using template class here for easier reuse of Fixture in specializations of controllers +template +class MotionPrimitivesForwardControllerFixture : public ::testing::Test +{ +public: + static void SetUpTestCase() {} + + void SetUp() + { + // initialize controller + controller_ = std::make_unique(); + + command_publisher_node_ = std::make_shared("command_publisher"); + command_publisher_ = command_publisher_node_->create_publisher( + "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); + + service_caller_node_ = std::make_shared("service_caller"); + slow_control_service_client_ = service_caller_node_->create_client( + "/test_motion_primitives_forward_controller/set_slow_control_mode"); + } + + static void TearDownTestCase() {} + + void TearDown() { controller_.reset(nullptr); } + +protected: + void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") + { + ASSERT_EQ( + controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), + controller_interface::return_type::OK); + + std::vector command_ifs; + command_itfs_.reserve(joint_command_values_.size()); + command_ifs.reserve(joint_command_values_.size()); + + for (size_t i = 0; i < joint_command_values_.size(); ++i) + { + command_itfs_.emplace_back(hardware_interface::CommandInterface( + joint_names_[i], interface_name_, &joint_command_values_[i])); + command_ifs.emplace_back(command_itfs_.back()); + } + // TODO(anyone): Add other command interfaces, if any + + std::vector state_ifs; + state_itfs_.reserve(joint_state_values_.size()); + state_ifs.reserve(joint_state_values_.size()); + + for (size_t i = 0; i < joint_state_values_.size(); ++i) + { + state_itfs_.emplace_back(hardware_interface::StateInterface( + joint_names_[i], interface_name_, &joint_state_values_[i])); + state_ifs.emplace_back(state_itfs_.back()); + } + // TODO(anyone): Add other state interfaces, if any + + controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); + } + + void subscribe_and_get_messages(ControllerStateMsg & msg) + { + // create a new subscriber + rclcpp::Node test_subscription_node("test_subscription_node"); + auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; + auto subscription = test_subscription_node.create_subscription( + "/test_motion_primitives_forward_controller/state", 10, subs_callback); + + // call update to publish the test value + ASSERT_EQ( + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + // call update to publish the test value + // since update doesn't guarantee a published message, republish until received + int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop + rclcpp::WaitSet wait_set; // block used to wait on message + wait_set.add_subscription(subscription); + while (max_sub_check_loop_count--) + { + controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); + // check if message has been received + if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) + { + break; + } + } + ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " + "controller/broadcaster update loop"; + + // take message from subscription + rclcpp::MessageInfo msg_info; + ASSERT_TRUE(subscription->take(msg, msg_info)); + } + + // TODO(anyone): add/remove arguments as it suites your command message type + void publish_commands( + const std::vector & displacements = {0.45}, + const std::vector & velocities = {0.0}, const double duration = 1.25) + { + auto wait_for_topic = [&](const auto topic_name) + { + size_t wait_count = 0; + while (command_publisher_node_->count_subscribers(topic_name) == 0) + { + if (wait_count >= 5) + { + auto error_msg = + std::string("publishing to ") + topic_name + " but no node subscribes to it"; + throw std::runtime_error(error_msg); + } + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + ++wait_count; + } + }; + + wait_for_topic(command_publisher_->get_topic_name()); + + ControllerReferenceMsg msg; + msg.joint_names = joint_names_; + msg.displacements = displacements; + msg.velocities = velocities; + msg.duration = duration; + + command_publisher_->publish(msg); + } + + std::shared_ptr call_service( + const bool slow_control, rclcpp::Executor & executor) + { + auto request = std::make_shared(); + request->data = slow_control; + + bool wait_for_service_ret = + slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); + EXPECT_TRUE(wait_for_service_ret); + if (!wait_for_service_ret) + { + throw std::runtime_error("Services is not available!"); + } + auto result = slow_control_service_client_->async_send_request(request); + EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + + return result.get(); + } + +protected: + // TODO(anyone): adjust the members as needed + + // Controller-related parameters + std::vector joint_names_ = {"joint1"}; + std::vector state_joint_names_ = {"joint1state"}; + std::string interface_name_ = "acceleration"; + std::array joint_state_values_ = {1.1}; + std::array joint_command_values_ = {101.101}; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; + rclcpp::Client::SharedPtr slow_control_service_client_; +}; + +#endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From 9fa58b485f96f2ea7395bc595962da9034a10a0c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:46:49 +0200 Subject: [PATCH 24/70] changed msg_queue_ form private to protected to be accessible in tests --- .../motion_primitives_forward_controller.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index add7ad4ee0..8357c39825 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -82,6 +82,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle rclcpp::Publisher::SharedPtr s_publisher_; std::unique_ptr state_publisher_; + std::queue> msg_queue_; + private: // callback for topic interface void reference_callback(const std::shared_ptr msg); // callback for reference message @@ -89,7 +91,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void reset_command_interfaces(); // Reset all command interfaces to NaN() bool set_command_interfaces(); // Set command interfaces from the message - std::queue> msg_queue_; size_t queue_size_ = 0; std::mutex command_mutex_; From 3eb44c26e5f9c68c2ff98287eb060323fb8f9668 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:48:40 +0200 Subject: [PATCH 25/70] changed test_motion_primitives_forward_controller implementation from rtw template to fit the controller implementation --- ..._primitives_forward_controller_params.yaml | 36 +++- ...t_motion_primitives_forward_controller.cpp | 150 +++----------- ...t_motion_primitives_forward_controller.hpp | 192 ++++++++++-------- 3 files changed, 166 insertions(+), 212 deletions(-) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 573eb4364a..d01d9bfdea 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,7 +1,33 @@ test_motion_primitives_forward_controller: ros__parameters: - - joints: - - joint1 - - interface_name: acceleration + name: motion_primitive + command_interfaces: + - motion_type + - q1 + - q2 + - q3 + - q4 + - q5 + - q6 + - pos_x + - pos_y + - pos_z + - pos_qx + - pos_qy + - pos_qz + - pos_qw + - pos_via_x + - pos_via_y + - pos_via_z + - pos_via_qx + - pos_via_qy + - pos_via_qz + - pos_via_qw + - blend_radius + - velocity + - acceleration + - move_time + state_interfaces: + - execution_status + - ready_for_new_primitive + queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 1f31006fdc..db31b27dc0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #include #include @@ -24,7 +24,6 @@ #include "test_motion_primitives_forward_controller.hpp" using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::control_mode_type; using motion_primitives_forward_controller::STATE_MY_ITFS; class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture @@ -35,16 +34,15 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.command_interfaces.empty()); + ASSERT_TRUE(controller_->params_.state_interfaces.empty()); + ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); - ASSERT_EQ(controller_->params_.interface_name, interface_name_); + ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) @@ -54,17 +52,17 @@ TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } @@ -75,20 +73,9 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // check that the message is reset - auto msg = controller_->input_ref_.readFromNonRT(); - EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); - for (const auto & cmd : (*msg)->displacements) - { - EXPECT_TRUE(std::isnan(cmd)); - } - EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); - for (const auto & cmd : (*msg)->velocities) - { - EXPECT_TRUE(std::isnan(cmd)); - } - - ASSERT_TRUE(std::isnan((*msg)->duration)); + // check that the message queue is reset + auto msg_queue = controller_->msg_queue_; + ASSERT_TRUE(msg_queue.empty()); } TEST_F(MotionPrimitivesForwardControllerTest, update_success) @@ -118,102 +105,21 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); - - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); -} - -TEST_F(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service) -{ - SetUpController(); - - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - // initially set to false - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - // should stay false - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - // set to true - ASSERT_NO_THROW(call_service(true, executor)); - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); + auto val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + ASSERT_TRUE(std::isnan(val_opt.value())); - // set back to false - ASSERT_NO_THROW(call_service(false, executor)); - ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); -} - -TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_fast) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); + val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } -TEST_F(MotionPrimitivesForwardControllerTest, test_update_logic_slow) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - executor.add_node(service_caller_node_->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - // When slow mode is enabled command ends up being half of the value - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); - controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); - - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); - ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); -} TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) { @@ -229,7 +135,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) ControllerStateMsg msg; subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + ASSERT_EQ(msg.data, ExecutionState::IDLE); } TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) @@ -248,20 +154,30 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update ControllerStateMsg msg; subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + ASSERT_EQ(msg.data, ExecutionState::IDLE); publish_commands(); - ASSERT_TRUE(controller_->wait_for_commands(executor)); + controller_->wait_for_commands(executor); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ(command_values_[2], 0.2); + EXPECT_EQ(command_values_[3], 0.3); + EXPECT_EQ(command_values_[4], 0.4); + EXPECT_EQ(command_values_[5], 0.5); + EXPECT_EQ(command_values_[6], 0.6); + EXPECT_EQ(command_values_[21], 3.0); // blend radius + EXPECT_EQ(command_values_[22], 0.7); // velocity + EXPECT_EQ(command_values_[23], 1.0); // acceleration + EXPECT_EQ(command_values_[24], 2.0); // move time subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 0.45); + ASSERT_EQ(msg.data, ExecutionState::IDLE); } int main(int argc, char ** argv) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 0ea3c40b54..9e3beec17c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ @@ -36,10 +36,14 @@ #include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" -// TODO(anyone): replace the state and command message types -using ControllerStateMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerStateMsg; -using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; -using ControllerModeSrvType = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerModeSrvType; +#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "std_msgs/msg/int8.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" +#include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" + +using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using ControllerStateMsg = std_msgs::msg::Int8; namespace { @@ -53,53 +57,38 @@ class TestableMotionPrimitivesForwardController : public motion_primitives_forwa FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_setting_slow_mode_service); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_fast); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, test_update_logic_slow); - + FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); + public: controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override { - auto ret = motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); - // Only if on_configure is successful create subscription - if (ret == CallbackReturn::SUCCESS) - { - ref_subscriber_wait_set_.add_subscription(ref_subscriber_); - } - return ret; + return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); } /** * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. * Requires that the executor is not spinned elsewhere between the * message publication and the call to this function. - * - * @return true if new ControllerReferenceMsg msg was received, false if timeout. */ - bool wait_for_command( - rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set, + void wait_for_command( + rclcpp::Executor & executor, const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { - bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; - if (success) + auto until = get_node()->get_clock()->now() + timeout; + while (get_node()->get_clock()->now() < until) { executor.spin_some(); + std::this_thread::sleep_for(std::chrono::microseconds(10)); } - return success; } - bool wait_for_commands( + void wait_for_commands( rclcpp::Executor & executor, const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { - return wait_for_command(executor, ref_subscriber_wait_set_, timeout); + return wait_for_command(executor, timeout); } - - // TODO(anyone): add implementation of any methods of your controller is needed - -private: - rclcpp::WaitSet ref_subscriber_wait_set_; }; // We are using template class here for easier reuse of Fixture in specializations of controllers @@ -116,11 +105,7 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_publisher_node_ = std::make_shared("command_publisher"); command_publisher_ = command_publisher_node_->create_publisher( - "/test_motion_primitives_forward_controller/commands", rclcpp::SystemDefaultsQoS()); - - service_caller_node_ = std::make_shared("service_caller"); - slow_control_service_client_ = service_caller_node_->create_client( - "/test_motion_primitives_forward_controller/set_slow_control_mode"); + "/test_motion_primitives_forward_controller/reference", rclcpp::SystemDefaultsQoS()); } static void TearDownTestCase() {} @@ -135,28 +120,26 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test controller_interface::return_type::OK); std::vector command_ifs; - command_itfs_.reserve(joint_command_values_.size()); - command_ifs.reserve(joint_command_values_.size()); + command_itfs_.reserve(command_values_.size()); + command_ifs.reserve(command_values_.size()); - for (size_t i = 0; i < joint_command_values_.size(); ++i) + for (size_t i = 0; i < command_values_.size(); ++i) { command_itfs_.emplace_back(hardware_interface::CommandInterface( - joint_names_[i], interface_name_, &joint_command_values_[i])); + interface_namespace_, command_interface_names_[i], &command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } - // TODO(anyone): Add other command interfaces, if any std::vector state_ifs; - state_itfs_.reserve(joint_state_values_.size()); - state_ifs.reserve(joint_state_values_.size()); + state_itfs_.reserve(state_values_.size()); + state_ifs.reserve(state_values_.size()); - for (size_t i = 0; i < joint_state_values_.size(); ++i) + for (size_t i = 0; i < state_values_.size(); ++i) { state_itfs_.emplace_back(hardware_interface::StateInterface( - joint_names_[i], interface_name_, &joint_state_values_[i])); + interface_namespace_, state_interface_names_[i], &state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } - // TODO(anyone): Add other state interfaces, if any controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } @@ -195,12 +178,15 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test rclcpp::MessageInfo msg_info; ASSERT_TRUE(subscription->take(msg, msg_info)); } - - // TODO(anyone): add/remove arguments as it suites your command message type + void publish_commands( - const std::vector & displacements = {0.45}, - const std::vector & velocities = {0.0}, const double duration = 1.25) + const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, + double velocity = 0.7, + double acceleration = 1.0, + double move_time = 2.0, + double blend_radius = 3.0) { + std::cout << "Publishing command message ..." << std::endl; auto wait_for_topic = [&](const auto topic_name) { size_t wait_count = 0; @@ -215,57 +201,83 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::this_thread::sleep_for(std::chrono::milliseconds(100)); ++wait_count; } + std::cout << "Found subscriber for topic: " << topic_name << std::endl; }; - wait_for_topic(command_publisher_->get_topic_name()); + auto topic_name = command_publisher_->get_topic_name(); + std::cout << "Waiting for subscriber on topic: " << topic_name << std::endl; + wait_for_topic(topic_name); ControllerReferenceMsg msg; - msg.joint_names = joint_names_; - msg.displacements = displacements; - msg.velocities = velocities; - msg.duration = duration; - command_publisher_->publish(msg); - } - - std::shared_ptr call_service( - const bool slow_control, rclcpp::Executor & executor) - { - auto request = std::make_shared(); - request->data = slow_control; + // TODO(mathias31415): Add other tests for other motion types + msg.type = MotionType::LINEAR_JOINT; + msg.joint_positions = joint_positions; + msg.blend_radius = blend_radius; - bool wait_for_service_ret = - slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); - EXPECT_TRUE(wait_for_service_ret); - if (!wait_for_service_ret) - { - throw std::runtime_error("Services is not available!"); - } - auto result = slow_control_service_client_->async_send_request(request); - EXPECT_EQ(executor.spin_until_future_complete(result), rclcpp::FutureReturnCode::SUCCESS); + msg.additional_arguments.resize(3); + msg.additional_arguments[0].argument_name = "velocity"; + msg.additional_arguments[0].argument_value = velocity; + msg.additional_arguments[1].argument_name = "acceleration"; + msg.additional_arguments[1].argument_value = acceleration; + msg.additional_arguments[2].argument_name = "move_time"; + msg.additional_arguments[2].argument_value = move_time; - return result.get(); + command_publisher_->publish(msg); } + protected: - // TODO(anyone): adjust the members as needed - - // Controller-related parameters - std::vector joint_names_ = {"joint1"}; - std::vector state_joint_names_ = {"joint1state"}; - std::string interface_name_ = "acceleration"; - std::array joint_state_values_ = {1.1}; - std::array joint_command_values_ = {101.101}; - - std::vector state_itfs_; - std::vector command_itfs_; - - // Test related parameters - std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; - rclcpp::Client::SharedPtr slow_control_service_client_; + // Controller-related parameters + std::vector command_interface_names_ = { + "motion_type", + "q1", + "q2", + "q3", + "q4", + "q5", + "q6", + "pos_x", + "pos_y", + "pos_z", + "pos_qx", + "pos_qy", + "pos_qz", + "pos_qw", + "pos_via_x", + "pos_via_y", + "pos_via_z", + "pos_via_qx", + "pos_via_qy", + "pos_via_qz", + "pos_via_qw", + "blend_radius", + "velocity", + "acceleration", + "move_time"}; + + std::vector state_interface_names_ = { + "execution_status", + "ready_for_new_primitive"}; + + std::string interface_namespace_ = "motion_primitive"; + std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array command_values_ = { + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101 + }; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; }; #endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From d9d4c67a3e9fc971991b7550b1b3839575c9151c Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:54:33 +0200 Subject: [PATCH 26/70] uncommented test_motion_primitives_forward_controller_preceeding implementation --- .../CMakeLists.txt | 16 +-- ...imitives_forward_controller_preceeding.cpp | 98 +++++++++---------- 2 files changed, 57 insertions(+), 57 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 3dd291754b..b19a955925 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -89,14 +89,14 @@ if(BUILD_TESTING) hardware_interface ) - # add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) - # target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) - # target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) - # ament_target_dependencies( - # test_motion_primitives_forward_controller_preceeding - # controller_interface - # hardware_interface - # ) + add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) + target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) + target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + ament_target_dependencies( + test_motion_primitives_forward_controller_preceeding + controller_interface + hardware_interface + ) endif() ament_export_include_directories( diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 1182c14ea1..ac3dd3f305 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -14,64 +14,64 @@ // // Authors: -// #include "test_motion_primitives_forward_controller.hpp" +#include "test_motion_primitives_forward_controller.hpp" -// #include -// #include -// #include -// #include -// #include +#include +#include +#include +#include +#include -// using motion_primitives_forward_controller::CMD_MY_ITFS; -// using motion_primitives_forward_controller::control_mode_type; -// using motion_primitives_forward_controller::STATE_MY_ITFS; +using motion_primitives_forward_controller::CMD_MY_ITFS; +using motion_primitives_forward_controller::control_mode_type; +using motion_primitives_forward_controller::STATE_MY_ITFS; -// class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture -// { -// }; +class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +{ +}; -// TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) -// { -// SetUpController(); +TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success) +{ + SetUpController(); -// ASSERT_TRUE(controller_->params_.joints.empty()); -// ASSERT_TRUE(controller_->params_.state_joints.empty()); -// ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.joints.empty()); + ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.interface_name.empty()); -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); -// ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); -// ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); -// ASSERT_EQ(controller_->params_.interface_name, interface_name_); -// } + ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); + ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); + ASSERT_EQ(controller_->params_.interface_name, interface_name_); +} -// TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) -// { -// SetUpController(); +TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) +{ + SetUpController(); -// ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); -// auto command_intefaces = controller_->command_interface_configuration(); -// ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); -// for (size_t i = 0; i < command_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); -// } + auto command_intefaces = controller_->command_interface_configuration(); + ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { + EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + } -// auto state_intefaces = controller_->state_interface_configuration(); -// ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); -// for (size_t i = 0; i < state_intefaces.names.size(); ++i) -// { -// EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); -// } -// } + auto state_intefaces = controller_->state_interface_configuration(); + ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { + EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); + } +} -// int main(int argc, char ** argv) -// { -// ::testing::InitGoogleTest(&argc, argv); -// rclcpp::init(argc, argv); -// int result = RUN_ALL_TESTS(); -// rclcpp::shutdown(); -// return result; -// } +int main(int argc, char ** argv) +{ + ::testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} From