diff --git a/dxl_armed_turtlebot/README.md b/dxl_armed_turtlebot/README.md new file mode 100644 index 00000000..9ab25561 --- /dev/null +++ b/dxl_armed_turtlebot/README.md @@ -0,0 +1,88 @@ +## Smaples in Gazebo + +まずは、下記のコマンドを実行し、gazeboシステム及び仮想ロボットを立ち上げます +``` +$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch +``` + +その場合、以下のような画面になりと思います。 + +![gazebo_turtlebot](images/gazebo_turtlebot2.png) + +#### 注意: +gazeboのgui (右図) を立ち上げると、PCの処理負荷が一気に上がるので、通常は`gui:=false`というオプションをつけて、rvizのみ表示させることを推奨します。 +その場合、コマンドは以下のようになります。 + +``` +$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch gui:=false +``` + +### 1. Grasping test in gazebo via roseus + +以下のコマンドを実行し、roseusから目の前にある物体を掴んでみましょう。 + +``` +$ roscd dxl_armed_turtlebot/euslisp +$ roseus gazebo-grasp-test.l +``` + +このサンプルでは、eusのロボットモデルである`*ri*`を駆使して、台車移動、アーム操作、グリッパー操作という基本動作を実行しています。 +成功すると以下のようになります(gazebo guiの表示画面)。 + +![gazebo_turtlebot_grasp](images/gazebo_turtlebot_grasp.png) + +### 2. Object recognition and approaching via roseus +前の例では、物体認識を行っておりません。物体認識を踏まえた自律動作は以下のように実行します。 + +1. 物体認識を実行する. これは演習で習ったもので、詳細は演習資料を参考してください。 + ``` + $ roslaunch dxl_armed_turtlebot hsi_color_filter.launch DEFAULT_NAMESPACE:=/camera/depth INPUT:=points h_min:=-120 h_max:=-20 s_min:=120 + ``` +2. 認識結果を元に、自律行動を実行する + ``` + $ roscd dxl_armed_turtlebot/euslisp + $ roseus gazebo-grasp-with-recognition.l + ``` + +### 3. SLAM in Gazebo +gazebo内でも地図作成は、実機と同様、下記のコマンドを実行するだけ: +``` +$ rosrun slam_karto slam_karto +``` + +rviz上で、2D地図ができていることが確認できるでしょう。 +ロボットの移動はroseusからでもできるが、ここでは、下記のコマンドを紹介します: +``` +$ roslaunch turtlebot_teleop keyboard_teleop.launch +``` +機体を一周旋回させると、以下のようになります。 + +![gazebo_turtlebot_slam](images/gazebo_turtlebot_slam.png) + +### 4. Detect Checkerboard in Gazebo +gazebo内でも実機と同様にcheckerboardを検出することができる + +まず、checkerboader_detectorを起動しましょう: +``` +$ roslaunch roseus_tutorials checkerboard-detector.launch rect0_size_x:=0.02 rect0_size_y:=0.02 grid0_size_x:=7 grid0_size_y:=4 translation0:="0 0 0" image:=image_raw group:=/camera/rgb frame_id:=camera_rgb_frame +``` + + +次に、上記と同じコマンドを使って、ロボットを旋回させましょう: +``` +$ roslaunch turtlebot_teleop keyboard_teleop.launch +``` + +最後に、rviz上でchecker_boardが見つかれば、下記のコマンドでroseus上でcheckerboardを表示しましょう: + +``` +$ roscd dxl_armed_turtlebot/euslisp +$ roseus display-checkerboard.l +``` + +最終てきには、以下のようになります。 + +![gazebo_checkerboard](images/gazebo_checkerboard.png) + + + diff --git a/dxl_armed_turtlebot/config/dxl_armed_turtlebot_controllers.yaml b/dxl_armed_turtlebot/config/dxl_armed_turtlebot_controllers.yaml index 15847539..70310151 100644 --- a/dxl_armed_turtlebot/config/dxl_armed_turtlebot_controllers.yaml +++ b/dxl_armed_turtlebot/config/dxl_armed_turtlebot_controllers.yaml @@ -3,50 +3,63 @@ joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 # Trajectory Controllers --------------------------------------- -trajectory_controller: +fullbody_controller: #type: effort_controllers/JointTrajectoryController type: velocity_controllers/JointTrajectoryController joints: - - arm_link1_joint - - arm_link2_joint - - arm_link3_joint - - arm_link4_joint - - arm_link5_joint - - arm_link6_joint - - arm_link7_joint + - arm_joint1 + - arm_joint2 + - arm_joint3 + - arm_joint4 + - arm_joint5 + - arm_joint6 constraints: goal_time: 0.5 # Override default stopped_velocity_tolerance: 0.02 # Override default - arm_link1_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint1: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link2_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint2: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link3_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint3: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link4_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint4: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link5_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint5: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link6_joint: - trajectory: 0.05 # Not enforced if unspecified + arm_joint6: + #trajectory: 0.1 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified - arm_link7_joint: - trajectory: 0.05 # Not enforced if unspecified + + gains: # Required because we're controlling an effort interface + arm_joint1: {p: 25.0, i: 0.0, d: 0.0} + arm_joint2: {p: 25.0, i: 0.0, d: 0.0} + arm_joint3: {p: 25.0, i: 0.0, d: 0.0} + arm_joint4: {p: 25.0, i: 0.0, d: 0.0} + arm_joint5: {p: 25.0, i: 0.0, d: 0.0} + arm_joint6: {p: 25.0, i: 0.0, d: 0.0} + state_publish_rate: 100 # Override default + action_monitor_rate: 100 # Override default + stop_trajectory_duration: 0 # Override default + +gripper_controller: + #type: effort_controllers/JointTrajectoryController + type: velocity_controllers/JointTrajectoryController + joints: + - gripper_joint + constraints: + goal_time: 0.5 # Override default + stopped_velocity_tolerance: 0.02 # Override default + gripper_joint: + #trajectory: 0.05 # Not enforced if unspecified goal: 0.02 # Not enforced if unspecified gains: # Required because we're controlling an effort interface - arm_link1_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link2_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link3_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link4_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link5_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link6_joint: {p: 25.0, i: 0.0, d: 0.0} - arm_link7_joint: {p: 5.0, i: 0.0, d: 0.0} + gripper_joint: {p: 10.0, i: 0.0, d: 0.0} state_publish_rate: 100 # Override default action_monitor_rate: 100 # Override default stop_trajectory_duration: 0 # Override default diff --git a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l index 15bc6a0a..0ad5575e 100644 --- a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l +++ b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l @@ -14,7 +14,7 @@ ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defclass dxl-armed-turtlebot-interface :super robot-interface - :slots ()) + :slots (gripper-action)) (eval `(defmethod dxl-armed-turtlebot-interface ;; dxl-7dof-arm-interface, turtlebot-interfaceのメソッドをそれぞれdefmethodする @@ -48,4 +48,4 @@ (send *irtviewer* :change-background #f(0.9 0.9 0.9)) (send *irtviewer* :draw-objects) ) -(warn ";; (dxl-armed-turtlebot-init) ;; for initialize ~%") \ No newline at end of file +(warn ";; (dxl-armed-turtlebot-init) ;; for initialize ~%") diff --git a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l index 45cb4e12..1d57d934 100644 --- a/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l +++ b/dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot.l @@ -63,6 +63,8 @@ (send self :method-copying "-pose") (send self :method-copying "_joint") (send self :method-copying "inverse-kinematics" t) + (send self :method-copying "gripper" t) + (send self :method-copying "arm" t) t)) (:method-copying (substr &optional (use-args nil)) @@ -79,10 +81,12 @@ ,(if use-args `(send* arm-robot ,me args) `(send arm-robot ,me)) ) )) - ))) + ) + methods)) + ;; limbs - (:arm (&rest args) - (unless args (setq args (list nil))) (send* self :limb :rarm args)) + ;;(:arm (&rest args) + ;;(unless args (setq args (list nil))) (send* self :limb :rarm args)) ) ;; アーム台車モデル生成関数 diff --git a/dxl_armed_turtlebot/euslisp/gazebo-grasp-test.l b/dxl_armed_turtlebot/euslisp/gazebo-grasp-test.l new file mode 100644 index 00000000..9ec29ef9 --- /dev/null +++ b/dxl_armed_turtlebot/euslisp/gazebo-grasp-test.l @@ -0,0 +1,19 @@ +;; robotの初期化 +(load "package://dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l") +(dxl-armed-turtlebot-init) + +;; arm approach pose +(send *ri* :angle-vector #f(0 0 -90 0 90 0) 3000) +(send *ri* :wait-interpolation) + +;; open gripper +(send *ri* :stop-grasp) + +;; go-pos +(send *ri* :go-pos 0.56 0 1) + +;; grasp +;; still some bug in start-grasp, so we have to directly use :move-gripper +(send *ri* :move-gripper -30 :tm 1500 :wait t) +(send *ri* :wait-interpolation) +(send *ri* :angle-vector #f(90 0 45 0 45 45)) ;; arm tuck pose diff --git a/dxl_armed_turtlebot/euslisp/gazebo-grasp-with-recognition.l b/dxl_armed_turtlebot/euslisp/gazebo-grasp-with-recognition.l new file mode 100644 index 00000000..015cfd8d --- /dev/null +++ b/dxl_armed_turtlebot/euslisp/gazebo-grasp-with-recognition.l @@ -0,0 +1,91 @@ +;; robotの初期化 +(load "package://dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l") +(dxl-armed-turtlebot-init) + +(ros::load-ros-manifest "jsk_recognition_msgs") + +(defvar *topic-name* "/camera/depth/boxes") +(defvar *bounding-box-list* nil) + +(setq found-obj nil) +(setq obj-pos #f(0 0 0)) + +;; ros::initする +(ros::roseus "boundingboxarray_subscriber") + +;; コールバック関数 +(defun bounding-box-array-cb (msg) + (setq *bounding-box-list* (send msg :boxes)) ;; boxesは、BoundingBoxのArray(Euslispではlist) + (when *bounding-box-list* + (let* ((b (elt *bounding-box-list* 0)) + (cam->obj-coords (ros::tf-pose->coords (send b :pose))) + (cam-coords (send (send *dxl-armed-turtlebot* :camera_depth_optical_frame_lk) :copy-worldcoords))) + (setq obj-pos (scale 0.001 (send (send cam-coords :transform cam->obj-coords) :worldpos))) + (setq found-obj t) + obj-pos)) + ) + +(ros::subscribe *topic-name* jsk_recognition_msgs::BoundingBoxArray #'bounding-box-array-cb 1) + +(setq found-obj nil) +(until found-obj + (x::window-main-one) ;; IRT viewerの視点を変えられる。見にくければ変えよう + (ros::spin-once) + (ros::sleep) + ) + +(ros::ros-warn "found target ojbect ~A, appoaching" obj-pos) + +(setq 2d-pos (float-vector (elt obj-pos 0) (elt obj-pos 1))) + +(send *ri* :go-pos + (elt (scale (/ (- (norm 2d-pos) 0.6) (norm 2d-pos)) 2d-pos) 0) + (elt (scale (/ (- (norm 2d-pos) 0.6) (norm 2d-pos)) 2d-pos) 1) + (rad2deg (atan (elt obj-pos 1) (elt obj-pos 0)))) + +;; open gripper +(send *ri* :stop-grasp) + + +(setq found-obj nil) +(until found-obj + (x::window-main-one) ;; IRT viewerの視点を変えられる。見にくければ変えよう + (ros::spin-once) + (ros::sleep) + ) + +(ros::ros-warn "re-found target object ~A" obj-pos) +(setq target-cds (make-coords :pos (scale 1000 obj-pos))) +(send target-cds :translate #f(-200 0 50)) ;;z should be 0, but the link is not rigid in gazebo, so 100 is the height offset for end effector. +(objects (list *dxl-armed-turtlebot* target-cds)) + +(send *dxl-armed-turtlebot* :angle-vector #f(0 0 -90 0 90 0)) + +(send *dxl-armed-turtlebot* :arm :end-coords :translate #f(0 30 0)) ;; change the end-effector position + +(send *dxl-armed-turtlebot* :inverse-kinematics target-cds :rotation-axis :y) + +#| +(send *dxl-armed-turtlebot* :angle-vector (map float-vector #'(lambda(ang) + (cond + ((> ang 90) (- ang 180)) + ((< ang -90) (+ ang 180)) + (t ang) + )) + (send *dxl-armed-turtlebot* :angle-vector))) +|# + +(ros::ros-warn "the grap arm pose is ~A" (send *dxl-armed-turtlebot* :angle-vector)) + +(send *ri* :angle-vector (send *dxl-armed-turtlebot* :angle-vector) 3000) +(send *ri* :wait-interpolation) + +(send *ri* :go-pos 0.1 0 0) + +;; grasp +;; still some bug in start-grasp, so we have to directly use :move-gripper +(send *ri* :move-gripper -30 :tm 1500 :wait t) +(send *ri* :wait-interpolation) + +(send *ri* :angle-vector #f(80 0 45 0 45 45)) ;; arm tuck pose +(send *ri* :go-pos -0.6 0 0) ;; arm tuck pose diff --git a/dxl_armed_turtlebot/images/gazebo_checkerboard.png b/dxl_armed_turtlebot/images/gazebo_checkerboard.png new file mode 100644 index 00000000..33d2c68f Binary files /dev/null and b/dxl_armed_turtlebot/images/gazebo_checkerboard.png differ diff --git a/dxl_armed_turtlebot/images/gazebo_turtlebot2.png b/dxl_armed_turtlebot/images/gazebo_turtlebot2.png new file mode 100644 index 00000000..db82811f Binary files /dev/null and b/dxl_armed_turtlebot/images/gazebo_turtlebot2.png differ diff --git a/dxl_armed_turtlebot/images/gazebo_turtlebot_grasp.png b/dxl_armed_turtlebot/images/gazebo_turtlebot_grasp.png new file mode 100644 index 00000000..1d9ea0f8 Binary files /dev/null and b/dxl_armed_turtlebot/images/gazebo_turtlebot_grasp.png differ diff --git a/dxl_armed_turtlebot/images/gazebo_turtlebot_slam.png b/dxl_armed_turtlebot/images/gazebo_turtlebot_slam.png new file mode 100644 index 00000000..90e1df2b Binary files /dev/null and b/dxl_armed_turtlebot/images/gazebo_turtlebot_slam.png differ diff --git a/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_gazebo.launch b/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_gazebo.launch index 20f2ce97..84535446 100644 --- a/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_gazebo.launch +++ b/dxl_armed_turtlebot/launch/dxl_armed_turtlebot_gazebo.launch @@ -53,6 +53,14 @@ + + + + + + + @@ -60,7 +68,8 @@ type="spawner" respawn="false" output="screen" args="joint_state_controller - trajectory_controller + fullbody_controller + gripper_controller "/> diff --git a/dxl_armed_turtlebot/package.xml b/dxl_armed_turtlebot/package.xml index fed07a48..3da174e8 100644 --- a/dxl_armed_turtlebot/package.xml +++ b/dxl_armed_turtlebot/package.xml @@ -53,4 +53,9 @@ teleop_twist_keyboard roseus_tutorials slam_karto + + + + + diff --git a/dxl_armed_turtlebot/scripts/tuck_arm.py b/dxl_armed_turtlebot/scripts/tuck_arm.py index e8b8a552..5c6efb99 100755 --- a/dxl_armed_turtlebot/scripts/tuck_arm.py +++ b/dxl_armed_turtlebot/scripts/tuck_arm.py @@ -14,12 +14,12 @@ def __init__(self, tuck_cmd): self._tuck_rate = rospy.Rate(5.0) # Hz self._tuck_threshold = 0.3 # radians self._joint_moves = { - 'tuck': [pi/2, 0, pi/4, 0, pi/2, pi/2, 0], - 'untuck': [0, 0, -pi/2, 0, pi/2, 0, 0], + 'tuck': [pi/2, 0, pi/4, 0, pi/2, pi/2], + 'untuck': [0, 0, -pi/2, 0, pi/2, 0], } self._arm_state = 'none' - self._pub = rospy.Publisher('/trajectory_controller/command', JointTrajectory, queue_size=1) - self._sub = rospy.Subscriber('/trajectory_controller/state', JointTrajectoryControllerState, self._check_arm_state) + self._pub = rospy.Publisher('/fullbody_controller/command', JointTrajectory, queue_size=1) + self._sub = rospy.Subscriber('/fullbody_controller/state', JointTrajectoryControllerState, self._check_arm_state) def _check_arm_state(self, msg): diff_check = lambda a, b: abs(a - b) <= self._tuck_threshold @@ -40,13 +40,12 @@ def _prepare_to_tuck(self): def _move_to(self, goal): traj = JointTrajectory() traj.joint_names = [ - 'arm_link1_joint', - 'arm_link2_joint', - 'arm_link3_joint', - 'arm_link4_joint', - 'arm_link5_joint', - 'arm_link6_joint', - 'arm_link7_joint' + 'arm_joint1', + 'arm_joint2', + 'arm_joint3', + 'arm_joint4', + 'arm_joint5', + 'arm_joint6', ] traj.points.append(JointTrajectoryPoint()) traj.points[0].positions = self._joint_moves[goal] diff --git a/dxl_armed_turtlebot/worlds/empty.world b/dxl_armed_turtlebot/worlds/empty.world index 083a66c8..dadc7224 100644 --- a/dxl_armed_turtlebot/worlds/empty.world +++ b/dxl_armed_turtlebot/worlds/empty.world @@ -306,5 +306,107 @@ -4 0 0 0 0 1.57102 + + + + 1 + 1.0 0.0 0.06 0 0 0 + + + 10 + + 0.1 + 0.0 + 0.0 + 0.015 + 0.0 + 0.1 + + + + + + 0.2 0.4 0.12 + + + + + + 0.4 + 0.4 + + + + + + + + + 0.2 0.4 0.12 + + + + + + + + + + 1.0 0 0.18 0 0 0 + + + 0.01 + + 0.001 + 0.0 + 0.0 + 0.001 + 0.0 + 0.001 + + + + + + 0.025 + 0.12 + + + + + + 0.9 + 0.9 + + + + + + + + + 0.025 + 0.12 + + + + + + + + + + + + 0 1.3 0.3 0 1.5708 -1.5708 + + model://checkerboard + + + diff --git a/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.dae b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.dae new file mode 100644 index 00000000..9feeb070 --- /dev/null +++ b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.dae @@ -0,0 +1,148 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + 金 1月 27 07:50:44 2017 + 金 1月 27 07:50:44 2017 + + + + checkerboard_20mm_7x4_color.png + + + + + + + + + + + + + texture0 + A8R8G8B8 + + + + + texture0-surface + LINEAR + LINEAR + + + + + + 0.9 0.9 0.9 1 + + + 0 0 0 1 + + + + + + 0 0 0 1 + + + 0.3 + + + 0 0 0 1 + + + 0.5 + + + 0 0 0 1 + + + 0 + + + 0 + + + + + + + + + + + 0.0805 0.095 0.335 0.0758511 0.0918405 0.335 0.0755 0.09 0.335 0.0805 0.095 0.332 0.0755 0.09 0.332 0.0786595 0.0946489 0.332 0.0769645 0.0935355 0.332 0.0758511 0.0918405 0.332 0.0769645 0.0935355 0.335 0.0786595 0.0946489 0.335 0.2055 0.09 0.335 0.2005 0.095 0.335 0.2055 0.09 0.332 0.2005 0.095 0.332 0.205149 0.0918405 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+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.urdf b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.urdf new file mode 100644 index 00000000..517ad828 --- /dev/null +++ b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4.urdf @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4_color.png b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4_color.png new file mode 100644 index 00000000..593595d8 Binary files /dev/null and b/dxl_armed_turtlebot/worlds/model/checkerboard/checkerboard_20mm_7x4_color.png differ diff --git a/dxl_armed_turtlebot/worlds/model/checkerboard/model.config b/dxl_armed_turtlebot/worlds/model/checkerboard/model.config new file mode 100644 index 00000000..577dc281 --- /dev/null +++ b/dxl_armed_turtlebot/worlds/model/checkerboard/model.config @@ -0,0 +1,11 @@ + + + checkerboard + 1.0 + model.sdf + + Moju Zhao + chou@jsk.imi.i.u-tokyo.ac.jp + + dxl_armed_turtlebot + diff --git a/dxl_armed_turtlebot/worlds/model/checkerboard/model.sdf b/dxl_armed_turtlebot/worlds/model/checkerboard/model.sdf new file mode 100644 index 00000000..9ce6a318 --- /dev/null +++ b/dxl_armed_turtlebot/worlds/model/checkerboard/model.sdf @@ -0,0 +1,68 @@ + + + + 1 + + 0 0 0 0 -0 0 + + + + model://checkerboard/checkerboard_20mm_7x4.dae + 1 1 1 + + + + + + 100 + 50 + + + + 0 + 1e+06 + + + 0 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + 10 + 0 + + + 1 + 0 + + + model://checkerboard/checkerboard_20mm_7x4.dae + 1 1 1 + + + + + 0 + 0 + + 0 + 0 + 0 + + + diff --git a/dynamixel_7dof_arm/config/dynamixel_joint_controllers.yaml b/dynamixel_7dof_arm/config/dynamixel_joint_controllers.yaml index 001c945d..e5346cd1 100644 --- a/dynamixel_7dof_arm/config/dynamixel_joint_controllers.yaml +++ b/dynamixel_7dof_arm/config/dynamixel_joint_controllers.yaml @@ -76,12 +76,12 @@ arm_j6_controller: min: 0 max: 1023 -arm_j7_controller: +gripper_joint_controller: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController - joint_name: arm_joint7 + joint_name: gripper_joint joint_speed: 2.0 motor: id: 7 diff --git a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l index c19cd356..dc996a20 100644 --- a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l +++ b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface-common.l @@ -14,13 +14,24 @@ (:initialize-arm-robot-ros () ;; subscriber - (dotimes (i (length (send robot :angle-vector))) + + (dotimes (i (+ (length (send robot :angle-vector)) 1)) (ros::subscribe - (format nil "/arm_j~d_controller/state" (1+ i)) + (if (eq i 6) + (format nil "/gripper_joint_controller/state") + (format nil "/arm_j~d_controller/state" (1+ i))) dynamixel_msgs::JointState #'send self :dynamixel-motor-states-callback :groupname groupname)) - (unless (send self :simulation-modep) - ;; services + ;; for gazebo + (when (ros::get-param "use_sim_time" nil) + (ros::subscribe + (format nil "/joint_states") + sensor_msgs::JointState + #'send self :joint-states-callback :groupname groupname) + ) + + (unless (or (send self :simulation-modep) (ros::get-param "use_sim_time" nil)) + ;; services for arm joints (dotimes (i (length (send robot :angle-vector))) (ros::wait-for-service (format nil "/arm_j~d_controller/set_compliance_slope" (1+ i))) @@ -29,11 +40,17 @@ (ros::wait-for-service (format nil "/arm_j~d_controller/set_torque_limit" (1+ i))) ) + ;; services for gripper joint + (ros::wait-for-service + (format nil "/gripper_joint_controller/set_compliance_slope")) + (ros::wait-for-service + (format nil "/gripper_joint_controller/torque_enable")) + (ros::wait-for-service + (format nil "/gripper_joint_controller/set_torque_limit")) ) - ;; define actions + ;; arm controller action (dolist (l (list (cons :fullbody-controller "fullbody_controller/follow_joint_trajectory") - (cons :gripper-controller "gripper_controller/follow_joint_trajectory") )) (let ((type (car l)) (name (cdr l)) @@ -48,7 +65,18 @@ control_msgs::followjointtrajectoryaction :groupname groupname)))) )) + + ;; gripper controller action + (setq gripper-action (instance ros::simple-action-client :init + "/gripper_controller/follow_joint_trajectory" + control_msgs::FollowJointTrajectoryAction + :groupname groupname)) + ;; wait for gripper-action server + (unless (and joint-action-enable (send gripper-action :wait-for-server 3)) + (setq joint-action-enable nil) + (ros::ros-warn "~A is not respond, robot-interface is disabled" gripper-action)) ) + ;; TODO ;; This method is tempolary code. ;; dynamixel_controller_manager should publish /dxl_7dof_arm/joint_states @@ -58,11 +86,11 @@ (dolist (key '(:position :velocity :effort :name)) ;; neglect /joint_states from