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14 changes: 7 additions & 7 deletions
14
examples/iiqka_moveit_example/config/dummy_impedance_publisher.yaml
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|---|---|---|
| @@ -1,15 +1,15 @@ | ||
| /publisher_joint_impedance_controller: | ||
| ros__parameters: | ||
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| controller_name: "joint_impedance_controller" | ||
| controller_name: "joint_group_impedance_controller" | ||
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| stiffness_goals: [30, 0, 30, 30, 30, 30] | ||
| damping_goals: [0.7, 0.0, 0.7, 0.7, 0.7, 0.7] | ||
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| joints: | ||
| - joint_a1 | ||
| - joint_a2 | ||
| - joint_a3 | ||
| - joint_a4 | ||
| - joint_a5 | ||
| - joint_a6 | ||
| - joint_1 | ||
| - joint_2 | ||
| - joint_3 | ||
| - joint_4 | ||
| - joint_5 | ||
| - joint_6 |
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|---|---|---|
| @@ -1,11 +1,39 @@ | ||
| # Message describing the state of the robot and FRI | ||
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| # FRI session state enum | ||
| # IDLE = 0, MONITORING_WAIT = 1, MONITORING_READY = 2,COMMANDING_WAIT = 3, COMMANDING_ACTIVE = 4 | ||
| int32 session_state | ||
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| # FRI connection quality | ||
| # POOR = 0, FAIR = 1, GOOD = 2, EXCELLENT = 3 | ||
| int32 connection_quality | ||
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| # Safety state | ||
| # NORMAL_OPERATION = 0, SAFETY_STOP_LEVEL_0 = 1, SAFETY_STOP_LEVEL_1 = 2, SAFETY_STOP_LEVEL_2 = 3 | ||
| int32 safety_state | ||
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| # Client command mode | ||
| # NO_COMMAND_MODE = 0, POSITION = 1, WRENCH = 2, TORQUE = 3 | ||
| int32 command_mode | ||
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| # Control mode of the robot | ||
| # POSITION_CONTROL_MODE = 0, CART_IMP_CONTROL_MODE = 1, JOINT_IMP_CONTROL_MODE = 2, NO_CONTROL = 3 | ||
| int32 control_mode | ||
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| # Operation mode | ||
| # TEST_MODE_1 = 0, TEST_MODE_2 = 1, AUTOMATIC_MODE = 2 | ||
| int32 operation_mode | ||
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| # Drive state | ||
| # OFF = 0, TRANSITIONING = 1, ACTIVE = 2 | ||
| int32 drive_state | ||
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| # Overlay overlay_type | ||
| # NO_OVERLAY = 0, JOINT = 1, CARTESIAN = 2 | ||
| int32 overlay_type | ||
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| # Tracking performance of the robot | ||
| # Indicates how well the commanded robot is able to follow the commands of the FRI client. | ||
| # The best possible value is 1.0, when the robot executes the given commands instantaneously. | ||
| # The tracking performance is always 0 when the session state is not COMMANDING_ACTIVE. | ||
| float64 tracking_performance |
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67 changes: 67 additions & 0 deletions
67
kuka_drivers_core/include/communication_helpers/ros2_control_tools.hpp
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| // Copyright 2020 Áron Svastits | ||
| // | ||
| // 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. | ||
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| #ifndef COMMUNICATION_HELPERS__ROS2_CONTROL_TOOLS_HPP_ | ||
| #define COMMUNICATION_HELPERS__ROS2_CONTROL_TOOLS_HPP_ | ||
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| #include <string> | ||
| #include <vector> | ||
| #include <memory> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "controller_manager_msgs/srv/set_hardware_component_state.hpp" | ||
| #include "controller_manager_msgs/srv/switch_controller.hpp" | ||
| #include "communication_helpers/service_tools.hpp" | ||
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| namespace kuka_drivers_core | ||
| { | ||
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| bool changeHardwareState( | ||
| rclcpp::Client<controller_manager_msgs::srv::SetHardwareComponentState>::SharedPtr client, | ||
| const std::string & hardware_name, uint8_t state, int timeout_ms = 2000) | ||
| { | ||
| auto hw_request = | ||