e76a8d07fa0cb470464e06f84bf3e78e22bdb4fb Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 16:59:58 +0200 Subject: [PATCH 27/70] changed test_motion_primitives_forward_controller_preceeding implementation from rtw template to fit the controller implementation --- ..._forward_controller_preceeding_params.yaml | 38 +++++++++++++++---- ...imitives_forward_controller_preceeding.cpp | 24 ++++++------ 2 files changed, 42 insertions(+), 20 deletions(-) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index e3113c2042..d01d9bfdea 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,9 +1,33 @@ test_motion_primitives_forward_controller: ros__parameters: - joints: - - joint1 - - interface_name: acceleration - - state_joints: - - joint1state + name: motion_primitive + command_interfaces: + - motion_type + - q1 + - q2 + - q3 + - q4 + - q5 + - q6 + - pos_x + - pos_y + - pos_z + - pos_qx + - pos_qy + - pos_qz + - pos_qw + - pos_via_x + - pos_via_y + - pos_via_z + - pos_via_qx + - pos_via_qy + - pos_via_qz + - pos_via_qw + - blend_radius + - velocity + - acceleration + - move_time + state_interfaces: + - execution_status + - ready_for_new_primitive + queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index ac3dd3f305..348f10fbdb 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. // -// Authors: +// Authors: Mathias Fuhrer #include "test_motion_primitives_forward_controller.hpp" @@ -23,7 +23,6 @@ #include using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::control_mode_type; using motion_primitives_forward_controller::STATE_MY_ITFS; class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture @@ -34,16 +33,15 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_TRUE(controller_->params_.interface_name.empty()); + ASSERT_TRUE(controller_->params_.command_interfaces.empty()); + ASSERT_TRUE(controller_->params_.state_interfaces.empty()); + ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); - ASSERT_EQ(controller_->params_.interface_name, interface_name_); + ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) @@ -53,17 +51,17 @@ TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); auto command_intefaces = controller_->command_interface_configuration(); - ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); + ASSERT_EQ(command_intefaces.names.size(), command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], interface_namespace_ + "/" + command_interface_names_[i]); } auto state_intefaces = controller_->state_interface_configuration(); - ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); + ASSERT_EQ(state_intefaces.names.size(), state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], interface_namespace_ + "/" + state_interface_names_[i]); } } From 11bec4d2c835792087dd665951863d844a11830d Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:18:33 +0200 Subject: [PATCH 28/70] moved reset_controller_reference_msg into motion_primitives_forward_controller namespace --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 47 +++++++++---------- 2 files changed, 23 insertions(+), 25 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 8357c39825..58aa43a996 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,6 +90,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle // std::atomic new_msg_available_ = false; // flag to indicate if new message is available void reset_command_interfaces(); // Reset all command interfaces to NaN() bool set_command_interfaces(); // Set command interfaces from the message + void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a17ee48a3a..5e603ba82e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -43,31 +43,6 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; -using ControllerReferenceMsg = motion_primitives_forward_controller::MotionPrimitivesForwardController::ControllerReferenceMsg; - -// reset the controller reference message to NaN -void reset_controller_reference_msg(std::shared_ptr & msg) -{ - msg->type = 0; - msg->blend_radius = std::numeric_limits::quiet_NaN(); - - for (auto & arg : msg->additional_arguments) { - arg.argument_name = ""; - arg.argument_value = std::numeric_limits::quiet_NaN(); - } - - for (auto & pose : msg->poses) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); - } -} - } // namespace @@ -427,6 +402,28 @@ bool MotionPrimitivesForwardController::set_command_interfaces() return true; } +// reset the controller reference message to NaN +void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shared_ptr & msg) +{ + msg->type = 0; + msg->blend_radius = std::numeric_limits::quiet_NaN(); + + for (auto & arg : msg->additional_arguments) { + arg.argument_name = ""; + arg.argument_value = std::numeric_limits::quiet_NaN(); + } + + for (auto & pose : msg->poses) { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + } +} } // namespace motion_primitives_forward_controller From 6c98434de963a93a05a0a849a7c55ee387f2ff08 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:19:23 +0200 Subject: [PATCH 29/70] changed get_value() to get_optional() --- .../src/motion_primitives_forward_controller.cpp | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 5e603ba82e..92d3f57a80 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -254,7 +254,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { // read the status from the state interface // TODO(mathias31415) Is check needed if the value is .0? - uint8_t execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + auto opt_value_execution = state_interfaces_[0].get_optional(); + if (!opt_value_execution.has_value()) { + RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); + return controller_interface::return_type::ERROR; + } + uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); switch (execution_status) { case ExecutionState::IDLE: @@ -289,7 +294,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->unlockAndPublish(); // TODO(mathias31415) Is check needed if the value is .0? - uint8_t ready_for_new_primitive = static_cast(std::round(state_interfaces_[1].get_value())); + auto opt_value_ready = state_interfaces_[1].get_optional(); + if (!opt_value_ready.has_value()) { + RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); + return controller_interface::return_type::ERROR; + } + uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); // sending new command? if(!msg_queue_.empty()) // check if new command is available From d2ef095c66fb2e948456d5e36facd77b9945b17f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:33:44 +0200 Subject: [PATCH 30/70] cleanup on comments and commented code --- .../CMakeLists.txt | 7 ----- .../motion_primitives_forward_controller.hpp | 15 +++------ .../motion_type.hpp | 7 ++--- ...imitives_forward_controller_parameters.hpp | 2 -- .../motion_primitives_forward_controller.cpp | 31 ++++++------------- ...d_motion_primitives_forward_controller.cpp | 3 +- 6 files changed, 17 insertions(+), 48 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index b19a955925..9dfb4ccb26 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -5,7 +5,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") add_compile_options(-Wall -Wextra -Werror=conversion -Werror=unused-but-set-variable -Werror=return-type -Werror=shadow) endif() -# find dependencies set(THIS_PACKAGE_INCLUDE_DEPENDS control_msgs controller_interface @@ -28,7 +27,6 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() -# Add motion_primitives_forward_controller library related compile commands generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -59,11 +57,6 @@ install( LIBRARY DESTINATION lib ) -# install( -# DIRECTORY include/ -# DESTINATION include/${PROJECT_NAME} -# ) - install( DIRECTORY include/ DESTINATION include diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 58aa43a996..1014caeb2e 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -64,7 +64,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - // state and command message types using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ControllerStateMsg = std_msgs::msg::Int8; @@ -73,9 +72,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; - // realtime_tools::RealtimeBuffer> input_ref_; using ControllerStatePublisher = realtime_tools::RealtimePublisher; @@ -85,18 +82,14 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::queue> msg_queue_; private: - // callback for topic interface - void reference_callback(const std::shared_ptr msg); // callback for reference message - // std::atomic new_msg_available_ = false; // flag to indicate if new message is available - void reset_command_interfaces(); // Reset all command interfaces to NaN() - bool set_command_interfaces(); // Set command interfaces from the message + void reference_callback(const std::shared_ptr msg); + void reset_command_interfaces(); + bool set_command_interfaces(); void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; - std::mutex command_mutex_; - - bool print_error_once_ = true; // Flag to print error message only once if ExecutionState::ERROR + bool print_error_once_ = true; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 9074f4d45b..e4f779db6f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -25,9 +25,8 @@ namespace MotionType static constexpr uint8_t CIRCULAR_CARTESIAN = 51; // Helper types - static constexpr uint8_t STOP_MOTION = 66; // added to stop motion - static constexpr uint8_t MOTION_SEQUENCE_START = 100; // added to indicate motion sequence instead of executing single primitives - static constexpr uint8_t MOTION_SEQUENCE_END = 101; // added to indicate end of motion sequence + static constexpr uint8_t STOP_MOTION = 66; + static constexpr uint8_t MOTION_SEQUENCE_START = 100; //indicate motion sequence instead of executing single primitives + static constexpr uint8_t MOTION_SEQUENCE_END = 101; } - #endif // MOTION_TYPE_HPP diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index aad3111815..28078ca83c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -11,8 +11,6 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// Authors: #ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 92d3f57a80..f95887168c 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -13,7 +13,6 @@ // limitations under the License. // // Authors: Mathias Fuhrer -// #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" @@ -42,7 +41,6 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, false}; - } // namespace @@ -101,6 +99,8 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi ref_subscriber_ = get_node()->create_subscription( "~/reference", subscribers_qos, std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); + RCLCPP_INFO(get_node()->get_logger(), "Subscribed to reference topic: %s", ref_subscriber_->get_topic_name()); + std::shared_ptr msg = std::make_shared(); reset_controller_reference_msg(msg); @@ -138,9 +138,9 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr { case MotionType::STOP_MOTION:{ RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command to the driver + (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command immediately to the hw-interface while (!msg_queue_.empty()) { // clear the queue msg_queue_.pop(); } @@ -149,7 +149,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - // Check if joint positions are provided if (msg->joint_positions.empty()) { RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); return; @@ -158,7 +157,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::LINEAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - // Check if poses are provided if (msg->poses.empty()) { RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); return; @@ -167,7 +165,6 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr case MotionType::CIRCULAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - // Check if poses are provided if (msg->poses.size() != 2) { RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); return; @@ -182,13 +179,11 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); break; - // Additional motion types can be added here default: RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); return; } - // Check if the queue size is exceeded if (msg_queue_.size() >= queue_size_) { RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); return; @@ -203,13 +198,11 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - // Reserve memory for the command interfaces command_interfaces_config.names.reserve(params_.command_interfaces.size()); // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - // Combine the joint with the interface name and add it to the list command_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return command_interfaces_config; @@ -220,13 +213,11 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - // Reserve memory for the state interfaces state_interfaces_config.names.reserve(params_.state_interfaces.size()); // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - // Combine the joint with the interface name and add it to the list state_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return state_interfaces_config; @@ -235,7 +226,7 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -243,7 +234,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - reset_command_interfaces(); // Reset all command interfaces to NaN + reset_command_interfaces(); RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -253,7 +244,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { // read the status from the state interface - // TODO(mathias31415) Is check needed if the value is .0? auto opt_value_execution = state_interfaces_[0].get_optional(); if (!opt_value_execution.has_value()) { RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); @@ -293,7 +283,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->msg_.data = execution_status; state_publisher_->unlockAndPublish(); - // TODO(mathias31415) Is check needed if the value is .0? auto opt_value_ready = state_interfaces_[1].get_optional(); if (!opt_value_ready.has_value()) { RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); @@ -301,15 +290,14 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - // sending new command? if(!msg_queue_.empty()) // check if new command is available { switch (ready_for_new_primitive) { - case ReadyForNewPrimitive::NOT_READY:{ // hw-interface is not ready for a new command + case ReadyForNewPrimitive::NOT_READY:{ return controller_interface::return_type::OK; } - case ReadyForNewPrimitive::READY:{ // hw-interface is ready for a new command - if(!set_command_interfaces()){ // Set the command interfaces with next motion primitive + case ReadyForNewPrimitive::READY:{ + if(!set_command_interfaces()){ RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); return controller_interface::return_type::ERROR; } @@ -386,7 +374,6 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - // Set blend_radius (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius // Read additional arguments diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index a7bb555bd0..f80bf960f0 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -11,8 +11,7 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// Authors: + #include #include From 7c4f1674a032ddc8ee3541f24d0a7cab18926ada Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 5 May 2025 17:44:09 +0200 Subject: [PATCH 31/70] clarified motion primitive publishing to ~/reference topic --- motion_primitives_forward_controller/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 0d5215e491..0426f7839f 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -26,7 +26,8 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot 1. **Command Reception** - Python scripts can publish motion primitives to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. + This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. 2. **Command Handling Logic** - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. From 59ecb5babc13d8c28d711c0638372e54e53cf1d9 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 6 May 2025 08:56:46 +0200 Subject: [PATCH 32/70] pre-commit fixes --- .../CMakeLists.txt | 38 ++- .../README.md | 12 +- .../execution_state.hpp | 19 +- .../motion_primitives_forward_controller.hpp | 14 +- .../motion_type.hpp | 29 +-- .../ready_for_new_primitive.hpp | 15 +- ...imitives_forward_controller_parameters.hpp | 8 +- .../motion_primitives_forward_controller.cpp | 238 ++++++++++-------- ..._primitives_forward_controller_params.yaml | 2 +- ..._forward_controller_preceeding_params.yaml | 2 +- ...d_motion_primitives_forward_controller.cpp | 7 +- ...t_motion_primitives_forward_controller.cpp | 16 +- ...t_motion_primitives_forward_controller.hpp | 117 ++++----- ...imitives_forward_controller_preceeding.cpp | 11 +- 14 files changed, 284 insertions(+), 244 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 9dfb4ccb26..5c11dd3850 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -63,9 +63,13 @@ install( ) if(BUILD_TESTING) - - ament_add_gmock(test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp) - target_include_directories(test_load_motion_primitives_forward_controller PRIVATE include) + ament_add_gmock( + test_load_motion_primitives_forward_controller + test/test_load_motion_primitives_forward_controller.cpp + ) + target_include_directories( + test_load_motion_primitives_forward_controller PRIVATE include + ) ament_target_dependencies( test_load_motion_primitives_forward_controller controller_manager @@ -73,18 +77,34 @@ if(BUILD_TESTING) ros2_control_test_assets ) - add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml) - target_include_directories(test_motion_primitives_forward_controller PRIVATE include) - target_link_libraries(test_motion_primitives_forward_controller motion_primitives_forward_controller) + add_rostest_with_parameters_gmock( + test_motion_primitives_forward_controller + test/test_motion_primitives_forward_controller.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml + ) + target_include_directories( + test_motion_primitives_forward_controller PRIVATE include + ) + target_link_libraries( + test_motion_primitives_forward_controller motion_primitives_forward_controller + ) ament_target_dependencies( test_motion_primitives_forward_controller controller_interface hardware_interface ) - add_rostest_with_parameters_gmock(test_motion_primitives_forward_controller_preceeding test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml) - target_include_directories(test_motion_primitives_forward_controller_preceeding PRIVATE include) - target_link_libraries(test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller) + add_rostest_with_parameters_gmock( + test_motion_primitives_forward_controller_preceeding + test/test_motion_primitives_forward_controller_preceeding.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml + ) + target_include_directories( + test_motion_primitives_forward_controller_preceeding PRIVATE include + ) + target_link_libraries( + test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller + ) ament_target_dependencies( test_motion_primitives_forward_controller_preceeding controller_interface diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 0426f7839f..e301e690fb 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -25,20 +25,20 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png) -1. **Command Reception** - Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. +1. **Command Reception** + Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. -2. **Command Handling Logic** +2. **Command Handling Logic** - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. -3. **Motion Execution Flow** +3. **Motion Execution Flow** The `update()` method in the controller: - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. -4. **Sequencing Logic** +4. **Sequencing Logic** Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. @@ -46,4 +46,4 @@ For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobot - [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) - [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) \ No newline at end of file +- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index 38c1458365..df8ca79f45 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,16 +14,15 @@ // // Authors: Mathias Fuhrer -#ifndef EXECUTION_STATE_HPP -#define EXECUTION_STATE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ namespace ExecutionState { - static constexpr uint8_t IDLE = 0; - static constexpr uint8_t EXECUTING = 1; - static constexpr uint8_t SUCCESS = 2; - static constexpr uint8_t ERROR = 3; -} +static constexpr uint8_t IDLE = 0; +static constexpr uint8_t EXECUTING = 1; +static constexpr uint8_t SUCCESS = 2; +static constexpr uint8_t ERROR = 3; +} // namespace ExecutionState -#endif // EXECUTION_STATE_HPP +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 1014caeb2e..e7f1a4a01c 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -18,12 +18,12 @@ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include +#include #include #include -#include -#include "controller_interface/controller_interface.hpp" #include +#include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" @@ -32,7 +32,6 @@ #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" #include "std_msgs/msg/int8.hpp" - namespace motion_primitives_forward_controller { // name constants for state interfaces @@ -64,9 +63,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - using ControllerStateMsg = std_msgs::msg::Int8; - + using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using ControllerStateMsg = std_msgs::msg::Int8; protected: std::shared_ptr param_listener_; @@ -87,7 +85,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool set_command_interfaces(); void reset_controller_reference_msg(std::shared_ptr & msg); - size_t queue_size_ = 0; + size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; }; diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index e4f779db6f..38fa3cfe46 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,19 +14,20 @@ // // Authors: Mathias Fuhrer -#ifndef MOTION_TYPE_HPP -#define MOTION_TYPE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ namespace MotionType -{ // Motion Primitives - static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value - static constexpr uint8_t LINEAR_CARTESIAN = 50; - static constexpr uint8_t CIRCULAR_CARTESIAN = 51; +{ +// Motion Primitives +static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value +static constexpr uint8_t LINEAR_CARTESIAN = 50; +static constexpr uint8_t CIRCULAR_CARTESIAN = 51; - // Helper types - static constexpr uint8_t STOP_MOTION = 66; - static constexpr uint8_t MOTION_SEQUENCE_START = 100; //indicate motion sequence instead of executing single primitives - static constexpr uint8_t MOTION_SEQUENCE_END = 101; -} -#endif // MOTION_TYPE_HPP +// Helper types +static constexpr uint8_t STOP_MOTION = 66; +// indicate motion sequence instead of executing single primitives +static constexpr uint8_t MOTION_SEQUENCE_START = 100; +static constexpr uint8_t MOTION_SEQUENCE_END = 101; +} // namespace MotionType +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp index f8054f3dbc..3a487b7463 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,14 +14,13 @@ // // Authors: Mathias Fuhrer -#ifndef READY_FOR_NEW_PRIMITIVE_HPP -#define READY_FOR_NEW_PRIMITIVE_HPP - +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ namespace ReadyForNewPrimitive { - static constexpr uint8_t NOT_READY = 0; - static constexpr uint8_t READY = 1; -} +static constexpr uint8_t NOT_READY = 0; +static constexpr uint8_t READY = 1; +} // namespace ReadyForNewPrimitive -#endif // READY_FOR_NEW_PRIMITIVE_HPP +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp index 28078ca83c..c2ff279035 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ -#define MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ #include @@ -35,4 +35,4 @@ Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) } // namespace parameter_traits -#endif // MOTION_PRIMITIVES_CONTTROLLER_PKG__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ +#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f95887168c..a32993bc03 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -22,8 +22,8 @@ #include #include "controller_interface/helpers.