turtlebot (unless (and (cdr (assoc key robot-state)) - (= (length (send robot :angle-vector)) (length (cdr (assoc key robot-state))))) + (= (1+ (length (send robot :angle-vector))) (length (cdr (assoc key robot-state))))) (send self :set-robot-state1 key (if (eq key :name) - (make-list (length (send robot :angle-vector))) - (instantiate float-vector (length (send robot :angle-vector))))))) + (make-list (1+ (length (send robot :angle-vector)))) + (instantiate float-vector (1+ (length (send robot :angle-vector)))))))) ;; update values (dolist (key '(:position :velocity :effort :name)) (setf (elt (cdr (assoc key robot-state)) (1- (elt (send msg :motor_ids) 0))) @@ -74,6 +102,38 @@ ) ) ) + ;; TODO + ;; Because turtlebot kobuki also publish the wheel states as "joint_states", it conflicts with arm joint states. + ;; We have to separate these two topics in the future. + ;; Temporary, we check the number of the joint states and distinguish the origin. + ;; However, the arm joint states may not be updated in the eus model on time, if we only oprate "spinOnce" for one time. + (:joint-states-callback + (msg) + ;; maybe from wheel (TODO: remove joint_state for kobuki_gazebo_plugin) + (unless (eq (length (send msg :name)) (+ (length (send robot :angle-vector)) 1)) + (return-from :joint-states-callback nil)) + ;; for initialize + (dolist (key '(:position :velocity :effort :name)) + (unless (and (cdr (assoc key robot-state)) + (= (length (send msg :name)) (length (cdr (assoc key robot-state))))) + (send self :set-robot-state1 key + (if (eq key :name) + (make-list (length (send msg :name))) + (instantiate float-vector (length (send msg :name))))))) + ;; update values + (dotimes (i (length (send msg :name))) + (dolist (key '(:position :velocity :effort :name)) + (setf (elt (cdr (assoc key robot-state)) i) + (case key + (:position (elt (send msg :position) i)) + (:name (elt (send msg :name) i)) + (:velocity (elt (send msg :velocity) i)) + (:effort (elt (send msg :effort) i))) + ) + ) + ) + ) + (:fullbody-controller () (list @@ -82,14 +142,11 @@ (cons :controller-state "fullbody_controller/state") (cons :action-type control_msgs::FollowJointTrajectoryAction) (cons :joint-names (mapcar #'(lambda (n) (if (symbolp n) (symbol-name n) n)) - (send-all - (remove-if #'(lambda (x) - (member x (send robot :gripper :arm :joint-list))) - (send robot :joint-list)) - :name) + (send-all (send robot :joint-list) :name) ))) ) ) + #| (:gripper-controller () (list @@ -102,6 +159,8 @@ ))) ) ) + |# + (:default-controller () (send self :fullbody-controller) @@ -113,9 +172,11 @@ ;; http://www.besttechnology.co.jp/modules/knowledge/?Dynamixel%E3%82%B3%E3%83%B3%E3%83%88%E3%83%AD%E3%83%BC%E3%83%AB%E3%83%86%E3%83%BC%E3%83%96%E3%83%AB%28DX%2CRX%2CAX%E3%82%B7%E3%83%AA%E3%83%BC%E3%82%BA%E7%94%A8%29#m041ac16 (:set-compliance-slope ;; for one joint (id slope) - "Set compliance slope for one joint. id should be 1-7. slope is 32 by default." + "Set compliance slope for one joint. id should be 1-6. slope is 32 by default." (ros::service-call - (format nil "/arm_j~d_controller/set_compliance_slope" id) + (if (eq id 7) + (format nil "/gripper_joint_controller/set_compliance_slope") + (format nil "/arm_j~d_controller/set_compliance_slope" id)) (instance dynamixel_controllers::setcomplianceslopeRequest :init :slope (round slope))) ) @@ -129,14 +190,18 @@ (id torque-limit) "Set torque limit for one joint. id should be 1-7. torque-limit should be within [0, 