| std::make_shared<controller_manager_msgs::srv::SetHardwareComponentState::Request>(); | ||
| hw_request->name = hardware_name; | ||
| hw_request->target_state.id = state; | ||
| auto hw_response = sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>( | ||
| client, hw_request, 0, timeout_ms); | ||
| if (!hw_response || !hw_response->ok) { | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
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| bool changeControllerState( | ||
| rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr client, | ||
| const std::vector<std::string> & activate_controllers, | ||
| const std::vector<std::string> & deactivate_controllers, | ||
| int32_t strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT) | ||
| { | ||
| auto controller_request = | ||
| std::make_shared<controller_manager_msgs::srv::SwitchController::Request>(); | ||
| controller_request->strictness = strictness; | ||
| controller_request->activate_controllers = activate_controllers; | ||
| controller_request->deactivate_controllers = deactivate_controllers; | ||
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| auto controller_response = sendRequest<controller_manager_msgs::srv::SwitchController::Response>( | ||
| client, controller_request, 0, 2000); | ||
| if (!controller_response || !controller_response->ok) { | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
| } // namespace kuka_drivers_core | ||
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| #endif // COMMUNICATION_HELPERS__ROS2_CONTROL_TOOLS_HPP_ |
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56 changes: 56 additions & 0 deletions
56
kuka_drivers_core/include/kuka_drivers_core/hardware_interface_types.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
| // Copyright 2023 Áron Svastits | ||
| // | ||
| // 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. | ||
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| #ifndef KUKA_DRIVERS_CORE__HARDWARE_INTERFACE_TYPES_HPP_ | ||
| #define KUKA_DRIVERS_CORE__HARDWARE_INTERFACE_TYPES_HPP_ | ||
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| namespace hardware_interface | ||
| { | ||
| /* Custom interfaces */ | ||
| // Constant defining stiffness interface | ||
| static constexpr char HW_IF_STIFFNESS[] = "stiffness"; | ||
| // Constant defining damping interface | ||
| static constexpr char HW_IF_DAMPING[] = "damping"; | ||
| // Constant defining external torque interface | ||
| static constexpr char HW_IF_EXTERNAL_TORQUE[] = "external_torque"; | ||
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| /* Interface prefixes */ | ||
| // Constant defining prefix for I/O interfaces | ||
| static constexpr char IO_PREFIX[] = "gpio"; | ||
| // Constant defining prefix for interfaces of "configuration controllers" | ||
| static constexpr char CONFIG_PREFIX[] = "runtime_config"; | ||
| // Constant defining prefix for fri state | ||
| static constexpr char FRI_STATE_PREFIX[] = "fri_state"; | ||
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| /* Configuration interfaces */ | ||
| // Constant defining control_mode configuration interface | ||
| static constexpr char CONTROL_MODE[] = "control_mode"; | ||
| // Constant defining the receive multiplier interface needed for FRI | ||
| static constexpr char RECEIVE_MULTIPLIER[] = "receive_multiplier"; | ||
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| /* FRI state interfaces */ | ||
| static constexpr char SESSION_STATE[] = "session_state"; | ||
| static constexpr char CONNECTION_QUALITY[] = "connection_quality"; | ||
| static constexpr char SAFETY_STATE[] = "safety_state"; | ||
| static constexpr char COMMAND_MODE[] = "command_mode"; | ||
| static constexpr char OPERATION_MODE[] = "operation_mode"; | ||
| static constexpr char DRIVE_STATE[] = "drive_state"; | ||
| static constexpr char OVERLAY_TYPE[] = "overlay_type"; | ||
| static constexpr char TRACKING_PERFORMANCE[] = "tracking_performance"; | ||
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| } // namespace hardware_interface | ||
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| #endif // KUKA_DRIVERS_CORE__HARDWARE_INTERFACE_TYPES_HPP_ |
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