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Use the urdf_ to set the robot_description in admittance controller #1094

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Use the urdf_ to set the robot_description in admittance controller #1094

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d1a2f13
Use the urdf_ to set the robot_description in admittance controller
SyllogismRXS Apr 5, 2024
2851e98
Pass robot_description to kinematics_interface using input arg
SyllogismRXS Apr 9, 2024
e33b223
admittance_controller: skip large dt periods
SyllogismRXS Apr 15, 2024
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3 changes: 2 additions & 1 deletion admittance_controller/include/admittance_controller/admittance_rule.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,8 @@ class AdmittanceRule

/// Configure admittance rule memory using number of joints.
controller_interface::return_type configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
const std::string & robot_description);

/// Reset all values back to default
controller_interface::return_type reset(const size_t num_joints);
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6 changes: 4 additions & 2 deletions admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
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Expand Up @@ -20,6 +20,7 @@
#include "admittance_controller/admittance_rule.hpp"

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/duration.hpp"
Expand All @@ -33,7 +34,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6; // (3 translation + 3 rotation)

/// Configure admittance rule memory for num joints and load kinematics interface
controller_interface::return_type AdmittanceRule::configure(
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
const std::string & robot_description)
{
num_joints_ = num_joints;

Expand All @@ -51,7 +53,7 @@ controller_interface::return_type AdmittanceRule::configure(
kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
if (!kinematics_->initialize(
node->get_node_parameters_interface(), parameters_.kinematics.tip))
node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description))
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@destogl destogl Jul 24, 2024 •
edited
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Suggested change
node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description))
node->get_node_parameters_interface(), "kinematics", robot_description))

Propose to set here param_base_name so that we search for the parameters under controller interface.kinematics. As we are doing in JointLimiters

{
return controller_interface::return_type::ERROR;
}
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10 changes: 9 additions & 1 deletion admittance_controller/src/admittance_controller.cpp
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Expand Up @@ -284,7 +284,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));

// configure admittance rule
if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
if (
admittance_->configure(get_node(), num_joints_, urdf_) ==
controller_interface::return_type::ERROR)
{
return controller_interface::CallbackReturn::ERROR;
}
Expand Down Expand Up @@ -394,6 +396,12 @@ controller_interface::return_type AdmittanceController::update_and_write_command
return controller_interface::return_type::ERROR;
}

if (period.seconds() > 5.0) {
RCLCPP_WARN(
get_node()->get_logger(), "Large dt, skipping!");
return controller_interface::return_type::OK;
}

// update input reference from chainable interfaces
read_state_reference_interfaces(reference_);

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