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace @@ -43,10 +43,12 @@ static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { false}; } // namespace - namespace motion_primitives_forward_controller { -MotionPrimitivesForwardController::MotionPrimitivesForwardController() : controller_interface::ControllerInterface() {} +MotionPrimitivesForwardController::MotionPrimitivesForwardController() +: controller_interface::ControllerInterface() +{ +} controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() { @@ -54,7 +56,8 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( try { - param_listener_ = std::make_shared(get_node()); + param_listener_ = + std::make_shared(get_node()); } catch (const std::exception & e) { @@ -73,20 +76,24 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi params_ = param_listener_->get_params(); // Check if the name is not empty - if (params_.name.empty()) { + if (params_.name.empty()) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); return controller_interface::CallbackReturn::ERROR; } // Check if there are exactly 25 command interfaces - if (params_.command_interfaces.size() !=25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time - RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); + if (params_.command_interfaces.size() != 25) + { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Exactly 25 command interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } // Check if there are exactly 2 state interfaces - if (params_.state_interfaces.size() != 2) { // execution_status + ready_for_new_primitive - RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly one state interface must be provided!"); + if (params_.state_interfaces.size() != 2) + { // execution_status + ready_for_new_primitive + RCLCPP_ERROR(get_node()->get_logger(), "Error: Exactly two state interfaces must be provided!"); return controller_interface::CallbackReturn::ERROR; } @@ -99,14 +106,16 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi ref_subscriber_ = get_node()->create_subscription( "~/reference", subscribers_qos, std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); - RCLCPP_INFO(get_node()->get_logger(), "Subscribed to reference topic: %s", ref_subscriber_->get_topic_name()); - + RCLCPP_INFO( + get_node()->get_logger(), "Subscribed to reference topic: %s", + ref_subscriber_->get_topic_name()); std::shared_ptr msg = std::make_shared(); reset_controller_reference_msg(msg); queue_size_ = params_.queue_size; - if (queue_size_ == 0) { + if (queue_size_ == 0) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); return controller_interface::CallbackReturn::ERROR; } @@ -131,42 +140,52 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi } // Function gets called when a new message is received -void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg) +void MotionPrimitivesForwardController::reference_callback( + const std::shared_ptr msg) { // Check if the type is one of the allowed motion types switch (msg->type) { - case MotionType::STOP_MOTION:{ + case MotionType::STOP_MOTION: + { RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value(static_cast(msg->type)); // send stop command immediately to the hw-interface - while (!msg_queue_.empty()) { // clear the queue - msg_queue_.pop(); + (void)command_interfaces_[0].set_value( + static_cast(msg->type)); // send stop command immediately to the hw-interface + while (!msg_queue_.empty()) + { // clear the queue + msg_queue_.pop(); } return; } case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - if (msg->joint_positions.empty()) { - RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); + if (msg->joint_positions.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); return; - } + } break; case MotionType::LINEAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - if (msg->poses.empty()) { - RCLCPP_ERROR(get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); + if (msg->poses.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); return; } break; case MotionType::CIRCULAR_CARTESIAN: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - if (msg->poses.size() != 2) { - RCLCPP_ERROR(get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); + if (msg->poses.size() != 2) + { + RCLCPP_ERROR( + get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); return; } break; @@ -184,7 +203,8 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr return; } - if (msg_queue_.size() >= queue_size_) { + if (msg_queue_.size() >= queue_size_) + { RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); return; } @@ -192,8 +212,8 @@ void MotionPrimitivesForwardController::reference_callback(const std::shared_ptr msg_queue_.push(msg); } - -controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const +controller_interface::InterfaceConfiguration +MotionPrimitivesForwardController::command_interface_configuration() const { controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; @@ -203,12 +223,13 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + command_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return command_interfaces_config; } -controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::state_interface_configuration() const +controller_interface::InterfaceConfiguration +MotionPrimitivesForwardController::state_interface_configuration() const { controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; @@ -218,7 +239,7 @@ controller_interface::InterfaceConfiguration MotionPrimitivesForwardController:: // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + state_interfaces_config.names.push_back(params_.name + "/" + interface_name); } return state_interfaces_config; } @@ -239,19 +260,21 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact return controller_interface::CallbackReturn::SUCCESS; } - controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { // read the status from the state interface auto opt_value_execution = state_interfaces_[0].get_optional(); - if (!opt_value_execution.has_value()) { - RCLCPP_ERROR(get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); + if (!opt_value_execution.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); - switch (execution_status) { + switch (execution_status) + { case ExecutionState::IDLE: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); print_error_once_ = true; @@ -267,14 +290,16 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::ERROR: - if (print_error_once_) { + if (print_error_once_) + { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); print_error_once_ = false; } break; - + default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); return controller_interface::return_type::ERROR; } @@ -284,27 +309,35 @@ controller_interface::return_type MotionPrimitivesForwardController::update( state_publisher_->unlockAndPublish(); auto opt_value_ready = state_interfaces_[1].get_optional(); - if (!opt_value_ready.has_value()) { - RCLCPP_ERROR(get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); + if (!opt_value_ready.has_value()) + { + RCLCPP_ERROR( + get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); return controller_interface::return_type::ERROR; } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - if(!msg_queue_.empty()) // check if new command is available - { - switch (ready_for_new_primitive) { - case ReadyForNewPrimitive::NOT_READY:{ + if (!msg_queue_.empty()) // check if new command is available + { + switch (ready_for_new_primitive) + { + case ReadyForNewPrimitive::NOT_READY: + { return controller_interface::return_type::OK; } - case ReadyForNewPrimitive::READY:{ - if(!set_command_interfaces()){ + case ReadyForNewPrimitive::READY: + { + if (!set_command_interfaces()) + { RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); return controller_interface::return_type::ERROR; } return controller_interface::return_type::OK; } default: - RCLCPP_ERROR(get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", ready_for_new_primitive); + RCLCPP_ERROR( + get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", + ready_for_new_primitive); return controller_interface::return_type::ERROR; } } @@ -316,7 +349,8 @@ void MotionPrimitivesForwardController::reset_command_interfaces() { for (size_t i = 0; i < command_interfaces_.size(); ++i) { - if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) { + if (!command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN())) + { RCLCPP_ERROR(get_node()->get_logger(), "Failed to reset command interface %ld", i); } } @@ -331,94 +365,99 @@ bool MotionPrimitivesForwardController::set_command_interfaces() msg_queue_.pop(); // Check if the message is valid - if (!current_ref){ + if (!current_ref) + { RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); // Process joint positions if available if (!current_ref->joint_positions.empty()) { for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 } } - + // Process Cartesian poses if available if (!current_ref->poses.empty()) { - const auto & goal_pose = current_ref->poses[0].pose; // goal pose - (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x - (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y - (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z - (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx - (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy - (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz - (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw + const auto & goal_pose = current_ref->poses[0].pose; // goal pose + (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x + (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y + (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z + (void)command_interfaces_[10].set_value(goal_pose.orientation.x); // pos_qx + (void)command_interfaces_[11].set_value(goal_pose.orientation.y); // pos_qy + (void)command_interfaces_[12].set_value(goal_pose.orientation.z); // pos_qz + (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) { - const auto & via_pose = current_ref->poses[1].pose; // via pose - (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x - (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y - (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z - (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx - (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy - (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz - (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw + const auto & via_pose = current_ref->poses[1].pose; // via pose + (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x + (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y + (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z + (void)command_interfaces_[17].set_value(via_pose.orientation.x); // pos_via_qx + (void)command_interfaces_[18].set_value(via_pose.orientation.y); // pos_via_qy + (void)command_interfaces_[19].set_value(via_pose.orientation.z); // pos_via_qz + (void)command_interfaces_[20].set_value(via_pose.orientation.w); // pos_via_qw } } - (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius // Read additional arguments - for (const auto &arg : current_ref->additional_arguments) + for (const auto & arg : current_ref->additional_arguments) { - if (arg.argument_name == "velocity") - { - (void)command_interfaces_[22].set_value(arg.argument_value); - } - else if (arg.argument_name == "acceleration") - { - (void)command_interfaces_[23].set_value(arg.argument_value); - } - else if (arg.argument_name == "move_time") - { - (void)command_interfaces_[24].set_value(arg.argument_value); - } - else - { - RCLCPP_WARN(get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); - } + if (arg.argument_name == "velocity") + { + (void)command_interfaces_[22].set_value(arg.argument_value); + } + else if (arg.argument_name == "acceleration") + { + (void)command_interfaces_[23].set_value(arg.argument_value); + } + else if (arg.argument_name == "move_time") + { + (void)command_interfaces_[24].set_value(arg.argument_value); + } + else + { + RCLCPP_WARN( + get_node()->get_logger(), "Unknown additional argument: %s", arg.argument_name.c_str()); + } } return true; } // reset the controller reference message to NaN -void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shared_ptr & msg) +void MotionPrimitivesForwardController::reset_controller_reference_msg( + std::shared_ptr & msg) { msg->type = 0; msg->blend_radius = std::numeric_limits::quiet_NaN(); - - for (auto & arg : msg->additional_arguments) { + + for (auto & arg : msg->additional_arguments) + { arg.argument_name = ""; arg.argument_value = std::numeric_limits::quiet_NaN(); } - for (auto & pose : msg->poses) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + for (auto & pose : msg->poses) + { + pose.pose.position.x = std::numeric_limits::quiet_NaN(); + pose.pose.position.y = std::numeric_limits::quiet_NaN(); + pose.pose.position.z = std::numeric_limits::quiet_NaN(); + + pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); + pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); } } @@ -427,4 +466,5 @@ void MotionPrimitivesForwardController::reset_controller_reference_msg(std::shar #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - motion_primitives_forward_controller::MotionPrimitivesForwardController, controller_interface::ControllerInterface) + motion_primitives_forward_controller::MotionPrimitivesForwardController, + controller_interface::ControllerInterface) diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index d01d9bfdea..aaa5ef1638 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -30,4 +30,4 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file + queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index d01d9bfdea..aaa5ef1638 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -30,4 +30,4 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands \ No newline at end of file + queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp index f80bf960f0..5024c67cad 100644 --- a/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_load_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -32,8 +32,9 @@ TEST(TestLoadMotionPrimitivesForwardController, load_controller) controller_manager::ControllerManager cm( executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"); - ASSERT_NO_THROW( - cm.load_controller("test_motion_primitives_forward_controller", "motion_primitives_forward_controller/MotionPrimitivesForwardController")); + ASSERT_NO_THROW(cm.load_controller( + "test_motion_primitives_forward_controller", + "motion_primitives_forward_controller/MotionPrimitivesForwardController")); rclcpp::shutdown(); } diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index db31b27dc0..f9d71b55c7 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -26,7 +26,8 @@ using motion_primitives_forward_controller::CMD_MY_ITFS; using motion_primitives_forward_controller::STATE_MY_ITFS; -class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +class MotionPrimitivesForwardControllerTest +: public MotionPrimitivesForwardControllerFixture { }; @@ -40,8 +41,10 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); - ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_THAT( + controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT( + controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); ASSERT_EQ(controller_->params_.name, interface_namespace_); } @@ -120,7 +123,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) controller_interface::return_type::OK); } - TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) { SetUpController(); @@ -163,8 +165,8 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type - EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 EXPECT_EQ(command_values_[2], 0.2); EXPECT_EQ(command_values_[3], 0.3); EXPECT_EQ(command_values_[4], 0.4); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 9e3beec17c..b259d3cdc0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -14,8 +14,8 @@ // // Authors: Mathias Fuhrer -#ifndef TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ -#define TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#ifndef TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#define TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include #include @@ -25,11 +25,11 @@ #include #include -#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include "gmock/gmock.h" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" #include "hardware_interface/types/hardware_interface_return_values.hpp" +#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" #include "rclcpp/executor.hpp" #include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" @@ -37,10 +37,10 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "std_msgs/msg/int8.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" +#include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" +#include "std_msgs/msg/int8.hpp" using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ControllerStateMsg = std_msgs::msg::Int8; @@ -52,18 +52,20 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; } // namespace // subclassing and friending so we can access member variables -class TestableMotionPrimitivesForwardController : public motion_primitives_forward_controller::MotionPrimitivesForwardController +class TestableMotionPrimitivesForwardController +: public motion_primitives_forward_controller::MotionPrimitivesForwardController { FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); - + public: controller_interface::CallbackReturn on_configure( const rclcpp_lifecycle::State & previous_state) override { - return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure(previous_state); + return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure( + previous_state); } /** @@ -113,7 +115,8 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test void TearDown() { controller_.reset(nullptr); } protected: - void SetUpController(const std::string controller_name = "test_motion_primitives_forward_controller") + void SetUpController( + const std::string controller_name = "test_motion_primitives_forward_controller") { ASSERT_EQ( controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), @@ -125,8 +128,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test for (size_t i = 0; i < command_values_.size(); ++i) { - command_itfs_.emplace_back(hardware_interface::CommandInterface( - interface_namespace_, command_interface_names_[i], &command_values_[i])); + command_itfs_.emplace_back( + hardware_interface::CommandInterface( + interface_namespace_, command_interface_names_[i], &command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } @@ -136,8 +140,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test for (size_t i = 0; i < state_values_.size(); ++i) { - state_itfs_.emplace_back(hardware_interface::StateInterface( - interface_namespace_, state_interface_names_[i], &state_values_[i])); + state_itfs_.emplace_back( + hardware_interface::StateInterface( + interface_namespace_, state_interface_names_[i], &state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } @@ -178,12 +183,10 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test rclcpp::MessageInfo msg_info; ASSERT_TRUE(subscription->take(msg, msg_info)); } - + void publish_commands( const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, - double velocity = 0.7, - double acceleration = 1.0, - double move_time = 2.0, + double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, double blend_radius = 3.0) { std::cout << "Publishing command message ..." << std::endl; @@ -226,58 +229,32 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_publisher_->publish(msg); } - protected: - // Controller-related parameters - std::vector command_interface_names_ = { - "motion_type", - "q1", - "q2", - "q3", - "q4", - "q5", - "q6", - "pos_x", - "pos_y", - "pos_z", - "pos_qx", - "pos_qy", - "pos_qz", - "pos_qw", - "pos_via_x", - "pos_via_y", - "pos_via_z", - "pos_via_qx", - "pos_via_qy", - "pos_via_qz", - "pos_via_qw", - "blend_radius", - "velocity", - "acceleration", - "move_time"}; - - std::vector state_interface_names_ = { - "execution_status", - "ready_for_new_primitive"}; - - std::string interface_namespace_ = "motion_primitive"; - std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; - std::array command_values_ = { - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101, - 101.101, 101.101, 101.101, 101.101, 101.101 - }; - - std::vector state_itfs_; - std::vector command_itfs_; - - // Test related parameters - std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; + // Controller-related parameters + std::vector command_interface_names_ = { + "motion_type", "q1", "q2", "q3", "q4", + "q5", "q6", "pos_x", "pos_y", "pos_z", + "pos_qx", "pos_qy", "pos_qz", "pos_qw", "pos_via_x", + "pos_via_y", "pos_via_z", "pos_via_qx", "pos_via_qy", "pos_via_qz", + "pos_via_qw", "blend_radius", "velocity", "acceleration", "move_time"}; + + std::vector state_interface_names_ = {"execution_status", "ready_for_new_primitive"}; + + std::string interface_namespace_ = "motion_primitive"; + std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array command_values_ = { + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, + 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101}; + + std::vector state_itfs_; + std::vector command_itfs_; + + // Test related parameters + std::unique_ptr controller_; + rclcpp::Node::SharedPtr command_publisher_node_; + rclcpp::Publisher::SharedPtr command_publisher_; + rclcpp::Node::SharedPtr service_caller_node_; }; -#endif // TEMPLATES__ROS2_CONTROL__CONTROLLER__TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#endif // TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 348f10fbdb..c83f658be0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -1,5 +1,5 @@ // Copyright (c) 2025, b»robotized -// +// // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at @@ -25,7 +25,8 @@ using motion_primitives_forward_controller::CMD_MY_ITFS; using motion_primitives_forward_controller::STATE_MY_ITFS; -class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture +class MotionPrimitivesForwardControllerTest +: public MotionPrimitivesForwardControllerFixture { }; @@ -39,8 +40,10 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); - ASSERT_THAT(controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); + ASSERT_THAT( + controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); + ASSERT_THAT( + controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); ASSERT_EQ(controller_->params_.name, interface_namespace_); } From a2eaaea7404e5880d97dc3e5e1d7c3e07f793412 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 8 May 2025 09:21:03 +0200 Subject: [PATCH 33/70] added ExecutionState STOPPED and MotionType RESET_STOP --- .../execution_state.hpp | 1 + .../motion_type.hpp | 1 + .../src/motion_primitives_forward_controller.cpp | 15 +++++++++++++++ 3 files changed, 17 insertions(+) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp index df8ca79f45..3557c56101 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp @@ -23,6 +23,7 @@ static constexpr uint8_t IDLE = 0; static constexpr uint8_t EXECUTING = 1; static constexpr uint8_t SUCCESS = 2; static constexpr uint8_t ERROR = 3; +static constexpr uint8_t STOPPED = 4; } // namespace ExecutionState #endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp index 38fa3cfe46..3eb70221f5 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp @@ -26,6 +26,7 @@ static constexpr uint8_t CIRCULAR_CARTESIAN = 51; // Helper types static constexpr uint8_t STOP_MOTION = 66; +static constexpr uint8_t RESET_STOP = 67; // indicate motion sequence instead of executing single primitives static constexpr uint8_t MOTION_SEQUENCE_START = 100; static constexpr uint8_t MOTION_SEQUENCE_END = 101; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a32993bc03..822ae6c6c9 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -160,6 +160,16 @@ void MotionPrimitivesForwardController::reference_callback( return; } + case MotionType::RESET_STOP: + { + RCLCPP_INFO(get_node()->get_logger(), "Received motion type: RESET_STOP"); + reset_command_interfaces(); + std::lock_guard guard(command_mutex_); + (void)command_interfaces_[0].set_value( + static_cast(msg->type)); // send reset stop command immediately to the hw-interface + return; + } + case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); if (msg->joint_positions.empty()) @@ -288,6 +298,11 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; + + case ExecutionState::STOPPED: + // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); + print_error_once_ = true; + break; case ExecutionState::ERROR: if (print_error_once_) From 558de3805cba36f3bba1df739305199bc24acaee Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 12 May 2025 16:08:47 +0200 Subject: [PATCH 34/70] discard new commands while robot is stopped --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 17 +++++++++++++---- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index e7f1a4a01c..623be1b52b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -88,6 +88,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; + bool robot_stopped_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 822ae6c6c9..9122d72cf0 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -150,6 +150,7 @@ void MotionPrimitivesForwardController::reference_callback( { RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); reset_command_interfaces(); + robot_stopped_ = true; std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value( static_cast(msg->type)); // send stop command immediately to the hw-interface @@ -167,6 +168,7 @@ void MotionPrimitivesForwardController::reference_callback( std::lock_guard guard(command_mutex_); (void)command_interfaces_[0].set_value( static_cast(msg->type)); // send reset stop command immediately to the hw-interface + robot_stopped_ = false; return; } @@ -213,13 +215,20 @@ void MotionPrimitivesForwardController::reference_callback( return; } - if (msg_queue_.size() >= queue_size_) + if(!robot_stopped_) { - RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + if (msg_queue_.size() >= queue_size_) + { + RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); + return; + } + msg_queue_.push(msg); + } + else + { + RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); return; } - - msg_queue_.push(msg); } controller_interface::InterfaceConfiguration From 29356d52c2ae63d62e95cb43b0037b565e399a95 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 21 May 2025 09:41:26 +0200 Subject: [PATCH 35/70] added missing test_depend's to package.xml --- motion_primitives_forward_controller/package.