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Pass the robot_description as an arg in initialize() with fallback to using node's parameters #66

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Pass the robot_description as an arg in initialize() with fallback to using node's parameters #66

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3 changes: 2 additions & 1 deletion kinematics_interface/include/kinematics_interface/kinematics_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,8 @@ class KinematicsInterface
*/
virtual bool initialize(
std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
const std::string & end_effector_name) = 0;
const std::string & end_effector_name,
const std::string & robot_description = "") = 0;
Comment on lines +45 to +46
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@destogl destogl Jul 24, 2024 •
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Let's be crazy here and just replace "end_effector_name" with "param_base_name" to know where to search for the parameters. And make robot_description mandatory. To have backwards compatibility, I propose a new method with the following signature:

virtual bool initialize(
    const std::string & robot_description,
    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
    const std::string & param_base_name = "kinematics",
    ) = 0;

Then we read `end_effector` from the parameters by provided `parameters_interface`.

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I think the word we are looking for is namespace, see below ;)

virtual bool initialize(
    const std::string & robot_description,
    std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
    const std::string & param_namespace = "kinematics",
    ) = 0;

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Yes exactly! This is the right way to do it. I want to avoid making the robot_description an optional arg.


/**
* \brief Convert Cartesian delta-x to joint delta-theta, using the Jacobian.
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3 changes: 2 additions & 1 deletion kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp
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Expand Up @@ -41,7 +41,8 @@ class KinematicsInterfaceKDL : public kinematics_interface::KinematicsInterface
public:
bool initialize(
std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
const std::string & end_effector_name) override;
const std::string & end_effector_name,
const std::string & robot_description = "") override;

bool convert_cartesian_deltas_to_joint_deltas(
const Eigen::VectorXd & joint_pos, const Eigen::Matrix<double, 6, 1> & delta_x,
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26 changes: 18 additions & 8 deletions kinematics_interface_kdl/src/kinematics_interface_kdl.cpp
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Expand Up @@ -22,19 +22,29 @@ rclcpp::Logger LOGGER = rclcpp::get_logger("kinematics_interface_kdl");

bool KinematicsInterfaceKDL::initialize(
std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface> parameters_interface,
const std::string & end_effector_name)
const std::string & end_effector_name,
const std::string & robot_description)
{
// track initialization plugin
initialized = true;

// get robot description
auto robot_param = rclcpp::Parameter();
if (!parameters_interface->get_parameter("robot_description", robot_param))
std::string robot_description_local;
if (robot_description.empty())
{
RCLCPP_ERROR(LOGGER, "parameter robot_description not set");
return false;
// If the robot_description input argument is empty, try to get the
// robot_description from the node's parameters.
auto robot_param = rclcpp::Parameter();
if (!parameters_interface->get_parameter("robot_description", robot_param))
{
RCLCPP_ERROR(LOGGER, "parameter robot_description not set in kinematics_interface_kdl");
return false;
}
robot_description_local = robot_param.as_string();
}
else
{
robot_description_local = robot_description;
}
auto robot_description = robot_param.as_string();
// get alpha damping term
auto alpha_param = rclcpp::Parameter("alpha", 0.000005);
if (parameters_interface->has_parameter("alpha"))
Expand All @@ -44,7 +54,7 @@ bool KinematicsInterfaceKDL::initialize(
alpha = alpha_param.as_double();
// create kinematic chain
KDL::Tree robot_tree;
kdl_parser::treeFromString(robot_description, robot_tree);
kdl_parser::treeFromString(robot_description_local, robot_tree);
root_name_ = robot_tree.getRootSegment()->first;
if (!robot_tree.getChain(root_name_, end_effector_name, chain_))
{
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