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[rtm-ros-robot-interface.l] add start/stop-auto-balancer-odom-safe #1102

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[rtm-ros-robot-interface.l] add start/stop-auto-balancer-odom-safe #1102

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40aa24e
[rtm-ros-robot-interface.l] add start/stop-auto-balancer-odom-safe
Naoki-Hiraoka Dec 10, 2020
7445105
fix
Naoki-Hiraoka Dec 11, 2020
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26 changes: 26 additions & 0 deletions hrpsys_ros_bridge/euslisp/rtm-ros-robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@
(ros::subscribe (format nil "/~A_contact_states" x) hrpsys_ros_bridge::ContactStatesStamped
#'send self :rtmros-contact-states-callback (read-from-string (format nil ":~A-contact-states" x)) :groupname groupname))
'(ref act))
(ros::subscribe "/odom" nav_msgs::Odometry
#'send self :rtmros-abc-odom-callback :groupname groupname)
))
(:rtmros-motor-states-callback
(msg)
Expand Down Expand Up @@ -77,6 +79,14 @@
(ref-act msg)
(let ((ss (send-all (send msg :states) :state :state)))
(send self :set-robot-state1 ref-act ss)))
(:rtmros-abc-odom-callback
(msg)
(let ((parsed
(list
(cons :stamp (send msg :header :stamp))
(cons :pose (ros::tf-pose->coords (send msg :pose :pose)))
(cons :twist (ros::tf-twist->coords (send msg :twist :twist))))))
(send self :set-robot-state1 :abc-odom parsed)))
(:tmp-force-moment-vector-for-limb
(f/m fsensor-name &optional (topic-name-prefix nil)) ;; topic-name-prefix is "off" or "reference"
(let ((key-name (if topic-name-prefix
Expand Down Expand Up @@ -2001,6 +2011,22 @@
(dolist (limb ic-limbs)
(send self :wait-impedance-controller-transition limb))
)
(:start-auto-balancer-odom-safe
(&rest args)
"Start AutoBalancer while keeping continuity of odometry
Foot-mid-coords have to be horizontal."
(send* self :start-auto-balancer args))
(:stop-auto-balancer-odom-safe
()
"Stop AutoBalancer while keeping continuity of odometry
You have to stop ImpedanceController and Stabilizer in advance"
(send self :angle-vector-sequence-full
(list (map float-vector #'rad2deg (send (send (send self :robothardwareservice_getStatus2) :rs) :command)))
(list 1) ;; This value have to be equal to or smaller than the control period of hrpsys
:root-coords (list (send self :state :abc-odom :pose)))
(send self :wait-interpolation-seq)
(send self :stop-auto-balancer)
)
)

;; ReferenceForceUpdater
Expand Down