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index eb107bd920..506d4ef4d5 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -32,6 +32,11 @@ realtime_tools std_srvs + ament_cmake_gmock + controller_manager + hardware_interface + ros2_control_test_assets + ament_cmake From 48dd4f1d8d814e1f089ce14f752ea4479e22b5d6 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 21 May 2025 09:43:34 +0200 Subject: [PATCH 36/70] moved test dependencies to if(BUILD_TESTING) block in CMakeLists.txt --- .../CMakeLists.txt | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 5c11dd3850..53588db555 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -14,15 +14,11 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp_lifecycle realtime_tools std_srvs + industrial_robot_motion_interfaces ) find_package(ament_cmake REQUIRED) find_package(generate_parameter_library REQUIRED) -find_package(ament_cmake_gmock REQUIRED) -find_package(controller_manager REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(ros2_control_test_assets REQUIRED) -find_package(industrial_robot_motion_interfaces REQUIRED) foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${Dependency} REQUIRED) endforeach() @@ -42,7 +38,6 @@ target_include_directories(motion_primitives_forward_controller PUBLIC target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) ament_target_dependencies(motion_primitives_forward_controller ${THIS_PACKAGE_INCLUDE_DEPENDS} - industrial_robot_motion_interfaces ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") @@ -51,7 +46,7 @@ pluginlib_export_plugin_description_file( install( TARGETS - motion_primitives_forward_controller + motion_primitives_forward_controller RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib @@ -63,6 +58,11 @@ install( ) if(BUILD_TESTING) + find_package(ament_cmake_gmock REQUIRED) + find_package(controller_manager REQUIRED) + find_package(hardware_interface REQUIRED) + find_package(ros2_control_test_assets REQUIRED) + ament_add_gmock( test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp From c96da9769f0b1f339584bd002434257aca44a082 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 08:17:22 +0200 Subject: [PATCH 37/70] changed reference topic to action --- .../motion_primitives_forward_controller.hpp | 30 +- .../motion_primitives_forward_controller.cpp | 384 ++++++++++-------- 2 files changed, 238 insertions(+), 176 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 623be1b52b..b71ad4064a 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -29,8 +29,9 @@ #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" +#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "std_msgs/msg/int8.hpp" +#include "rclcpp_action/rclcpp_action.hpp" namespace motion_primitives_forward_controller { @@ -63,32 +64,33 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle controller_interface::return_type update( const rclcpp::Time & time, const rclcpp::Duration & period) override; - using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - using ControllerStateMsg = std_msgs::msg::Int8; - protected: std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; - - using ControllerStatePublisher = realtime_tools::RealtimePublisher; - - rclcpp::Publisher::SharedPtr s_publisher_; - std::unique_ptr state_publisher_; + using MotionPrimitiveMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; + std::queue> moprim_queue_; - std::queue> msg_queue_; + using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; + rclcpp_action::Server::SharedPtr action_server_; + rclcpp_action::GoalResponse goal_received_callback( + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + rclcpp_action::CancelResponse goal_cancelled_callback( + const std::shared_ptr> goal_handle); + void goal_accepted_callback( + const std::shared_ptr> goal_handle); + void execute_goal( + const std::shared_ptr> goal_handle); -private: - void reference_callback(const std::shared_ptr msg); void reset_command_interfaces(); bool set_command_interfaces(); - void reset_controller_reference_msg(std::shared_ptr & msg); size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; bool robot_stopped_ = false; + bool was_executing_ = false; + uint8_t execution_status_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 9122d72cf0..821a8ac0e2 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -97,21 +97,17 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - // topics QoS - auto subscribers_qos = rclcpp::SystemDefaultsQoS(); - subscribers_qos.keep_last(1); - subscribers_qos.best_effort(); - - // Reference Subscriber - ref_subscriber_ = get_node()->create_subscription( - "~/reference", subscribers_qos, - std::bind(&MotionPrimitivesForwardController::reference_callback, this, std::placeholders::_1)); - RCLCPP_INFO( - get_node()->get_logger(), "Subscribed to reference topic: %s", - ref_subscriber_->get_topic_name()); - - std::shared_ptr msg = std::make_shared(); - reset_controller_reference_msg(msg); + action_server_ = rclcpp_action::create_server( + get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), + get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), + std::string(get_node()->get_name()) + "/motion_sequence", + std::bind( + &MotionPrimitivesForwardController::goal_received_callback, this, std::placeholders::_1, + std::placeholders::_2), + std::bind( + &MotionPrimitivesForwardController::goal_cancelled_callback, this, std::placeholders::_1), + std::bind( + &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); queue_size_ = params_.queue_size; if (queue_size_ == 0) @@ -120,117 +116,10 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - try - { - // State publisher - s_publisher_ = - get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); - state_publisher_ = std::make_unique(s_publisher_); - } - catch (const std::exception & e) - { - fprintf( - stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", - e.what()); - return controller_interface::CallbackReturn::ERROR; - } - RCLCPP_INFO(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } -// Function gets called when a new message is received -void MotionPrimitivesForwardController::reference_callback( - const std::shared_ptr msg) -{ - // Check if the type is one of the allowed motion types - switch (msg->type) - { - case MotionType::STOP_MOTION: - { - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: STOP_MOTION"); - reset_command_interfaces(); - robot_stopped_ = true; - std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value( - static_cast(msg->type)); // send stop command immediately to the hw-interface - while (!msg_queue_.empty()) - { // clear the queue - msg_queue_.pop(); - } - return; - } - - case MotionType::RESET_STOP: - { - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: RESET_STOP"); - reset_command_interfaces(); - std::lock_guard guard(command_mutex_); - (void)command_interfaces_[0].set_value( - static_cast(msg->type)); // send reset stop command immediately to the hw-interface - robot_stopped_ = false; - return; - } - - case MotionType::LINEAR_JOINT: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_JOINT (PTP)"); - if (msg->joint_positions.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received LINEAR_JOINT motion type without joint positions"); - return; - } - break; - - case MotionType::LINEAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: LINEAR_CARTESIAN (LIN)"); - if (msg->poses.empty()) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received LINEAR_CARTESIAN motion type without poses"); - return; - } - break; - - case MotionType::CIRCULAR_CARTESIAN: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: CIRCULAR_CARTESIAN (CIRC)"); - if (msg->poses.size() != 2) - { - RCLCPP_ERROR( - get_node()->get_logger(), "Received CIRCULAR_CARTESIAN motion type without two poses"); - return; - } - break; - - case MotionType::MOTION_SEQUENCE_START: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_START"); - break; - - case MotionType::MOTION_SEQUENCE_END: - RCLCPP_INFO(get_node()->get_logger(), "Received motion type: MOTION_SEQUENCE_END"); - break; - - default: - RCLCPP_ERROR(get_node()->get_logger(), "Received unknown motion type: %u", msg->type); - return; - } - - if(!robot_stopped_) - { - if (msg_queue_.size() >= queue_size_) - { - RCLCPP_ERROR(get_node()->get_logger(), "Queue size exceeded. Can't add new motion primitive."); - return; - } - msg_queue_.push(msg); - } - else - { - RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); - return; - } -} - controller_interface::InterfaceConfiguration MotionPrimitivesForwardController::command_interface_configuration() const { @@ -290,9 +179,9 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } - uint8_t execution_status = static_cast(std::round(opt_value_execution.value())); + execution_status_ = static_cast(std::round(opt_value_execution.value())); - switch (execution_status) + switch (execution_status_) { case ExecutionState::IDLE: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); @@ -300,6 +189,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::EXECUTING: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); + if (!was_executing_) + { + was_executing_ = true; + } print_error_once_ = true; break; @@ -307,7 +200,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; - + case ExecutionState::STOPPED: // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); print_error_once_ = true; @@ -323,15 +216,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( - get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status); + get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status_); return controller_interface::return_type::ERROR; } - // publish the execution_status - state_publisher_->lock(); - state_publisher_->msg_.data = execution_status; - state_publisher_->unlockAndPublish(); - auto opt_value_ready = state_interfaces_[1].get_optional(); if (!opt_value_ready.has_value()) { @@ -341,7 +229,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); - if (!msg_queue_.empty()) // check if new command is available + if (!moprim_queue_.empty()) // check if new command is available { switch (ready_for_new_primitive) { @@ -385,32 +273,32 @@ bool MotionPrimitivesForwardController::set_command_interfaces() { std::lock_guard guard(command_mutex_); // Get the oldest message from the queue - std::shared_ptr current_ref = msg_queue_.front(); - msg_queue_.pop(); + std::shared_ptr current_moprim = moprim_queue_.front(); + moprim_queue_.pop(); // Check if the message is valid - if (!current_ref) + if (!current_moprim) { RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_ref->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); // Process joint positions if available - if (!current_ref->joint_positions.empty()) + if (!current_moprim->joint_positions.empty()) { - for (size_t i = 0; i < current_ref->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_ref->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_ref->poses.empty()) + if (!current_moprim->poses.empty()) { - const auto & goal_pose = current_ref->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim->poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -420,9 +308,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if (current_ref->type == MotionType::CIRCULAR_CARTESIAN && current_ref->poses.size() == 2) + if (current_moprim->type == MotionType::CIRCULAR_CARTESIAN && current_moprim->poses.size() == 2) { - const auto & via_pose = current_ref->poses[1].pose; // via pose + const auto & via_pose = current_moprim->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -433,10 +321,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_ref->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_ref->additional_arguments) + for (const auto & arg : current_moprim->additional_arguments) { if (arg.argument_name == "velocity") { @@ -459,32 +347,204 @@ bool MotionPrimitivesForwardController::set_command_interfaces() return true; } -// reset the controller reference message to NaN -void MotionPrimitivesForwardController::reset_controller_reference_msg( - std::shared_ptr & msg) +rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_callback( + const rclcpp_action::GoalUUID &, std::shared_ptr goal) { - msg->type = 0; - msg->blend_radius = std::numeric_limits::quiet_NaN(); + RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); + + const auto & primitives = goal->trajectory.motions; - for (auto & arg : msg->additional_arguments) + if (primitives.empty()) { - arg.argument_name = ""; - arg.argument_value = std::numeric_limits::quiet_NaN(); + RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); + return rclcpp_action::GoalResponse::REJECT; } - for (auto & pose : msg->poses) + for (size_t i = 0; i < primitives.size(); ++i) { - pose.pose.position.x = std::numeric_limits::quiet_NaN(); - pose.pose.position.y = std::numeric_limits::quiet_NaN(); - pose.pose.position.z = std::numeric_limits::quiet_NaN(); - - pose.pose.orientation.x = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.y = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.z = std::numeric_limits::quiet_NaN(); - pose.pose.orientation.w = std::numeric_limits::quiet_NaN(); + const auto & primitive = primitives[i]; + + switch (primitive.type) + { + case MotionType::LINEAR_JOINT: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); + if (primitive.joint_positions.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_JOINT requires joint_positions.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::LINEAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_CARTESIAN (LIN)", i); + if (primitive.poses.empty()) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: LINEAR_CARTESIAN requires at least one pose.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + case MotionType::CIRCULAR_CARTESIAN: + RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: CIRCULAR_CARTESIAN (CIRC)", i); + if (primitive.poses.size() != 2) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Primitive %zu invalid: CIRCULAR_CARTESIAN requires exactly two poses.", i); + return rclcpp_action::GoalResponse::REJECT; + } + break; + + default: + RCLCPP_ERROR( + get_node()->get_logger(), "Primitive %zu invalid: unknown motion type %u.", i, + primitive.type); + return rclcpp_action::GoalResponse::REJECT; + } } + + return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } +rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( + const std::shared_ptr>) +{ + RCLCPP_INFO(get_node()->get_logger(), "Canceling goal"); + + std::lock_guard guard(command_mutex_); + reset_command_interfaces(); + robot_stopped_ = true; + // send stop command immediately to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + while (!moprim_queue_.empty()) + { // clear the queue + moprim_queue_.pop(); + } + + RCLCPP_INFO(get_node()->get_logger(), "Waiting for Robot to stop..."); + while (execution_status_ != ExecutionState::STOPPED) + { + // Small sleep to prevent busy waiting + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + reset_command_interfaces(); + // send reset stop command to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + robot_stopped_ = false; + + RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + return rclcpp_action::CancelResponse::ACCEPT; +} + +void MotionPrimitivesForwardController::goal_accepted_callback( + const std::shared_ptr> goal_handle) +{ + std::thread{std::bind(&MotionPrimitivesForwardController::execute_goal, this, goal_handle)} + .detach(); +} + +void MotionPrimitivesForwardController::execute_goal( + const std::shared_ptr> goal_handle) +{ + const auto & goal = goal_handle->get_goal(); + + if (robot_stopped_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); + return; + } + + const auto & primitives = goal->trajectory.motions; + + if (primitives.empty()) + { + RCLCPP_WARN(get_node()->get_logger(), "Received goal with no motion primitives. Ignoring."); + return; + } + + size_t required_queue_space = primitives.size(); + // add sequence markers only if there are multiple primitives + bool add_sequence_wrappers = primitives.size() > 1; + if (add_sequence_wrappers) + { + required_queue_space += 2; // start + end + } + + // Check if queue has enough space + if (moprim_queue_.size() + required_queue_space > queue_size_) + { + RCLCPP_ERROR( + get_node()->get_logger(), + "Received more motion primitives than queue can store. " + "Current queue size: %zu, required space: %zu. " + "Please increase the queue size in the controller parameters.", + moprim_queue_.size(), required_queue_space); + return; + } + + // Add sequence start marker + if (add_sequence_wrappers) + { + std::shared_ptr start_marker = std::make_shared(); + start_marker->type = MotionType::MOTION_SEQUENCE_START; + moprim_queue_.push(start_marker); + } + + // Add motion primitives to the queue + for (const auto & primitive : primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + + // Add sequence end marker + if (add_sequence_wrappers) + { + std::shared_ptr end_marker = std::make_shared(); + end_marker->type = MotionType::MOTION_SEQUENCE_END; + moprim_queue_.push(end_marker); + } + + RCLCPP_INFO( + get_node()->get_logger(), "Accepted goal with %zu motion primitives%s.", primitives.size(), + add_sequence_wrappers ? " (wrapped in sequence markers)" : ""); + + ExecuteMotion::Result result; + rclcpp::Rate rate(50); + while (rclcpp::ok()) + { + auto execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + if (execution_status == ExecutionState::SUCCESS && was_executing_) + { + RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); + result.error_code = ExecuteMotion::Result::SUCCESSFUL; + result.error_string = "Trajectory executed successfully"; + was_executing_ = false; + break; + } + else if (execution_status == ExecutionState::ERROR) + { + RCLCPP_ERROR(get_node()->get_logger(), "Execution failed with an error."); + result.error_code = ExecuteMotion::Result::FAILED; + result.error_string = "Trajectory execution failed"; + break; + } + else if (execution_status == ExecutionState::STOPPED) + { + RCLCPP_INFO(get_node()->get_logger(), "Execution stopped."); + result.error_code = ExecuteMotion::Result::CANCELED; + result.error_string = "Trajectory execution stopped"; + break; + } + rate.sleep(); + } + + goal_handle->succeed(std::make_shared(result)); +} } // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" From 53147b9f42b57ad4a9c3b3ee8e1fbe52269f8aad Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 15:00:20 +0200 Subject: [PATCH 38/70] modified tests for action based controller --- ...t_motion_primitives_forward_controller.cpp | 44 ++-- ...t_motion_primitives_forward_controller.hpp | 202 +++++++----------- 2 files changed, 93 insertions(+), 153 deletions(-) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index f9d71b55c7..3af7371dd0 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -77,8 +77,8 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); // check that the message queue is reset - auto msg_queue = controller_->msg_queue_; - ASSERT_TRUE(msg_queue.empty()); + auto moprim_queue_ = controller_->moprim_queue_; + ASSERT_TRUE(moprim_queue_.empty()); } TEST_F(MotionPrimitivesForwardControllerTest, update_success) @@ -123,7 +123,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) controller_interface::return_type::OK); } -TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) +TEST_F(MotionPrimitivesForwardControllerTest, receive_single_action_goal) { SetUpController(); @@ -134,32 +134,16 @@ TEST_F(MotionPrimitivesForwardControllerTest, publish_status_success) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - ControllerStateMsg msg; - subscribe_and_get_messages(msg); + send_single_motion_sequence_goal(); // filling with default values from the function - ASSERT_EQ(msg.data, ExecutionState::IDLE); -} - -TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status) -{ - SetUpController(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(controller_->get_node()->get_node_base_interface()); - - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - ControllerStateMsg msg; - subscribe_and_get_messages(msg); - - ASSERT_EQ(msg.data, ExecutionState::IDLE); - - publish_commands(); - controller_->wait_for_commands(executor); + // Wait for the command value to be set + // This is necessary because the action server might take some time to process the goal + auto start = std::chrono::steady_clock::now(); + while (std::isnan(command_values_[1]) && + (std::chrono::steady_clock::now() - start) < std::chrono::seconds(5)) + { + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), @@ -176,10 +160,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_message_and_publish_update EXPECT_EQ(command_values_[22], 0.7); // velocity EXPECT_EQ(command_values_[23], 1.0); // acceleration EXPECT_EQ(command_values_[24], 2.0); // move time - - subscribe_and_get_messages(msg); - - ASSERT_EQ(msg.data, ExecutionState::IDLE); } int main(int argc, char ** argv) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index b259d3cdc0..31fbae6e12 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -18,9 +18,12 @@ #define TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include +#include +#include #include #include #include +#include #include #include #include @@ -34,16 +37,18 @@ #include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" +#include "rclcpp_action/rclcpp_action.