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Improve joint calibration controller #406

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e3e7cf8
publish calibrated zero_offset & latch publishers
v4hn Aug 10, 2022
8cf343c
calibration: turn countdown_ into parameter
v4hn Aug 10, 2022
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5 changes: 4 additions & 1 deletion ...alibration_controllers/include/pr2_calibration_controllers/joint_calibration_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include "robot_mechanism_controllers/joint_velocity_controller.h"
#include "realtime_tools/realtime_publisher.h"
#include "std_msgs/Empty.h"
#include "std_msgs/Float32.h"
#include "pr2_controllers_msgs/QueryCalibrationState.h"


Expand All @@ -65,13 +66,15 @@ class JointCalibrationController : public pr2_controller_interface::Controller
protected:
pr2_mechanism_model::RobotState* robot_;
ros::NodeHandle node_;
ros::Time last_publish_time_;
ros::ServiceServer is_calibrated_srv_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Float32> > pub_zero_offset_;

enum { INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH, CALIBRATED };
int state_;
bool announced_calibration_success_;
int countdown_;
int tics_moving_past_calibration_reading_;

double search_velocity_;
double original_position_;
Expand Down
32 changes: 20 additions & 12 deletions pr2_calibration_controllers/src/joint_calibration_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,7 @@ using namespace std;
namespace controller {

JointCalibrationController::JointCalibrationController()
: robot_(NULL), last_publish_time_(0),
actuator_(NULL), joint_(NULL)
: robot_(NULL), actuator_(NULL), joint_(NULL)
{
}

Expand Down Expand Up @@ -91,11 +90,15 @@ bool JointCalibrationController::init(pr2_mechanism_model::RobotState *robot, ro
return false;
}

tics_moving_past_calibration_reading_ = 200;
node_.getParam("tics_moving_past_calibration_reading", tics_moving_past_calibration_reading_);

bool force_calibration = false;
node_.getParam("force_calibration", force_calibration);

state_ = INITIALIZED;
joint_->calibrated_ = false;
announced_calibration_success_ = false;
if (actuator_->state_.zero_offset_ != 0)
{
if (force_calibration)
Expand Down Expand Up @@ -173,8 +176,8 @@ bool JointCalibrationController::init(pr2_mechanism_model::RobotState *robot, ro
is_calibrated_srv_ = node_.advertiseService("is_calibrated", &JointCalibrationController::isCalibrated, this);

// "Calibrated" topic
pub_calibrated_.reset(new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1));

pub_calibrated_.reset(new realtime_tools::RealtimePublisher<std_msgs::Empty>(node_, "calibrated", 1, true));
pub_zero_offset_.reset(new realtime_tools::RealtimePublisher<std_msgs::Float32>(node_, "zero_offset", 1, true));

return true;
}
Expand All @@ -185,6 +188,7 @@ void JointCalibrationController::starting()
state_ = INITIALIZED;
joint_->calibrated_ = false;
actuator_->state_.zero_offset_ = 0.0;
announced_calibration_success_ = false;
}


Expand Down Expand Up @@ -226,7 +230,7 @@ void JointCalibrationController::update()
}
}
else
countdown_ = 200;
countdown_ = tics_moving_past_calibration_reading_;
break;
case MOVING_TO_HIGH: {
vc_.setCommand(search_velocity_);
Expand Down Expand Up @@ -258,13 +262,17 @@ void JointCalibrationController::update()
break;
}
case CALIBRATED:
if (pub_calibrated_) {
if (last_publish_time_ + ros::Duration(0.5) < robot_->getTime()){
assert(pub_calibrated_);
if (pub_calibrated_->trylock()) {
last_publish_time_ = robot_->getTime();
pub_calibrated_->unlockAndPublish();
}
if (!announced_calibration_success_ && pub_zero_offset_ && pub_calibrated_) {
if (pub_zero_offset_->trylock()) {
if (pub_calibrated_->trylock()) {
pub_calibrated_->unlockAndPublish();
pub_zero_offset_->msg_.data = actuator_->state_.zero_offset_;
pub_zero_offset_->unlockAndPublish();
announced_calibration_success_ = true;
}
else {
pub_zero_offset_->unlock();
}
}
}
break;
Expand Down