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" +#include "rclcpp_lifecycle/state.hpp" +#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" #include "motion_primitives_forward_controller/execution_state.hpp" #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" -#include "std_msgs/msg/int8.hpp" -using ControllerReferenceMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; -using ControllerStateMsg = std_msgs::msg::Int8; +using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; namespace { @@ -58,7 +63,7 @@ class TestableMotionPrimitivesForwardController FRIEND_TEST(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, activate_success); FRIEND_TEST(MotionPrimitivesForwardControllerTest, reactivate_success); - FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_message_and_publish_updated_status); + FRIEND_TEST(MotionPrimitivesForwardControllerTest, receive_single_action_goal); public: controller_interface::CallbackReturn on_configure( @@ -67,62 +72,55 @@ class TestableMotionPrimitivesForwardController return motion_primitives_forward_controller::MotionPrimitivesForwardController::on_configure( previous_state); } - - /** - * @brief wait_for_command blocks until a new ControllerReferenceMsg is received. - * Requires that the executor is not spinned elsewhere between the - * message publication and the call to this function. - */ - void wait_for_command( - rclcpp::Executor & executor, - const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) - { - auto until = get_node()->get_clock()->now() + timeout; - while (get_node()->get_clock()->now() < until) - { - executor.spin_some(); - std::this_thread::sleep_for(std::chrono::microseconds(10)); - } - } - - void wait_for_commands( - rclcpp::Executor & executor, - const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) - { - return wait_for_command(executor, timeout); - } }; - // We are using template class here for easier reuse of Fixture in specializations of controllers template class MotionPrimitivesForwardControllerFixture : public ::testing::Test { public: - static void SetUpTestCase() {} - - void SetUp() + void SetUp() override { - // initialize controller controller_ = std::make_unique(); + ASSERT_EQ( + controller_->init( + "test_motion_primitives_forward_controller", "", 0, "", + controller_->define_custom_node_options()), + controller_interface::return_type::OK); - command_publisher_node_ = std::make_shared("command_publisher"); - command_publisher_ = command_publisher_node_->create_publisher( - "/test_motion_primitives_forward_controller/reference", rclcpp::SystemDefaultsQoS()); - } + node_ = std::make_shared("test_node"); + + executor_ = std::make_shared(); + executor_->add_node(node_); + executor_->add_node(controller_->get_node()->get_node_base_interface()); - static void TearDownTestCase() {} + executor_thread_ = std::thread([this]() { executor_->spin(); }); - void TearDown() { controller_.reset(nullptr); } + action_client_ = rclcpp_action::create_client( + node_->get_node_base_interface(), node_->get_node_graph_interface(), + node_->get_node_logging_interface(), node_->get_node_waitables_interface(), + "/test_motion_primitives_forward_controller/motion_sequence"); + } + + void TearDown() override + { + executor_->cancel(); + if (executor_thread_.joinable()) + { + executor_thread_.join(); + } + controller_.reset(); + node_.reset(); + executor_.reset(); + } protected: void SetUpController( const std::string controller_name = "test_motion_primitives_forward_controller") { - ASSERT_EQ( - controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()), - controller_interface::return_type::OK); - std::vector command_ifs; + std::vector state_ifs; + + command_itfs_.clear(); command_itfs_.reserve(command_values_.size()); command_ifs.reserve(command_values_.size()); @@ -134,7 +132,7 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test command_ifs.emplace_back(command_itfs_.back()); } - std::vector state_ifs; + state_itfs_.clear(); state_itfs_.reserve(state_values_.size()); state_ifs.reserve(state_values_.size()); @@ -149,88 +147,50 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } - void subscribe_and_get_messages(ControllerStateMsg & msg) + void send_single_motion_sequence_goal( + const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, + double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, + double blend_radius = 3.0) { - // create a new subscriber - rclcpp::Node test_subscription_node("test_subscription_node"); - auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; - auto subscription = test_subscription_node.create_subscription( - "/test_motion_primitives_forward_controller/state", 10, subs_callback); + std::cout << "Send motion sequence goal..." << std::endl; - // call update to publish the test value - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - // call update to publish the test value - // since update doesn't guarantee a published message, republish until received - int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop - rclcpp::WaitSet wait_set; // block used to wait on message - wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) + if (!action_client_->wait_for_action_server(std::chrono::seconds(5))) { - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); - // check if message has been received - if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) - { - break; - } + throw std::runtime_error("Action server not available"); } - ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through " - "controller/broadcaster update loop"; - // take message from subscription - rclcpp::MessageInfo msg_info; - ASSERT_TRUE(subscription->take(msg, msg_info)); - } + auto goal_msg = ExecuteMotion::Goal(); + MotionPrimitive primitive; + primitive.type = MotionType::LINEAR_JOINT; + primitive.joint_positions = joint_positions; + primitive.blend_radius = blend_radius; - void publish_commands( - const std::vector & joint_positions = {0.1, 0.2, 0.3, 0.4, 0.5, 0.6}, - double velocity = 0.7, double acceleration = 1.0, double move_time = 2.0, - double blend_radius = 3.0) - { - std::cout << "Publishing command message ..." << std::endl; - auto wait_for_topic = [&](const auto topic_name) + primitive.additional_arguments.resize(3); + primitive.additional_arguments[0].argument_name = "velocity"; + primitive.additional_arguments[0].argument_value = velocity; + primitive.additional_arguments[1].argument_name = "acceleration"; + primitive.additional_arguments[1].argument_value = acceleration; + primitive.additional_arguments[2].argument_name = "move_time"; + primitive.additional_arguments[2].argument_value = move_time; + + goal_msg.trajectory.motions.push_back(primitive); + + auto goal_future = action_client_->async_send_goal(goal_msg); + + if (goal_future.wait_for(std::chrono::seconds(5)) != std::future_status::ready) { - size_t wait_count = 0; - while (command_publisher_node_->count_subscribers(topic_name) == 0) - { - if (wait_count >= 5) - { - auto error_msg = - std::string("publishing to ") + topic_name + " but no node subscribes to it"; - throw std::runtime_error(error_msg); - } - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - ++wait_count; - } - std::cout << "Found subscriber for topic: " << topic_name << std::endl; - }; - - auto topic_name = command_publisher_->get_topic_name(); - std::cout << "Waiting for subscriber on topic: " << topic_name << std::endl; - wait_for_topic(topic_name); - - ControllerReferenceMsg msg; - - // TODO(mathias31415): Add other tests for other motion types - msg.type = MotionType::LINEAR_JOINT; - msg.joint_positions = joint_positions; - msg.blend_radius = blend_radius; - - msg.additional_arguments.resize(3); - msg.additional_arguments[0].argument_name = "velocity"; - msg.additional_arguments[0].argument_value = velocity; - msg.additional_arguments[1].argument_name = "acceleration"; - msg.additional_arguments[1].argument_value = acceleration; - msg.additional_arguments[2].argument_name = "move_time"; - msg.additional_arguments[2].argument_value = move_time; - - command_publisher_->publish(msg); + throw std::runtime_error("Failed to send goal (future timeout)"); + } + + auto goal_handle = goal_future.get(); + if (!goal_handle) + { + throw std::runtime_error("Goal was rejected by the action server"); + } + + std::cout << "Goal accepted by the action server." << std::endl; } -protected: - // Controller-related parameters std::vector command_interface_names_ = { "motion_type", "q1", "q2", "q3", "q4", "q5", "q6", "pos_x", "pos_y", "pos_z", @@ -250,11 +210,11 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::vector state_itfs_; std::vector command_itfs_; - // Test related parameters std::unique_ptr controller_; - rclcpp::Node::SharedPtr command_publisher_node_; - rclcpp::Publisher::SharedPtr command_publisher_; - rclcpp::Node::SharedPtr service_caller_node_; + rclcpp_action::Client::SharedPtr action_client_; + rclcpp::Node::SharedPtr node_; + std::shared_ptr executor_; + std::thread executor_thread_; }; #endif // TEST_MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ From 7a8bcb2ef9cf212eb0bddc27879baaef63555b73 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 5 Jun 2025 16:38:39 +0200 Subject: [PATCH 39/70] updated readme --- .../README.md | 47 +++++++----------- ...s2_control_motion_primitives_ur.drawio.png | Bin 458182 -> 0 bytes ...motion_primitives_ur_integrated.drawio.png | Bin 0 -> 374313 bytes ...n_primitives_ur_whiteBackground.drawio.png | Bin 441153 -> 0 bytes 4 files changed, 18 insertions(+), 29 deletions(-) delete mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png create mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_integrated.drawio.png delete mode 100644 motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index e301e690fb..be910fd651 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,44 +6,33 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `MotionPrimitive.msg` message type from the [industrial_robot_motion_interfaces](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) package. A custom fork of this package is used, which includes additional helper types to enhance motion command flexibility and sequencing. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. -## Features - -- Support for basic motion primitives: +- Supported motion primitives: - `LINEAR_JOINT` - `LINEAR_CARTESIAN` - `CIRCULAR_CARTESIAN` -- Additional helper types: - - `STOP_MOTION`: Immediately stops the current robot motion and clears all pending primitives in the controller's queue. - - `MOTION_SEQUENCE_START` / `MOTION_SEQUENCE_END`: Define a motion sequence block. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. - -## Architecture Overview -The following diagram shows the architecture for a UR robot. -For this setup, the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. -![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_whiteBackground.drawio.png) +If multiple motion primitives are passed to the controller via the action, the controller forwards them to the hardware interface as a sequence. To do this, it first sends `MOTION_SEQUENCE_START`, followed by each individual primitive, and finally `MOTION_SEQUENCE_END`. All primitives between these two markers will be executed as a single, continuous sequence. This allows seamless transitions (blending) between primitives. +The action interface also allows stopping the current execution of motion primitives. When a stop request is received, the controller sends `STOP_MOTION` to the hardware interface, which then halts the robot's movement. Once the controller receives confirmation that the robot has stopped, it sends `RESET_STOP` to the hardware interface. After that, new commands can be sent. -1. **Command Reception** - Motion primitives can be published to the `~/reference` topic. These messages are received by the `reference_callback()` method in the controller. - This can be done, for example, via a Python script as demonstrated in the [`motion_primitive_ur_driver`](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives.py) package. +This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. -2. **Command Handling Logic** - - If the received primitive is of type `STOP_MOTION`, it is directly forwarded to the hardware interface through the command interface, and all queued primitives in the controller are discarded. - - If the primitive is of any other type, it is appended to the internal motion primitive queue. The maximum queue size is configurable via a YAML configuration file. - -3. **Motion Execution Flow** - The `update()` method in the controller: - - Reads the current `execution_state` from the hardware interface via the state interface and publishes it to the `~/state` topic. - - Reads the `ready_for_new_primitive` state flag. If `true`, the next primitive from the queue is sent to the hardware interface for execution. +## Architecture Overview +The following diagram shows the architecture for a UR robot. +For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. -4. **Sequencing Logic** - Sequencing logic for grouped execution (between `MOTION_SEQUENCE_START` and `MOTION_SEQUENCE_END`) is handled within the hardware interface layer. The controller itself only manages queueing and forwarding logic. +![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) # Related packages/ repos -- [industrial_robot_motion_interfaces (with additional helper types for stop and motion sequence)](https://github.com/StoglRobotics-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [ros2_controllers with motion_primitives_forward_controller](https://github.com/StoglRobotics-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/StoglRobotics-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library with movec from urfeex](https://github.com/urfeex/Universal_Robots_Client_Library/tree/movec_movep) +- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) +- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) +- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) +- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) + +# TODOs/ improvements +- Extend the tests + - Test for a sequence of multiple primitives + - Test for canceling movement diff --git a/motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png b/motion_primitives_forward_controller/doc/ros2_control_motion_primitives_ur.drawio.png deleted file mode 100644 index a33053b6b206bfc0cba7726589a8d7c79e1c6c1c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 458182 zcmeFZ$?o%BwZZj#lZ{og>Cyco$#5FMI8W=KW 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zm<=ojm2&BpH9B_zOAY=H$qxi8A)`5m>3g| Date: Thu, 26 Jun 2025 14:10:06 +0200 Subject: [PATCH 40/70] Update motion_primitives_forward_controller/CMakeLists.txt Co-authored-by: Felix Exner (fexner) --- motion_primitives_forward_controller/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 53588db555..033507db30 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -54,7 +54,7 @@ install( install( DIRECTORY include/ - DESTINATION include + DESTINATION include/${PROJECT_NAME} ) if(BUILD_TESTING) From e670fdd37c1ddd50b7ecf16388ab9a3b4db765a4 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 15:22:30 +0200 Subject: [PATCH 41/70] removed ament_target_dependencies from CMakeLists.txt --- .../CMakeLists.txt | 62 +++++++++---------- 1 file changed, 29 insertions(+), 33 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 033507db30..6cb6c58f30 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -33,12 +33,22 @@ add_library( src/motion_primitives_forward_controller.cpp ) target_include_directories(motion_primitives_forward_controller PUBLIC - "$" - "$") -target_link_libraries(motion_primitives_forward_controller motion_primitives_forward_controller_parameters) -ament_target_dependencies(motion_primitives_forward_controller - ${THIS_PACKAGE_INCLUDE_DEPENDS} + $ + $ +) +target_link_libraries(motion_primitives_forward_controller PUBLIC + motion_primitives_forward_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} + ${industrial_robot_motion_interfaces_TARGETS} ) + target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") pluginlib_export_plugin_description_file( @@ -67,14 +77,10 @@ if(BUILD_TESTING) test_load_motion_primitives_forward_controller test/test_load_motion_primitives_forward_controller.cpp ) - target_include_directories( - test_load_motion_primitives_forward_controller PRIVATE include - ) - ament_target_dependencies( - test_load_motion_primitives_forward_controller - controller_manager - hardware_interface - ros2_control_test_assets + target_link_libraries(test_load_motion_primitives_forward_controller + motion_primitives_forward_controller + controller_manager::controller_manager + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -82,16 +88,11 @@ if(BUILD_TESTING) test/test_motion_primitives_forward_controller.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_params.yaml ) - target_include_directories( - test_motion_primitives_forward_controller PRIVATE include - ) - target_link_libraries( - test_motion_primitives_forward_controller motion_primitives_forward_controller - ) - ament_target_dependencies( - test_motion_primitives_forward_controller - controller_interface - hardware_interface + target_link_libraries(test_motion_primitives_forward_controller + motion_primitives_forward_controller + controller_interface::controller_interface + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) add_rostest_with_parameters_gmock( @@ -99,16 +100,11 @@ if(BUILD_TESTING) test/test_motion_primitives_forward_controller_preceeding.cpp ${CMAKE_CURRENT_SOURCE_DIR}/test/motion_primitives_forward_controller_preceeding_params.yaml ) - target_include_directories( - test_motion_primitives_forward_controller_preceeding PRIVATE include - ) - target_link_libraries( - test_motion_primitives_forward_controller_preceeding motion_primitives_forward_controller - ) - ament_target_dependencies( - test_motion_primitives_forward_controller_preceeding - controller_interface - hardware_interface + target_link_libraries(test_motion_primitives_forward_controller_preceeding + motion_primitives_forward_controller + controller_interface::controller_interface + hardware_interface::hardware_interface + ros2_control_test_assets::ros2_control_test_assets ) endif() From a49cbb5b0b9bf1afff7cd66a685db4034c8e7e14 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 15:32:10 +0200 Subject: [PATCH 42/70] reference the final package destinations in redme and added shematic of the action --- motion_primitives_forward_controller/README.md | 14 +++++--------- ..._Controller_ExecuteMotion_Action.drawio.png | Bin 0 -> 212574 bytes 2 files changed, 5 insertions(+), 9 deletions(-) create mode 100644 motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio.png diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index be910fd651..921fd3fd98 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,7 +6,7 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. - Supported motion primitives: - `LINEAR_JOINT` @@ -17,21 +17,17 @@ If multiple motion primitives are passed to the controller via the action, the c The action interface also allows stopping the current execution of motion primitives. When a stop request is received, the controller sends `STOP_MOTION` to the hardware interface, which then halts the robot's movement. Once the controller receives confirmation that the robot has stopped, it sends `RESET_STOP` to the hardware interface. After that, new commands can be sent. -This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. +![Action Image](doc/Moprim_Controller_ExecuteMotion_Action.drawio.png) + +This can be done, for example, via a Python script as demonstrated in the [`example python script`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py) in the `Universal_Robots_ROS2_Driver` package. ## Architecture Overview The following diagram shows the architecture for a UR robot. -For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) is used. +For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver`](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) is used. ![UR Robot Architecture](doc/ros2_control_motion_primitives_ur_integrated.drawio.png) -# Related packages/ repos -- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types) -- [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller) -- [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive) -- [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) - # TODOs/ improvements - Extend the tests - Test for a sequence of multiple primitives diff --git 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z?BKfcoPWBZACHF_)UEfW&A((pV8g+U(32ef365lm{UG#%)db`Dt@$t6U(4|Sqb^G7 z_ZEW#@e0rX`gufP(i@CR>#sQ|rsF4Py+E44-!L<)_O9jG{PSfgM8nGyPJRq=U;W%)z Date: Thu, 26 Jun 2025 15:50:57 +0200 Subject: [PATCH 43/70] Removed STATE_MY_ITFS and CMD_MY_ITFS. References to command and state interfaces need to be added in the future for better readability and safety. --- motion_primitives_forward_controller/README.md | 1 + .../motion_primitives_forward_controller.hpp | 5 ----- .../test/test_motion_primitives_forward_controller.cpp | 7 ++----- ...est_motion_primitives_forward_controller_preceeding.cpp | 3 --- 4 files changed, 3 insertions(+), 13 deletions(-) diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 921fd3fd98..54a62d5b14 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -29,6 +29,7 @@ For this setup, the [motion primitives mode of the `Universal_Robots_ROS2_Driver # TODOs/ improvements +- Use references for command and state interfaces to improve code readability and less error-prone. - Extend the tests - Test for a sequence of multiple primitives - Test for canceling movement diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index b71ad4064a..6092bbeca1 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -35,11 +35,6 @@ namespace motion_primitives_forward_controller { -// name constants for state interfaces -static constexpr size_t STATE_MY_ITFS = 0; - -// name constants for command interfaces -static constexpr size_t CMD_MY_ITFS = 0; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 3af7371dd0..b59bebcdc5 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -23,9 +23,6 @@ #include "rclcpp/rclcpp.hpp" #include "test_motion_primitives_forward_controller.hpp" -using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::STATE_MY_ITFS; - class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture { @@ -110,12 +107,12 @@ TEST_F(MotionPrimitivesForwardControllerTest, reactivate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - auto val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + auto val_opt = controller_->command_interfaces_[0].get_optional(); ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - val_opt = controller_->command_interfaces_[CMD_MY_ITFS].get_optional(); + val_opt = controller_->command_interfaces_[0].get_optional(); ASSERT_TRUE(std::isnan(val_opt.value())); ASSERT_EQ( diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index c83f658be0..1a43a6982a 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -22,9 +22,6 @@ #include #include -using motion_primitives_forward_controller::CMD_MY_ITFS; -using motion_primitives_forward_controller::STATE_MY_ITFS; - class MotionPrimitivesForwardControllerTest : public MotionPrimitivesForwardControllerFixture { From 123cdb13098f238070b1e868c16868ee6dfb41af Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 16:14:24 +0200 Subject: [PATCH 44/70] removed static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all... --- .../motion_primitives_forward_controller.cpp | 17 ----------------- 1 file changed, 17 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 821a8ac0e2..93827fa2cd 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -26,23 +26,6 @@ #include "motion_primitives_forward_controller/motion_type.hpp" #include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" -namespace -{ // utility - -// TODO(destogl): remove this when merged upstream -// Changed services history QoS to keep all so we don't lose any client service calls -static constexpr rmw_qos_profile_t rmw_qos_profile_services_hist_keep_all = { - RMW_QOS_POLICY_HISTORY_KEEP_ALL, - 1, // message queue depth - RMW_QOS_POLICY_RELIABILITY_RELIABLE, - RMW_QOS_POLICY_DURABILITY_VOLATILE, - RMW_QOS_DEADLINE_DEFAULT, - RMW_QOS_LIFESPAN_DEFAULT, - RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, - RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT, - false}; -} // namespace - namespace motion_primitives_forward_controller { MotionPrimitivesForwardController::MotionPrimitivesForwardController() From cb2e1d648445ce50510cc6bb101e16075b98cd65 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 26 Jun 2025 17:06:11 +0200 Subject: [PATCH 45/70] changed ExecutionState, MotionType and ReadyForNewPrimitive to enum --- .../execution_state.hpp | 29 ---------------- .../motion_primitives_forward_controller.hpp | 30 +++++++++++++++- .../motion_type.hpp | 34 ------------------- .../ready_for_new_primitive.hpp | 26 -------------- .../motion_primitives_forward_controller.cpp | 32 ++++++++--------- ...t_motion_primitives_forward_controller.cpp | 7 ++-- ...t_motion_primitives_forward_controller.hpp | 10 +++--- 7 files changed, 55 insertions(+), 113 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp deleted file mode 100644 index 3557c56101..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/execution_state.hpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ - -namespace ExecutionState -{ -static constexpr uint8_t IDLE = 0; -static constexpr uint8_t EXECUTING = 1; -static constexpr uint8_t SUCCESS = 2; -static constexpr uint8_t ERROR = 3; -static constexpr uint8_t STOPPED = 4; -} // namespace ExecutionState - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__EXECUTION_STATE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 6092bbeca1..80a4778c6d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -35,6 +35,33 @@ namespace motion_primitives_forward_controller { +enum class ExecutionState : uint8_t +{ + IDLE = 0, + EXECUTING = 1, + SUCCESS = 2, + ERROR = 3, + STOPPED = 4 +}; + +enum class MotionType : uint8_t +{ + LINEAR_JOINT = 10, + LINEAR_CARTESIAN = 50, + CIRCULAR_CARTESIAN = 51, + + STOP_MOTION = 66, + RESET_STOP = 67, + + MOTION_SEQUENCE_START = 100, + MOTION_SEQUENCE_END = 101 +}; + +enum class ReadyForNewPrimitive : uint8_t +{ + NOT_READY = 0, + READY = 1 +}; class MotionPrimitivesForwardController : public controller_interface::ControllerInterface { @@ -85,7 +112,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool print_error_once_ = true; bool robot_stopped_ = false; bool was_executing_ = false; - uint8_t execution_status_; + ExecutionState execution_status_; + ReadyForNewPrimitive ready_for_new_primitive_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp deleted file mode 100644 index 3eb70221f5..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_type.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ - -namespace MotionType -{ -// Motion Primitives -static constexpr uint8_t LINEAR_JOINT = 10; // changed to 10 because 0 is default value -static constexpr uint8_t LINEAR_CARTESIAN = 50; -static constexpr uint8_t CIRCULAR_CARTESIAN = 51; - -// Helper types -static constexpr uint8_t STOP_MOTION = 66; -static constexpr uint8_t RESET_STOP = 67; -// indicate motion sequence instead of executing single primitives -static constexpr uint8_t MOTION_SEQUENCE_START = 100; -static constexpr uint8_t MOTION_SEQUENCE_END = 101; -} // namespace MotionType -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_TYPE_HPP_ diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp deleted file mode 100644 index 3a487b7463..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/ready_for_new_primitive.hpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Authors: Mathias Fuhrer - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ - -namespace ReadyForNewPrimitive -{ -static constexpr uint8_t NOT_READY = 0; -static constexpr uint8_t READY = 1; -} // namespace ReadyForNewPrimitive - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__READY_FOR_NEW_PRIMITIVE_HPP_ diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 93827fa2cd..8bd156955d 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -15,16 +15,11 @@ // Authors: Mathias Fuhrer #include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp" - #include #include #include #include - #include "controller_interface/helpers.hpp" -#include "motion_primitives_forward_controller/execution_state.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" -#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" namespace motion_primitives_forward_controller { @@ -162,8 +157,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 0 (execution_state) returned no value."); return controller_interface::return_type::ERROR; } - execution_status_ = static_cast(std::round(opt_value_execution.value())); - + execution_status_ = + static_cast(static_cast(std::round(opt_value_execution.value()))); switch (execution_status_) { case ExecutionState::IDLE: @@ -199,7 +194,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( - get_node()->get_logger(), "Error: Unknown execution status: %d", execution_status_); + get_node()->get_logger(), "Error: Unknown execution status: %d", + static_cast(execution_status_)); return controller_interface::return_type::ERROR; } @@ -210,11 +206,12 @@ controller_interface::return_type MotionPrimitivesForwardController::update( get_node()->get_logger(), "State interface 1 (ready_for_new_primitive) returned no value."); return controller_interface::return_type::ERROR; } - uint8_t ready_for_new_primitive = static_cast(std::round(opt_value_ready.value())); + ready_for_new_primitive_ = + static_cast(static_cast(std::round(opt_value_ready.value()))); if (!moprim_queue_.empty()) // check if new command is available { - switch (ready_for_new_primitive) + switch (ready_for_new_primitive_) { case ReadyForNewPrimitive::NOT_READY: { @@ -232,7 +229,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( default: RCLCPP_ERROR( get_node()->get_logger(), "Error: Unknown state for ready_for_new_primitive: %d", - ready_for_new_primitive); + static_cast(ready_for_new_primitive_)); return controller_interface::return_type::ERROR; } } @@ -291,7 +288,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if (current_moprim->type == MotionType::CIRCULAR_CARTESIAN && current_moprim->poses.size() == 2) + if ( + current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim->poses.size() == 2) { const auto & via_pose = current_moprim->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x @@ -347,7 +346,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { const auto & primitive = primitives[i]; - switch (primitive.type) + switch (static_cast(primitive.type)) { case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); @@ -474,7 +473,7 @@ void MotionPrimitivesForwardController::execute_goal( if (add_sequence_wrappers) { std::shared_ptr start_marker = std::make_shared(); - start_marker->type = MotionType::MOTION_SEQUENCE_START; + start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); moprim_queue_.push(start_marker); } @@ -488,7 +487,7 @@ void MotionPrimitivesForwardController::execute_goal( if (add_sequence_wrappers) { std::shared_ptr end_marker = std::make_shared(); - end_marker->type = MotionType::MOTION_SEQUENCE_END; + end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); moprim_queue_.push(end_marker); } @@ -500,7 +499,8 @@ void MotionPrimitivesForwardController::execute_goal( rclcpp::Rate rate(50); while (rclcpp::ok()) { - auto execution_status = static_cast(std::round(state_interfaces_[0].get_value())); + ExecutionState execution_status = static_cast( + static_cast(std::round(state_interfaces_[0].get_value()))); if (execution_status == ExecutionState::SUCCESS && was_executing_) { RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index b59bebcdc5..55a17fe03a 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -146,8 +146,11 @@ TEST_F(MotionPrimitivesForwardControllerTest, receive_single_action_goal) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(command_values_[0], MotionType::LINEAR_JOINT); // motion type - EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 + EXPECT_EQ( + command_values_[0], + static_cast( + motion_primitives_forward_controller::MotionType::LINEAR_JOINT)); // motion type + EXPECT_EQ(command_values_[1], 0.1); // q1 - q6 EXPECT_EQ(command_values_[2], 0.2); EXPECT_EQ(command_values_[3], 0.3); EXPECT_EQ(command_values_[4], 0.4); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index 31fbae6e12..d0e06ace19 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -43,9 +43,6 @@ #include "industrial_robot_motion_interfaces/action/execute_motion.hpp" #include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" -#include "motion_primitives_forward_controller/execution_state.hpp" -#include "motion_primitives_forward_controller/motion_type.hpp" -#include "motion_primitives_forward_controller/ready_for_new_primitive.hpp" using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; @@ -161,7 +158,8 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test auto goal_msg = ExecuteMotion::Goal(); MotionPrimitive primitive; - primitive.type = MotionType::LINEAR_JOINT; + primitive.type = + static_cast(motion_primitives_forward_controller::MotionType::LINEAR_JOINT); primitive.joint_positions = joint_positions; primitive.blend_radius = blend_radius; @@ -201,7 +199,9 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test std::vector state_interface_names_ = {"execution_status", "ready_for_new_primitive"}; std::string interface_namespace_ = "motion_primitive"; - std::array state_values_ = {ExecutionState::IDLE, ReadyForNewPrimitive::READY}; + std::array state_values_ = { + static_cast(motion_primitives_forward_controller::ExecutionState::IDLE), + static_cast(motion_primitives_forward_controller::ReadyForNewPrimitive::READY)}; std::array command_values_ = { 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, 101.101, From f19e43ead0e7a4e5dce85fe2e818e667b6dd8390 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 08:52:08 +0200 Subject: [PATCH 46/70] removed validate_motion_primitives_forward_controller_parameters.hpp --- .../CMakeLists.txt | 1 - ...imitives_forward_controller_parameters.hpp | 38 ------------------- 2 files changed, 39 deletions(-) delete mode 100644 motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 6cb6c58f30..0f5ab87f9d 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -25,7 +25,6 @@ endforeach() generate_parameter_library(motion_primitives_forward_controller_parameters src/motion_primitives_forward_controller.yaml - include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp ) add_library( motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp deleted file mode 100644 index c2ff279035..0000000000 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/validate_motion_primitives_forward_controller_parameters.hpp +++ /dev/null @@ -1,38 +0,0 @@ -// Copyright (c) 2025, b»robotized -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ -#define MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ - -#include - -#include "parameter_traits/parameter_traits.hpp" - -namespace parameter_traits -{ -Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) -{ - auto const & interface_name = parameter.as_string(); - - if (interface_name.rfind("blup_", 0) == 0) - { - return ERROR("'interface_name' parameter can not start with 'blup_'"); - } - - return OK; -} - -} // namespace parameter_traits - -#endif // MOTION_PRIMITIVES_FORWARD_CONTROLLER__VALIDATE_MOTION_PRIMITIVES_FORWARD_CONTROLLER_PARAMETERS_HPP_ From 06ba279d78c420596d42d4141dde35ca227b1a66 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 09:29:19 +0200 Subject: [PATCH 47/70] Changed some RCLCPP_INFO prints to _DEBUG to reduce output --- .../src/motion_primitives_forward_controller.cpp | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 8bd156955d..72a0d3b763 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -30,7 +30,7 @@ MotionPrimitivesForwardController::MotionPrimitivesForwardController() controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init() { - RCLCPP_INFO(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); + RCLCPP_DEBUG(get_node()->get_logger(), "Initializing Motion Primitives Forward Controller"); try { @@ -49,7 +49,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( controller_interface::CallbackReturn MotionPrimitivesForwardController::on_configure( const rclcpp_lifecycle::State & /*previous_state*/) { - RCLCPP_INFO(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); + RCLCPP_DEBUG(get_node()->get_logger(), "Configuring Motion Primitives Forward Controller"); params_ = param_listener_->get_params(); @@ -94,7 +94,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - RCLCPP_INFO(get_node()->get_logger(), "configure successful"); + RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } @@ -134,7 +134,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - RCLCPP_INFO(get_node()->get_logger(), "Controller activated"); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -142,7 +142,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - RCLCPP_INFO(get_node()->get_logger(), "Controller deactivated"); + RCLCPP_DEBUG(get_node()->get_logger(), "Controller deactivated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -162,11 +162,9 @@ controller_interface::return_type MotionPrimitivesForwardController::update( switch (execution_status_) { case ExecutionState::IDLE: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: IDLE"); print_error_once_ = true; break; case ExecutionState::EXECUTING: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: EXECUTING"); if (!was_executing_) { was_executing_ = true; @@ -175,12 +173,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::SUCCESS: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: SUCCESS"); print_error_once_ = true; break; case ExecutionState::STOPPED: - // RCLCPP_INFO(get_node()->get_logger(), "Execution state: STOPPED"); print_error_once_ = true; break; From cd95fde7da13d8ead758da5b4aa98bb22234a620 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 09:49:39 +0200 Subject: [PATCH 48/70] renamed robot_stopped_ to robot_stop_requested_ and changed it from bool to std::atomic --- .../motion_primitives_forward_controller.hpp | 2 +- .../src/motion_primitives_forward_controller.cpp | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 80a4778c6d..2dea0b2955 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -110,7 +110,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; - bool robot_stopped_ = false; + std::atomic robot_stop_requested_ = false; bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 72a0d3b763..4a5f2d9836 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -395,7 +395,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ std::lock_guard guard(command_mutex_); reset_command_interfaces(); - robot_stopped_ = true; + robot_stop_requested_ = true; // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); while (!moprim_queue_.empty()) @@ -413,7 +413,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ reset_command_interfaces(); // send reset stop command to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); - robot_stopped_ = false; + robot_stop_requested_ = false; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); return rclcpp_action::CancelResponse::ACCEPT; @@ -431,9 +431,9 @@ void MotionPrimitivesForwardController::execute_goal( { const auto & goal = goal_handle->get_goal(); - if (robot_stopped_) + if (robot_stop_requested_) { - RCLCPP_WARN(get_node()->get_logger(), "Robot is stopped. Discarding the new command."); + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); return; } From 14adc0efb2cce58feda54456800289dcfa5e848f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 10:17:53 +0200 Subject: [PATCH 49/70] removed queue_size_ parameter --- .../motion_primitives_forward_controller.hpp | 1 - .../motion_primitives_forward_controller.cpp | 19 ------------------- .../motion_primitives_forward_controller.yaml | 6 ------ ..._primitives_forward_controller_params.yaml | 1 - ..._forward_controller_preceeding_params.yaml | 1 - 5 files changed, 28 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 2dea0b2955..875fba5100 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -107,7 +107,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void reset_command_interfaces(); bool set_command_interfaces(); - size_t queue_size_ = 0; std::mutex command_mutex_; bool print_error_once_ = true; std::atomic robot_stop_requested_ = false; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4a5f2d9836..4cbcf62e6b 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -87,13 +87,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi std::bind( &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); - queue_size_ = params_.queue_size; - if (queue_size_ == 0) - { - RCLCPP_ERROR(get_node()->get_logger(), "Error: Queue size must be greater than 0!"); - return controller_interface::CallbackReturn::ERROR; - } - RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } @@ -453,18 +446,6 @@ void MotionPrimitivesForwardController::execute_goal( required_queue_space += 2; // start + end } - // Check if queue has enough space - if (moprim_queue_.size() + required_queue_space > queue_size_) - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Received more motion primitives than queue can store. " - "Current queue size: %zu, required space: %zu. " - "Please increase the queue size in the controller parameters.", - moprim_queue_.size(), required_queue_space); - return; - } - // Add sequence start marker if (add_sequence_wrappers) { diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index 62db1ccb09..cd100b7be4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -25,9 +25,3 @@ motion_primitives_forward_controller: not_empty<>: null, } } - queue_size: { - type: int, - default_value: 10, - description: "Queue size to buffer incoming commands", - read_only: true, - } diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index aaa5ef1638..916a6abbb8 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -30,4 +30,3 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index aaa5ef1638..916a6abbb8 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -30,4 +30,3 @@ test_motion_primitives_forward_controller: state_interfaces: - execution_status - ready_for_new_primitive - queue_size: 20 # queue size to buffer incoming commands From c47834cd80e204a3361b57b04fe5b0b4c13711ea Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 11:12:22 +0200 Subject: [PATCH 50/70] wrapped moprim_queue_.push with start and end marker into a lambda --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 38 ++++++++----------- 2 files changed, 18 insertions(+), 24 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 875fba5100..199dd0466b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,8 +90,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - using MotionPrimitiveMsg = industrial_robot_motion_interfaces::msg::MotionPrimitive; - std::queue> moprim_queue_; + using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; + std::queue> moprim_queue_; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 4cbcf62e6b..cf6b0dde3f 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -242,7 +242,7 @@ bool MotionPrimitivesForwardController::set_command_interfaces() { std::lock_guard guard(command_mutex_); // Get the oldest message from the queue - std::shared_ptr current_moprim = moprim_queue_.front(); + std::shared_ptr current_moprim = moprim_queue_.front(); moprim_queue_.pop(); // Check if the message is valid @@ -438,39 +438,33 @@ void MotionPrimitivesForwardController::execute_goal( return; } - size_t required_queue_space = primitives.size(); - // add sequence markers only if there are multiple primitives - bool add_sequence_wrappers = primitives.size() > 1; - if (add_sequence_wrappers) + auto add_motions = [this](const std::vector & motion_primitives) { - required_queue_space += 2; // start + end - } + for (const auto & primitive : motion_primitives) + { + moprim_queue_.push(std::make_shared(primitive)); + } + }; - // Add sequence start marker - if (add_sequence_wrappers) + if (primitives.size() > 1) { - std::shared_ptr start_marker = std::make_shared(); + std::shared_ptr start_marker = std::make_shared(); start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); moprim_queue_.push(start_marker); - } - // Add motion primitives to the queue - for (const auto & primitive : primitives) - { - moprim_queue_.push(std::make_shared(primitive)); - } + add_motions(primitives); - // Add sequence end marker - if (add_sequence_wrappers) - { - std::shared_ptr end_marker = std::make_shared(); + std::shared_ptr end_marker = std::make_shared(); end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); moprim_queue_.push(end_marker); } + else + { + add_motions(primitives); + } RCLCPP_INFO( - get_node()->get_logger(), "Accepted goal with %zu motion primitives%s.", primitives.size(), - add_sequence_wrappers ? " (wrapped in sequence markers)" : ""); + get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); ExecuteMotion::Result result; rclcpp::Rate rate(50); From 1e2691a3bfcefd20fbd6ea4b3463095c8772a17e Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 12:03:48 +0200 Subject: [PATCH 51/70] Moved functionallity to cancle movement from goal_cancelled_callback() to update(). Only cancel_requested_ = true gets set in goal_cancelled_callback() --- .../motion_primitives_forward_controller.hpp | 3 ++ .../motion_primitives_forward_controller.cpp | 49 +++++++++---------- 2 files changed, 27 insertions(+), 25 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 199dd0466b..ec6867469f 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -109,6 +109,9 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::mutex command_mutex_; bool print_error_once_ = true; + // cancel requested by the action server + std::atomic cancel_requested_ = false; + // robot stop command sent to the hardware interface std::atomic robot_stop_requested_ = false; bool was_executing_ = false; ExecutionState execution_status_; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index cf6b0dde3f..423b967a30 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -142,6 +142,20 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_deact controller_interface::return_type MotionPrimitivesForwardController::update( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { + if (cancel_requested_) + { + RCLCPP_INFO(get_node()->get_logger(), "Cancel requested, stopping execution."); + cancel_requested_ = false; + reset_command_interfaces(); + // send stop command immediately to the hw-interface + (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + while (!moprim_queue_.empty()) + { // clear the queue + moprim_queue_.pop(); + } + robot_stop_requested_ = true; + } + // read the status from the state interface auto opt_value_execution = state_interfaces_[0].get_optional(); if (!opt_value_execution.has_value()) @@ -171,6 +185,15 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::STOPPED: print_error_once_ = true; + if (robot_stop_requested_) + { + // If the robot was stopped by a stop command, reset the command interfaces + // to allow new motion primitives to be sent. + reset_command_interfaces(); + (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + robot_stop_requested_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + } break; case ExecutionState::ERROR: @@ -384,31 +407,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( const std::shared_ptr>) { - RCLCPP_INFO(get_node()->get_logger(), "Canceling goal"); - - std::lock_guard guard(command_mutex_); - reset_command_interfaces(); - robot_stop_requested_ = true; - // send stop command immediately to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (!moprim_queue_.empty()) - { // clear the queue - moprim_queue_.pop(); - } - - RCLCPP_INFO(get_node()->get_logger(), "Waiting for Robot to stop..."); - while (execution_status_ != ExecutionState::STOPPED) - { - // Small sleep to prevent busy waiting - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - - reset_command_interfaces(); - // send reset stop command to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); - robot_stop_requested_ = false; - - RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); + cancel_requested_ = true; return rclcpp_action::CancelResponse::ACCEPT; } From 5e953407889607277897cb03fbbd16c436bba48a Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 15:07:15 +0200 Subject: [PATCH 52/70] removed execute_goal() in extra thread. Integrated it into goal_accepted_callback() and updtae() --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 101 ++++++++---------- 2 files changed, 47 insertions(+), 58 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index ec6867469f..3a6299c0a0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -101,13 +101,11 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle const std::shared_ptr> goal_handle); void goal_accepted_callback( const std::shared_ptr> goal_handle); - void execute_goal( - const std::shared_ptr> goal_handle); + std::shared_ptr> pending_action_goal_; void reset_command_interfaces(); bool set_command_interfaces(); - std::mutex command_mutex_; bool print_error_once_ = true; // cancel requested by the action server std::atomic cancel_requested_ = false; diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 423b967a30..525a8026e4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -170,6 +170,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { case ExecutionState::IDLE: print_error_once_ = true; + was_executing_ = false; break; case ExecutionState::EXECUTING: if (!was_executing_) @@ -181,10 +182,34 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; + + if (pending_action_goal_ && was_executing_) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + } + break; case ExecutionState::STOPPED: print_error_once_ = true; + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::CANCELED; + result->error_string = "Motion primitives execution canceled"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + } + if (robot_stop_requested_) { // If the robot was stopped by a stop command, reset the command interfaces @@ -197,6 +222,18 @@ controller_interface::return_type MotionPrimitivesForwardController::update( break; case ExecutionState::ERROR: + was_executing_ = false; + + if (pending_action_goal_) + { + auto result = std::make_shared(); + result->error_code = ExecuteMotion::Result::FAILED; + result->error_string = "Motion primitives execution failed"; + pending_action_goal_->succeed(result); + pending_action_goal_.reset(); + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); + } + if (print_error_once_) { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); @@ -263,7 +300,6 @@ void MotionPrimitivesForwardController::reset_command_interfaces() // Set command interfaces from the message, gets called in the update function bool MotionPrimitivesForwardController::set_command_interfaces() { - std::lock_guard guard(command_mutex_); // Get the oldest message from the queue std::shared_ptr current_moprim = moprim_queue_.front(); moprim_queue_.pop(); @@ -348,6 +384,12 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal const auto & primitives = goal->trajectory.motions; + if (robot_stop_requested_) + { + RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -414,28 +456,9 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ void MotionPrimitivesForwardController::goal_accepted_callback( const std::shared_ptr> goal_handle) { - std::thread{std::bind(&MotionPrimitivesForwardController::execute_goal, this, goal_handle)} - .detach(); -} - -void MotionPrimitivesForwardController::execute_goal( - const std::shared_ptr> goal_handle) -{ - const auto & goal = goal_handle->get_goal(); + pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - if (robot_stop_requested_) - { - RCLCPP_WARN(get_node()->get_logger(), "Robot requested to stop. Discarding the new command."); - return; - } - - const auto & primitives = goal->trajectory.motions; - - if (primitives.empty()) - { - RCLCPP_WARN(get_node()->get_logger(), "Received goal with no motion primitives. Ignoring."); - return; - } + const auto & primitives = goal_handle->get_goal()->trajectory.motions; auto add_motions = [this](const std::vector & motion_primitives) { @@ -464,40 +487,8 @@ void MotionPrimitivesForwardController::execute_goal( RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); - - ExecuteMotion::Result result; - rclcpp::Rate rate(50); - while (rclcpp::ok()) - { - ExecutionState execution_status = static_cast( - static_cast(std::round(state_interfaces_[0].get_value()))); - if (execution_status == ExecutionState::SUCCESS && was_executing_) - { - RCLCPP_INFO(get_node()->get_logger(), "Execution completed successfully."); - result.error_code = ExecuteMotion::Result::SUCCESSFUL; - result.error_string = "Trajectory executed successfully"; - was_executing_ = false; - break; - } - else if (execution_status == ExecutionState::ERROR) - { - RCLCPP_ERROR(get_node()->get_logger(), "Execution failed with an error."); - result.error_code = ExecuteMotion::Result::FAILED; - result.error_string = "Trajectory execution failed"; - break; - } - else if (execution_status == ExecutionState::STOPPED) - { - RCLCPP_INFO(get_node()->get_logger(), "Execution stopped."); - result.error_code = ExecuteMotion::Result::CANCELED; - result.error_string = "Trajectory execution stopped"; - break; - } - rate.sleep(); - } - - goal_handle->succeed(std::make_shared(result)); } + } // namespace motion_primitives_forward_controller #include "pluginlib/class_list_macros.hpp" From 55a59a312ec53c0ff26018a409e6729961a5759b Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 15:27:27 +0200 Subject: [PATCH 53/70] updated action draw.io --- ...Controller_ExecuteMotion_Action.drawio.png | Bin 212574 -> 77709 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/motion_primitives_forward_controller/doc/Moprim_Controller_ExecuteMotion_Action.drawio.png 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z?BKfcoPWBZACHF_)UEfW&A((pV8g+U(32ef365lm{UG#%)db`Dt@$t6U(4|Sqb^G7 z_ZEW#@e0rX`gufP(i@CR>#sQ|rsF4Py+E44-!L<)_O9jG{PSfgM8nGyPJRq=U;W%)z Date: Mon, 30 Jun 2025 15:30:50 +0200 Subject: [PATCH 54/70] changed version to match the other controllers --- motion_primitives_forward_controller/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index 506d4ef4d5..d4406cc736 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -2,7 +2,7 @@ motion_primitives_forward_controller - 4.23.0 + 5.2.0 Package to control robots using motion primitives like PTP, LIN and CIRC Bence Magyar From fddc82480be5382d1ff01b65eb8f46f05226cb98 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 30 Jun 2025 16:13:40 +0200 Subject: [PATCH 55/70] removed name parameter for the moprim controller --- .../src/motion_primitives_forward_controller.cpp | 11 ++--------- .../src/motion_primitives_forward_controller.yaml | 6 ------ .../motion_primitives_forward_controller_params.yaml | 1 - ...imitives_forward_controller_preceeding_params.yaml | 1 - .../test_motion_primitives_forward_controller.cpp | 2 -- ...otion_primitives_forward_controller_preceeding.cpp | 2 -- 6 files changed, 2 insertions(+), 21 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 525a8026e4..bf98755aad 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -53,13 +53,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi params_ = param_listener_->get_params(); - // Check if the name is not empty - if (params_.name.empty()) - { - RCLCPP_ERROR(get_node()->get_logger(), "Error: A name must be provided!"); - return controller_interface::CallbackReturn::ERROR; - } - // Check if there are exactly 25 command interfaces if (params_.command_interfaces.size() != 25) { // motion_type + 6 joints + 2*7 positions + blend_radius + velocity + acceleration + move_time @@ -102,7 +95,7 @@ MotionPrimitivesForwardController::command_interface_configuration() const // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back(params_.name + "/" + interface_name); + command_interfaces_config.names.push_back("motion_primitive/" + interface_name); } return command_interfaces_config; } @@ -118,7 +111,7 @@ MotionPrimitivesForwardController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back(params_.name + "/" + interface_name); + state_interfaces_config.names.push_back("motion_primitive/" + interface_name); } return state_interfaces_config; } diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml index cd100b7be4..b0c0aaa38d 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.yaml @@ -1,10 +1,4 @@ motion_primitives_forward_controller: - name: { - type: string, - default_value: "", - description: "Name for /", - read_only: true, - } command_interfaces: { type: string_array, default_value: [], diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml index 916a6abbb8..6a46535909 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_params.yaml @@ -1,6 +1,5 @@ test_motion_primitives_forward_controller: ros__parameters: - name: motion_primitive command_interfaces: - motion_type - q1 diff --git a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml index 916a6abbb8..6a46535909 100644 --- a/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml +++ b/motion_primitives_forward_controller/test/motion_primitives_forward_controller_preceeding_params.yaml @@ -1,6 +1,5 @@ test_motion_primitives_forward_controller: ros__parameters: - name: motion_primitive command_interfaces: - motion_type - q1 diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index 55a17fe03a..c1c980c021 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -34,7 +34,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_TRUE(controller_->params_.command_interfaces.empty()); ASSERT_TRUE(controller_->params_.state_interfaces.empty()); - ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -42,7 +41,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); ASSERT_THAT( controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); - ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp index 1a43a6982a..c738b31c5c 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller_preceeding.cpp @@ -33,7 +33,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe ASSERT_TRUE(controller_->params_.command_interfaces.empty()); ASSERT_TRUE(controller_->params_.state_interfaces.empty()); - ASSERT_TRUE(controller_->params_.name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); @@ -41,7 +40,6 @@ TEST_F(MotionPrimitivesForwardControllerTest, all_parameters_set_configure_succe controller_->params_.command_interfaces, testing::ElementsAreArray(command_interface_names_)); ASSERT_THAT( controller_->params_.state_interfaces, testing::ElementsAreArray(state_interface_names_)); - ASSERT_EQ(controller_->params_.name, interface_namespace_); } TEST_F(MotionPrimitivesForwardControllerTest, check_exported_intefaces) From 632ca1a8bed64656e0a4171e61b50490c8ee79fd Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 3 Jul 2025 10:15:04 +0200 Subject: [PATCH 56/70] added std::atomic moprim_queue_write_enabled_ --- .../motion_primitives_forward_controller.hpp | 2 ++ .../motion_primitives_forward_controller.cpp | 31 ++++++++++++++++--- 2 files changed, 28 insertions(+), 5 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 3a6299c0a0..d6363cacc0 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -114,6 +114,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + + std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index bf98755aad..a3ea102f39 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -120,6 +120,7 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); + moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -210,8 +211,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; + moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } + break; case ExecutionState::ERROR: @@ -251,7 +254,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_.empty()) // check if new command is available + if (!moprim_queue_write_enabled_ && !cancel_requested_) { switch (ready_for_new_primitive_) { @@ -261,12 +264,21 @@ controller_interface::return_type MotionPrimitivesForwardController::update( } case ReadyForNewPrimitive::READY: { - if (!set_command_interfaces()) + if (moprim_queue_.empty()) // check if new command is available { - RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); - return controller_interface::return_type::ERROR; + // all primitives read, queue ready to get filled with new primitives + moprim_queue_write_enabled_ = true; + return controller_interface::return_type::OK; + } + else + { + if (!set_command_interfaces()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Error: set_command_interfaces() failed"); + return controller_interface::return_type::ERROR; + } + return controller_interface::return_type::OK; } - return controller_interface::return_type::OK; } default: RCLCPP_ERROR( @@ -383,6 +395,13 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } + if (!moprim_queue_write_enabled_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); + return rclcpp_action::GoalResponse::REJECT; + } + if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -443,6 +462,7 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ const std::shared_ptr>) { cancel_requested_ = true; + moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -477,6 +497,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { add_motions(primitives); } + moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); From 4a96de5b06b5fc79de7bc0074f0c3c7e580dda88 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 14:30:35 +0200 Subject: [PATCH 57/70] changed fprintf to RCLCPP_ERROR --- .../src/motion_primitives_forward_controller.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index a3ea102f39..0989159735 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -39,7 +39,9 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_init( } catch (const std::exception & e) { - fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); + RCLCPP_ERROR( + get_node()->get_logger(), "Exception thrown during controller's init with message: %s \n", + e.what()); return controller_interface::CallbackReturn::ERROR; } From 40d78fc9882fd12a552e541470b3cb20f610200d Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Mon, 7 Jul 2025 15:28:14 +0200 Subject: [PATCH 58/70] changed moprim_queue_ from std::queue to realtime_tools::LockFreeSPSCQueue --- .../motion_primitives_forward_controller.hpp | 6 +-- .../motion_primitives_forward_controller.cpp | 47 +++++++++---------- ...t_motion_primitives_forward_controller.cpp | 2 +- 3 files changed, 24 insertions(+), 31 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index d6363cacc0..64f0ef3a94 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -18,11 +18,11 @@ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #include -#include #include #include #include +#include #include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" @@ -91,7 +91,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - std::queue> moprim_queue_; + realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; @@ -114,8 +114,6 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; - - std::atomic moprim_queue_write_enabled_ = false; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 0989159735..ab8cdff00e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -122,7 +122,6 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_activ const rclcpp_lifecycle::State & /*previous_state*/) { reset_command_interfaces(); - moprim_queue_write_enabled_ = true; RCLCPP_DEBUG(get_node()->get_logger(), "Controller activated"); return controller_interface::CallbackReturn::SUCCESS; } @@ -145,9 +144,10 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (!moprim_queue_.empty()) - { // clear the queue - moprim_queue_.pop(); + std::shared_ptr primitive; + while (moprim_queue_.pop(primitive)) + { + // clear the queue } robot_stop_requested_ = true; } @@ -213,7 +213,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); robot_stop_requested_ = false; - moprim_queue_write_enabled_ = true; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } @@ -256,7 +255,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( ready_for_new_primitive_ = static_cast(static_cast(std::round(opt_value_ready.value()))); - if (!moprim_queue_write_enabled_ && !cancel_requested_) + if (!cancel_requested_) { switch (ready_for_new_primitive_) { @@ -268,8 +267,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( { if (moprim_queue_.empty()) // check if new command is available { - // all primitives read, queue ready to get filled with new primitives - moprim_queue_write_enabled_ = true; return controller_interface::return_type::OK; } else @@ -308,13 +305,10 @@ void MotionPrimitivesForwardController::reset_command_interfaces() bool MotionPrimitivesForwardController::set_command_interfaces() { // Get the oldest message from the queue - std::shared_ptr current_moprim = moprim_queue_.front(); - moprim_queue_.pop(); - - // Check if the message is valid - if (!current_moprim) + std::shared_ptr current_moprim; + if (!moprim_queue_.pop(current_moprim)) { - RCLCPP_WARN(get_node()->get_logger(), "No valid reference message received"); + RCLCPP_WARN(get_node()->get_logger(), "Failed to pop motion primitive from queue."); return false; } @@ -397,13 +391,6 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } - if (!moprim_queue_write_enabled_) - { - RCLCPP_WARN( - get_node()->get_logger(), "Queue is not ready to write. Discarding the new command."); - return rclcpp_action::GoalResponse::REJECT; - } - if (primitives.empty()) { RCLCPP_WARN(get_node()->get_logger(), "Goal rejected: no motion primitives provided."); @@ -464,7 +451,6 @@ rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_ const std::shared_ptr>) { cancel_requested_ = true; - moprim_queue_write_enabled_ = false; return rclcpp_action::CancelResponse::ACCEPT; } @@ -479,7 +465,10 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { for (const auto & primitive : motion_primitives) { - moprim_queue_.push(std::make_shared(primitive)); + if (!moprim_queue_.push(std::make_shared(primitive))) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion primitive to queue."); + } } }; @@ -487,19 +476,25 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { std::shared_ptr start_marker = std::make_shared(); start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); - moprim_queue_.push(start_marker); + if (!moprim_queue_.push(start_marker)) + { + RCLCPP_WARN( + get_node()->get_logger(), "Failed to push motion sequence start marker to queue."); + } add_motions(primitives); std::shared_ptr end_marker = std::make_shared(); end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); - moprim_queue_.push(end_marker); + if (!moprim_queue_.push(end_marker)) + { + RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); + } } else { add_motions(primitives); } - moprim_queue_write_enabled_ = false; RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp index c1c980c021..ed1e3317d7 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.cpp @@ -72,7 +72,7 @@ TEST_F(MotionPrimitivesForwardControllerTest, activate_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); // check that the message queue is reset - auto moprim_queue_ = controller_->moprim_queue_; + auto & moprim_queue_ = controller_->moprim_queue_; ASSERT_TRUE(moprim_queue_.empty()); } From 29d5a5ec4cfd43939ee28cf7e055ef273266e0d3 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:23:07 +0200 Subject: [PATCH 59/70] using realtime_tools::RealtimeServerGoalHandle --- .../motion_primitives_forward_controller.hpp | 17 +++-- .../motion_primitives_forward_controller.cpp | 68 ++++++++----------- 2 files changed, 41 insertions(+), 44 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 64f0ef3a94..51d2ddf348 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -17,12 +17,14 @@ #ifndef MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ #define MOTION_PRIMITIVES_FORWARD_CONTROLLER__MOTION_PRIMITIVES_FORWARD_CONTROLLER_HPP_ +#include #include #include #include #include #include +#include #include "controller_interface/controller_interface.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" @@ -93,15 +95,18 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; - using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; - rclcpp_action::Server::SharedPtr action_server_; + using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; + rclcpp_action::Server::SharedPtr action_server_; rclcpp_action::GoalResponse goal_received_callback( - const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); + const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); rclcpp_action::CancelResponse goal_cancelled_callback( - const std::shared_ptr> goal_handle); + const std::shared_ptr> goal_handle); void goal_accepted_callback( - const std::shared_ptr> goal_handle); - std::shared_ptr> pending_action_goal_; + std::shared_ptr> goal_handle); + using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; + std::shared_ptr realtime_goal_handle_; + rclcpp::TimerBase::SharedPtr goal_handle_timer_; + rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); void reset_command_interfaces(); bool set_command_interfaces(); diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index ab8cdff00e..aa3eae43e6 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -70,17 +70,14 @@ controller_interface::CallbackReturn MotionPrimitivesForwardController::on_confi return controller_interface::CallbackReturn::ERROR; } - action_server_ = rclcpp_action::create_server( + using namespace std::placeholders; + action_server_ = rclcpp_action::create_server( get_node()->get_node_base_interface(), get_node()->get_node_clock_interface(), get_node()->get_node_logging_interface(), get_node()->get_node_waitables_interface(), std::string(get_node()->get_name()) + "/motion_sequence", - std::bind( - &MotionPrimitivesForwardController::goal_received_callback, this, std::placeholders::_1, - std::placeholders::_2), - std::bind( - &MotionPrimitivesForwardController::goal_cancelled_callback, this, std::placeholders::_1), - std::bind( - &MotionPrimitivesForwardController::goal_accepted_callback, this, std::placeholders::_1)); + std::bind(&MotionPrimitivesForwardController::goal_received_callback, this, _1, _2), + std::bind(&MotionPrimitivesForwardController::goal_cancelled_callback, this, _1), + std::bind(&MotionPrimitivesForwardController::goal_accepted_callback, this, _1)); RCLCPP_DEBUG(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; @@ -179,30 +176,27 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - if (pending_action_goal_ && was_executing_) + if (realtime_goal_handle_ && was_executing_) { was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::SUCCESSFUL; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; result->error_string = "Motion primitives executed successfully"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + realtime_goal_handle_->setSucceeded(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); } - break; case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - if (pending_action_goal_) + if (realtime_goal_handle_) { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::CANCELED; - result->error_string = "Motion primitives execution canceled"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); + auto result = std::make_shared(); + realtime_goal_handle_->setCanceled(result); + realtime_goal_handle_.reset(); RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); } @@ -220,17 +214,6 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::ERROR: was_executing_ = false; - - if (pending_action_goal_) - { - auto result = std::make_shared(); - result->error_code = ExecuteMotion::Result::FAILED; - result->error_string = "Motion primitives execution failed"; - pending_action_goal_->succeed(result); - pending_action_goal_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution failed"); - } - if (print_error_once_) { RCLCPP_ERROR(get_node()->get_logger(), "Execution state: ERROR"); @@ -379,9 +362,9 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_callback( - const rclcpp_action::GoalUUID &, std::shared_ptr goal) + const rclcpp_action::GoalUUID &, std::shared_ptr goal) { - RCLCPP_INFO(get_node()->get_logger(), "Received goal request"); + RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); const auto & primitives = goal->trajectory.motions; @@ -443,22 +426,21 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } } - + RCLCPP_INFO(get_node()->get_logger(), "Accepted new action goal"); return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; } rclcpp_action::CancelResponse MotionPrimitivesForwardController::goal_cancelled_callback( - const std::shared_ptr>) + const std::shared_ptr>) { + RCLCPP_INFO(get_node()->get_logger(), "Got request to cancel goal"); cancel_requested_ = true; return rclcpp_action::CancelResponse::ACCEPT; } void MotionPrimitivesForwardController::goal_accepted_callback( - const std::shared_ptr> goal_handle) + std::shared_ptr> goal_handle) { - pending_action_goal_ = goal_handle; // Store the goal handle for later result feedback - const auto & primitives = goal_handle->get_goal()->trajectory.motions; auto add_motions = [this](const std::vector & motion_primitives) @@ -496,6 +478,16 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); } + auto rt_goal = std::make_shared(goal_handle); + realtime_goal_handle_ = rt_goal; + + rt_goal->execute(); + + goal_handle_timer_.reset(); + goal_handle_timer_ = get_node()->create_wall_timer( + action_monitor_period_.to_chrono(), + std::bind(&RealtimeGoalHandle::runNonRealtime, rt_goal)); + RCLCPP_INFO( get_node()->get_logger(), "Accepted goal with %zu motion primitives.", primitives.size()); } From c4bc08947eb22534998e1ca5e12daec7c2cea527 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:41:33 +0200 Subject: [PATCH 60/70] Preallocate std::shared_ptr current_moprim_ --- .../motion_primitives_forward_controller.hpp | 1 + .../motion_primitives_forward_controller.cpp | 28 +++++++++---------- 2 files changed, 14 insertions(+), 15 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 51d2ddf348..c809e46145 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -119,6 +119,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; + std::shared_ptr current_moprim_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index aa3eae43e6..9f64a555f4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -141,8 +141,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - std::shared_ptr primitive; - while (moprim_queue_.pop(primitive)) + while (moprim_queue_.pop(current_moprim_)) { // clear the queue } @@ -288,29 +287,28 @@ void MotionPrimitivesForwardController::reset_command_interfaces() bool MotionPrimitivesForwardController::set_command_interfaces() { // Get the oldest message from the queue - std::shared_ptr current_moprim; - if (!moprim_queue_.pop(current_moprim)) + if (!moprim_queue_.pop(current_moprim_)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to pop motion primitive from queue."); return false; } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_moprim->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim_->type)); // Process joint positions if available - if (!current_moprim->joint_positions.empty()) + if (!current_moprim_->joint_positions.empty()) { - for (size_t i = 0; i < current_moprim->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim_->joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_moprim->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim_->joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_moprim->poses.empty()) + if (!current_moprim_->poses.empty()) { - const auto & goal_pose = current_moprim->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim_->poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -321,10 +319,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() // Process via poses if available (only for circular motion) if ( - current_moprim->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim->poses.size() == 2) + current_moprim_->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim_->poses.size() == 2) { - const auto & via_pose = current_moprim->poses[1].pose; // via pose + const auto & via_pose = current_moprim_->poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -335,10 +333,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_moprim->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim_->blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_moprim->additional_arguments) + for (const auto & arg : current_moprim_->additional_arguments) { if (arg.argument_name == "velocity") { From 01a24e82ed9a931e0ed8d986ae70e1be92264e49 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 11:53:56 +0200 Subject: [PATCH 61/70] using get_latest instead of while(pop) --- .../src/motion_primitives_forward_controller.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 9f64a555f4..f62b173ef0 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -141,10 +141,8 @@ controller_interface::return_type MotionPrimitivesForwardController::update( reset_command_interfaces(); // send stop command immediately to the hw-interface (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); - while (moprim_queue_.pop(current_moprim_)) - { - // clear the queue - } + // clear the queue (ignore return value) + static_cast(moprim_queue_.get_latest(current_moprim_)); robot_stop_requested_ = true; } From 42542e70e871bb9f98b33fd3c53a6e2356ca54bc Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 12:17:33 +0200 Subject: [PATCH 62/70] pushing primitives directly into the q instead of using shared pointers --- .../motion_primitives_forward_controller.hpp | 4 +-- .../motion_primitives_forward_controller.cpp | 32 +++++++++---------- 2 files changed, 18 insertions(+), 18 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index c809e46145..6ed760ad2b 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -93,7 +93,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - realtime_tools::LockFreeSPSCQueue, 128> moprim_queue_; + realtime_tools::LockFreeSPSCQueue moprim_queue_; using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; @@ -119,7 +119,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle bool was_executing_ = false; ExecutionState execution_status_; ReadyForNewPrimitive ready_for_new_primitive_; - std::shared_ptr current_moprim_; + MotionPrimitive current_moprim_; }; } // namespace motion_primitives_forward_controller diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index f62b173ef0..24661ba7f4 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -292,21 +292,21 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } // Set the motion_type - (void)command_interfaces_[0].set_value(static_cast(current_moprim_->type)); + (void)command_interfaces_[0].set_value(static_cast(current_moprim_.type)); // Process joint positions if available - if (!current_moprim_->joint_positions.empty()) + if (!current_moprim_.joint_positions.empty()) { - for (size_t i = 0; i < current_moprim_->joint_positions.size(); ++i) + for (size_t i = 0; i < current_moprim_.joint_positions.size(); ++i) { - (void)command_interfaces_[i + 1].set_value(current_moprim_->joint_positions[i]); // q1 to q6 + (void)command_interfaces_[i + 1].set_value(current_moprim_.joint_positions[i]); // q1 to q6 } } // Process Cartesian poses if available - if (!current_moprim_->poses.empty()) + if (!current_moprim_.poses.empty()) { - const auto & goal_pose = current_moprim_->poses[0].pose; // goal pose + const auto & goal_pose = current_moprim_.poses[0].pose; // goal pose (void)command_interfaces_[7].set_value(goal_pose.position.x); // pos_x (void)command_interfaces_[8].set_value(goal_pose.position.y); // pos_y (void)command_interfaces_[9].set_value(goal_pose.position.z); // pos_z @@ -317,10 +317,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() // Process via poses if available (only for circular motion) if ( - current_moprim_->type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim_->poses.size() == 2) + current_moprim_.type == static_cast(MotionType::CIRCULAR_CARTESIAN) && + current_moprim_.poses.size() == 2) { - const auto & via_pose = current_moprim_->poses[1].pose; // via pose + const auto & via_pose = current_moprim_.poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x (void)command_interfaces_[15].set_value(via_pose.position.y); // pos_via_y (void)command_interfaces_[16].set_value(via_pose.position.z); // pos_via_z @@ -331,10 +331,10 @@ bool MotionPrimitivesForwardController::set_command_interfaces() } } - (void)command_interfaces_[21].set_value(current_moprim_->blend_radius); // blend_radius + (void)command_interfaces_[21].set_value(current_moprim_.blend_radius); // blend_radius // Read additional arguments - for (const auto & arg : current_moprim_->additional_arguments) + for (const auto & arg : current_moprim_.additional_arguments) { if (arg.argument_name == "velocity") { @@ -443,7 +443,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( { for (const auto & primitive : motion_primitives) { - if (!moprim_queue_.push(std::make_shared(primitive))) + if (!moprim_queue_.push(primitive)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion primitive to queue."); } @@ -452,8 +452,8 @@ void MotionPrimitivesForwardController::goal_accepted_callback( if (primitives.size() > 1) { - std::shared_ptr start_marker = std::make_shared(); - start_marker->type = static_cast(MotionType::MOTION_SEQUENCE_START); + MotionPrimitive start_marker; + start_marker.type = static_cast(MotionType::MOTION_SEQUENCE_START); if (!moprim_queue_.push(start_marker)) { RCLCPP_WARN( @@ -462,8 +462,8 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); - std::shared_ptr end_marker = std::make_shared(); - end_marker->type = static_cast(MotionType::MOTION_SEQUENCE_END); + MotionPrimitive end_marker; + end_marker.type = static_cast(MotionType::MOTION_SEQUENCE_END); if (!moprim_queue_.push(end_marker)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); From a80e592b4ab36dc45aa30a51f049f7076e9e99ce Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 12:34:50 +0200 Subject: [PATCH 63/70] added check for remaining q-size before accepting the goal --- .../motion_primitives_forward_controller.cpp | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 24661ba7f4..e4c432e39e 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -376,6 +376,26 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal return rclcpp_action::GoalResponse::REJECT; } + if ( + (primitives.size() == 1) && + primitives.size() > (moprim_queue_.capacity() - moprim_queue_.size())) + { + RCLCPP_WARN( + get_node()->get_logger(), + "Remaining queue capacity (%zu) is not enough for the requested %zu motion primitive.", + moprim_queue_.capacity() - moprim_queue_.size(), primitives.size()); + return rclcpp_action::GoalResponse::REJECT; + } + else if ((primitives.size() + 2) > (moprim_queue_.capacity() - moprim_queue_.size())) + { + RCLCPP_WARN( + get_node()->get_logger(), + "Remaining queue capacity (%zu) is not enough for the requested %zu motion primitives (+ " + "start and stop marker).", + moprim_queue_.capacity() - moprim_queue_.size(), primitives.size()); + return rclcpp_action::GoalResponse::REJECT; + } + for (size_t i = 0; i < primitives.size(); ++i) { const auto & primitive = primitives[i]; From b942ec55ec5021161e9b3eec71ce94dee0c4bbed Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 13:17:38 +0200 Subject: [PATCH 64/70] Using MotionType from msg definition and MotionHelperType from enum in the controller --- .../motion_primitives_forward_controller.hpp | 7 ++----- .../src/motion_primitives_forward_controller.cpp | 14 ++++++-------- 2 files changed, 8 insertions(+), 13 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 6ed760ad2b..86df5dbd9d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -46,12 +46,9 @@ enum class ExecutionState : uint8_t STOPPED = 4 }; -enum class MotionType : uint8_t +using MotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive; +enum class MotionHelperType : uint8_t { - LINEAR_JOINT = 10, - LINEAR_CARTESIAN = 50, - CIRCULAR_CARTESIAN = 51, - STOP_MOTION = 66, RESET_STOP = 67, diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index e4c432e39e..238c2e3b87 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -140,7 +140,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( cancel_requested_ = false; reset_command_interfaces(); // send stop command immediately to the hw-interface - (void)command_interfaces_[0].set_value(static_cast(MotionType::STOP_MOTION)); + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::STOP_MOTION)); // clear the queue (ignore return value) static_cast(moprim_queue_.get_latest(current_moprim_)); robot_stop_requested_ = true; @@ -202,7 +202,7 @@ controller_interface::return_type MotionPrimitivesForwardController::update( // If the robot was stopped by a stop command, reset the command interfaces // to allow new motion primitives to be sent. reset_command_interfaces(); - (void)command_interfaces_[0].set_value(static_cast(MotionType::RESET_STOP)); + (void)command_interfaces_[0].set_value(static_cast(MotionHelperType::RESET_STOP)); robot_stop_requested_ = false; RCLCPP_INFO(get_node()->get_logger(), "Robot stopped, ready for new motion primitives."); } @@ -316,9 +316,7 @@ bool MotionPrimitivesForwardController::set_command_interfaces() (void)command_interfaces_[13].set_value(goal_pose.orientation.w); // pos_qw // Process via poses if available (only for circular motion) - if ( - current_moprim_.type == static_cast(MotionType::CIRCULAR_CARTESIAN) && - current_moprim_.poses.size() == 2) + if (current_moprim_.type == MotionType::CIRCULAR_CARTESIAN && current_moprim_.poses.size() == 2) { const auto & via_pose = current_moprim_.poses[1].pose; // via pose (void)command_interfaces_[14].set_value(via_pose.position.x); // pos_via_x @@ -400,7 +398,7 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { const auto & primitive = primitives[i]; - switch (static_cast(primitive.type)) + switch (static_cast(primitive.type)) { case MotionType::LINEAR_JOINT: RCLCPP_INFO(get_node()->get_logger(), "Primitive %zu: LINEAR_JOINT (PTP)", i); @@ -473,7 +471,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( if (primitives.size() > 1) { MotionPrimitive start_marker; - start_marker.type = static_cast(MotionType::MOTION_SEQUENCE_START); + start_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_START); if (!moprim_queue_.push(start_marker)) { RCLCPP_WARN( @@ -483,7 +481,7 @@ void MotionPrimitivesForwardController::goal_accepted_callback( add_motions(primitives); MotionPrimitive end_marker; - end_marker.type = static_cast(MotionType::MOTION_SEQUENCE_END); + end_marker.type = static_cast(MotionHelperType::MOTION_SEQUENCE_END); if (!moprim_queue_.push(end_marker)) { RCLCPP_WARN(get_node()->get_logger(), "Failed to push motion sequence end marker to queue."); From 1669026b6dad022292be7852b2b633bddbca31f3 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 13:23:12 +0200 Subject: [PATCH 65/70] increased moprim_queue_ capacity to 1024 --- .../motion_primitives_forward_controller.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 86df5dbd9d..55dfe3e871 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -90,7 +90,7 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle motion_primitives_forward_controller::Params params_; using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; - realtime_tools::LockFreeSPSCQueue moprim_queue_; + realtime_tools::LockFreeSPSCQueue moprim_queue_; using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; rclcpp_action::Server::SharedPtr action_server_; From a4c13673435f9e20a7b30dded9c06dce6547e885 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Tue, 8 Jul 2025 18:55:41 +0200 Subject: [PATCH 66/70] using ros-controls/control_msgs#228 instead of industrial_robot_motion_interfaces --- motion_primitives_forward_controller/CMakeLists.txt | 2 -- motion_primitives_forward_controller/README.md | 2 +- .../motion_primitives_forward_controller.hpp | 10 +++++----- motion_primitives_forward_controller/package.xml | 1 - .../test/test_motion_primitives_forward_controller.hpp | 8 ++++---- ros2_controllers.rolling.repos | 4 ++-- 6 files changed, 12 insertions(+), 15 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 0f5ab87f9d..97ecb81250 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -14,7 +14,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS rclcpp_lifecycle realtime_tools std_srvs - industrial_robot_motion_interfaces ) find_package(ament_cmake REQUIRED) @@ -45,7 +44,6 @@ target_link_libraries(motion_primitives_forward_controller PUBLIC realtime_tools::realtime_tools ${control_msgs_TARGETS} ${std_srvs_TARGETS} - ${industrial_robot_motion_interfaces_TARGETS} ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") diff --git a/motion_primitives_forward_controller/README.md b/motion_primitives_forward_controller/README.md index 54a62d5b14..94edf30d6e 100644 --- a/motion_primitives_forward_controller/README.md +++ b/motion_primitives_forward_controller/README.md @@ -6,7 +6,7 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ) [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) -This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. +This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotionPrimitiveSequence.action` action from [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action). The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented. - Supported motion primitives: - `LINEAR_JOINT` diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 55dfe3e871..88b68f853d 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -31,8 +31,8 @@ #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" -#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "control_msgs/action/execute_motion_primitive_sequence.hpp" +#include "control_msgs/msg/motion_primitive.hpp" #include "rclcpp_action/rclcpp_action.hpp" namespace motion_primitives_forward_controller @@ -46,7 +46,7 @@ enum class ExecutionState : uint8_t STOPPED = 4 }; -using MotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive; +using MotionType = control_msgs::msg::MotionPrimitive; enum class MotionHelperType : uint8_t { STOP_MOTION = 66, @@ -89,10 +89,10 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle std::shared_ptr param_listener_; motion_primitives_forward_controller::Params params_; - using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; + using MotionPrimitive = control_msgs::msg::MotionPrimitive; realtime_tools::LockFreeSPSCQueue moprim_queue_; - using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion; + using ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence; rclcpp_action::Server::SharedPtr action_server_; rclcpp_action::GoalResponse goal_received_callback( const rclcpp_action::GoalUUID & uuid, std::shared_ptr goal); diff --git a/motion_primitives_forward_controller/package.xml b/motion_primitives_forward_controller/package.xml index d4406cc736..e4f63d8265 100644 --- a/motion_primitives_forward_controller/package.xml +++ b/motion_primitives_forward_controller/package.xml @@ -26,7 +26,6 @@ controller_interface hardware_interface pluginlib - industrial_robot_motion_interfaces rclcpp rclcpp_lifecycle realtime_tools diff --git a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp index d0e06ace19..5915f37041 100644 --- a/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp @@ -41,11 +41,11 @@ #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" -#include "industrial_robot_motion_interfaces/action/execute_motion.hpp" -#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp" +#include "control_msgs/action/execute_motion_primitive_sequence.hpp" +#include "control_msgs/msg/motion_primitive.hpp" -using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive; -using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion; +using MotionPrimitive = control_msgs::msg::MotionPrimitive; +using ExecuteMotion = control_msgs::action::ExecuteMotionPrimitiveSequence; namespace { diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index f6462c4b4f..d53c3fe358 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -9,8 +9,8 @@ repositories: version: master control_msgs: type: git - url: https://github.com/ros-controls/control_msgs.git - version: master + url: https://github.com/urfeex/control_msgs.git + version: motion_primitives control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git From 371fb5085600651781c49309ea49d741c95ce5e7 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 11:07:55 +0200 Subject: [PATCH 67/70] Add export and install for parameter library --- .../CMakeLists.txt | 46 ++++++++++--------- 1 file changed, 25 insertions(+), 21 deletions(-) diff --git a/motion_primitives_forward_controller/CMakeLists.txt b/motion_primitives_forward_controller/CMakeLists.txt index 97ecb81250..0e82e7deaf 100644 --- a/motion_primitives_forward_controller/CMakeLists.txt +++ b/motion_primitives_forward_controller/CMakeLists.txt @@ -35,15 +35,15 @@ target_include_directories(motion_primitives_forward_controller PUBLIC $ ) target_link_libraries(motion_primitives_forward_controller PUBLIC - motion_primitives_forward_controller_parameters - controller_interface::controller_interface - hardware_interface::hardware_interface - pluginlib::pluginlib - rclcpp::rclcpp - rclcpp_lifecycle::rclcpp_lifecycle - realtime_tools::realtime_tools - ${control_msgs_TARGETS} - ${std_srvs_TARGETS} + motion_primitives_forward_controller_parameters + controller_interface::controller_interface + hardware_interface::hardware_interface + pluginlib::pluginlib + rclcpp::rclcpp + rclcpp_lifecycle::rclcpp_lifecycle + realtime_tools::realtime_tools + ${control_msgs_TARGETS} + ${std_srvs_TARGETS} ) target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL") @@ -54,15 +54,31 @@ pluginlib_export_plugin_description_file( install( TARGETS motion_primitives_forward_controller + motion_primitives_forward_controller_parameters + EXPORT motion_primitives_forward_controller_targets RUNTIME DESTINATION bin ARCHIVE DESTINATION lib LIBRARY DESTINATION lib ) + install( DIRECTORY include/ DESTINATION include/${PROJECT_NAME} ) +ament_export_targets(motion_primitives_forward_controller_targets HAS_LIBRARY_TARGET) + +ament_export_include_directories( + include +) +ament_export_dependencies( + ${THIS_PACKAGE_INCLUDE_DEPENDS} +) +ament_export_libraries( + motion_primitives_forward_controller +) + +ament_package() if(BUILD_TESTING) find_package(ament_cmake_gmock REQUIRED) @@ -104,15 +120,3 @@ if(BUILD_TESTING) ros2_control_test_assets::ros2_control_test_assets ) endif() - -ament_export_include_directories( - include -) -ament_export_dependencies( - ${THIS_PACKAGE_INCLUDE_DEPENDS} -) -ament_export_libraries( - motion_primitives_forward_controller -) - -ament_package() From a8bcee31945c921b1d20d0777cc44bdbecf00b4f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Wed, 9 Jul 2025 11:26:29 +0200 Subject: [PATCH 68/70] control_msgs in ros2_controllers.rolling.repos needs to get changed back after control_msg PR is merged --- ros2_controllers.rolling.repos | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index d53c3fe358..f4ee54e9c3 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -11,6 +11,8 @@ repositories: type: git url: https://github.com/urfeex/control_msgs.git version: motion_primitives + # url: https://github.com/ros-controls/control_msgs.git + # version: master control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git From c1e08f8e3991b1ca00c063100947102a08dce384 Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 17 Jul 2025 15:37:12 +0200 Subject: [PATCH 69/70] pass full interface names to the controller (such as $(var tf_prefix)motion_primitive/q1) --- .../src/motion_primitives_forward_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 238c2e3b87..95186ccedc 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -94,7 +94,7 @@ MotionPrimitivesForwardController::command_interface_configuration() const // Iterate over all command interfaces from the config yaml file for (const auto & interface_name : params_.command_interfaces) { - command_interfaces_config.names.push_back("motion_primitive/" + interface_name); + command_interfaces_config.names.push_back(interface_name); } return command_interfaces_config; } @@ -110,7 +110,7 @@ MotionPrimitivesForwardController::state_interface_configuration() const // Iterate over all state interfaces from the config yaml file for (const auto & interface_name : params_.state_interfaces) { - state_interfaces_config.names.push_back("motion_primitive/" + interface_name); + state_interfaces_config.names.push_back(interface_name); } return state_interfaces_config; } From 5102a827e83283fcf08409218e3f55286457c24f Mon Sep 17 00:00:00 2001 From: mathias31415 Date: Thu, 17 Jul 2025 17:38:54 +0200 Subject: [PATCH 70/70] Wrapped rt_goal_handle_ in RealtimeThreadSafeBox and introduced std::atomic has_active_goal_ to ensure only one action goal is accepted at a time. --- .../motion_primitives_forward_controller.hpp | 4 +- .../motion_primitives_forward_controller.cpp | 48 ++++++++++++------- 2 files changed, 34 insertions(+), 18 deletions(-) diff --git a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp index 88b68f853d..f5e53e1b66 100644 --- a/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp +++ b/motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp @@ -30,6 +30,7 @@ #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_buffer.hpp" #include "realtime_tools/realtime_publisher.hpp" +#include "realtime_tools/realtime_thread_safe_box.hpp" #include "control_msgs/action/execute_motion_primitive_sequence.hpp" #include "control_msgs/msg/motion_primitive.hpp" @@ -101,7 +102,8 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle void goal_accepted_callback( std::shared_ptr> goal_handle); using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle; - std::shared_ptr realtime_goal_handle_; + realtime_tools::RealtimeThreadSafeBox> rt_goal_handle_; + std::atomic has_active_goal_ = false; rclcpp::TimerBase::SharedPtr goal_handle_timer_; rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20)); diff --git a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp index 95186ccedc..6fe3e6efbe 100644 --- a/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp +++ b/motion_primitives_forward_controller/src/motion_primitives_forward_controller.cpp @@ -172,31 +172,35 @@ controller_interface::return_type MotionPrimitivesForwardController::update( case ExecutionState::SUCCESS: print_error_once_ = true; - - if (realtime_goal_handle_ && was_executing_) + if(has_active_goal_ && was_executing_) { - was_executing_ = false; - auto result = std::make_shared(); - result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; - result->error_string = "Motion primitives executed successfully"; - realtime_goal_handle_->setSucceeded(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) + { + was_executing_ = false; + auto result = std::make_shared(); + result->error_code = ExecuteMotionAction::Result::SUCCESSFUL; + result->error_string = "Motion primitives executed successfully"; + goal_handle->setSucceeded(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives executed successfully."); + }); } + break; case ExecutionState::STOPPED: print_error_once_ = true; was_executing_ = false; - - if (realtime_goal_handle_) + if(has_active_goal_) { - auto result = std::make_shared(); - realtime_goal_handle_->setCanceled(result); - realtime_goal_handle_.reset(); - RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + rt_goal_handle_.try_get([&](const std::shared_ptr& goal_handle) + { + auto result = std::make_shared(); + goal_handle->setCanceled(result); + has_active_goal_ = false; + RCLCPP_INFO(get_node()->get_logger(), "Motion primitives execution canceled."); + }); } - if (robot_stop_requested_) { // If the robot was stopped by a stop command, reset the command interfaces @@ -360,6 +364,13 @@ rclcpp_action::GoalResponse MotionPrimitivesForwardController::goal_received_cal { RCLCPP_INFO(get_node()->get_logger(), "Received new action goal"); + if (has_active_goal_) + { + RCLCPP_WARN( + get_node()->get_logger(), "Already has an active goal, rejecting new goal request."); + return rclcpp_action::GoalResponse::REJECT; + } + const auto & primitives = goal->trajectory.motions; if (robot_stop_requested_) @@ -493,7 +504,10 @@ void MotionPrimitivesForwardController::goal_accepted_callback( } auto rt_goal = std::make_shared(goal_handle); - realtime_goal_handle_ = rt_goal; + rt_goal_handle_.set([&](auto& handle) { + handle = rt_goal; + has_active_goal_ = true; + }); rt_goal->execute();
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