1]." (ros::service-call - (format nil "/arm_j~d_controller/set_torque_limit" id) + (if (eq id 7) + (format nil "/gripper_joint_controller/set_torque_limit" id) + (format nil "/arm_j~d_controller/set_torque_limit" id)) (instance dynamixel_controllers::SetTorqueLimitRequest :init :torque_limit torque-limit))) (:torque-enable (id torque-enable) "Configure joint torque mode for one joint. id sohuld be 1-7. If torque-enable is t, move to torque control mode, otherwise, move to joint positoin mode." (ros::service-call - (format nil "/arm_j~d_controller/torque_enable" id) + (if (eq id 7) + (format nil "/gripper_joint_controller/torque_enable" id) + (format nil "/arm_j~d_controller/torque_enable" id)) (instance dynamixel_controllers::TorqueEnableRequest :init :torque_enable torque-enable))) @@ -152,12 +217,12 @@ (:servo-on-all () "Servo On for all joints." - (dotimes (i (length (send robot :angle-vector))) + (dotimes (i (+ (length (send robot :angle-vector)) 1)) (send self :servo-on-off (1+ i) t))) (:servo-off-all () "Servo Off for all joints." - (dotimes (i (length (send robot :angle-vector))) + (dotimes (i (+ (length (send robot :angle-vector)) 1)) (send self :servo-on-off (1+ i) nil))) (:servo-on-off (id on/off) ;; id = 1-7, t -> "On", nil -> "Off" @@ -166,32 +231,67 @@ (if on/off ;; just for servo off->on (send self :set-torque-limit id 1.0))) + (:move-gripper + (pos &key (tm 1000) (wait t)) + (unless joint-action-enable + (send (send robot :gripper_joint) :joint-angle pos ) + (send self :publish-joint-state) + (if viewer (send self :draw-objects)) + (return-from :move-gripper t)) + ;; for real robot + (let* ((goal (send gripper-action :make-goal-instance)) + (goal-points nil) + (joint-names (list (send (send robot :gripper_joint) :name)))) + (send goal :header :seq 1) + (send goal :header :stamp (ros::time-now)) + + (send goal :goal :trajectory :joint_names joint-names) + (send goal :goal :trajectory :header :stamp (ros::time-now)) + + (push (instance trajectory_msgs::JointTrajectoryPoint + :init + :positions (float-vector (deg2rad pos)) + :velocities (float-vector 0) + :time_from_start (ros::time (/ tm 1000.0))) + goal-points) + + (send self :spin-once) + (send goal :goal :trajectory :points goal-points) + (send gripper-action :send-goal goal) + ) + #| + (send self :send-ros-controller + gripper-action (list (send (send robot :gripper_joint) :name)) ;; action server and joint-names + 0 ;; start time + (list + (list (float-vector pos) ;; positions + (instantiate float-vector 1) ;; velocities + (/ tm 1000.0)))) + |# + (if wait (send gripper-action :wait-for-result)) + ) + ;; 把持モード開始メソッド (:start-grasp - (&optional (arm :arm) &key ((:gain g) 0.5) ((:objects objs) objects)) + (&key ((:gain g) 0.5)) "Start grasp mode." - (send self :set-compliance-slope 7 1023) - (send self :set-torque-limit 7 g) - (send robot :gripper arm :angle-vector - (send-all (send robot :gripper arm :joint-list) :min-angle)) - (send self :angle-vector (send robot :angle-vector) 1000 :gripper-controller) - (send self :wait-interpolation :gripper-controller) + (unless (or (send self :simulation-modep) (ros::get-param "use_sim_time" nil)) + (send self :set-compliance-slope 7 1023) + (send self :set-torque-limit 7 g)) + (send self :move-gripper (send (send robot :gripper_joint) :min-angle) :tm 1000 :wait t) (send self :state) - (send robot :gripper arm :angle-vector - (mapcar #'(lambda (x) (- x 5)) (send-all (send robot :gripper arm :joint-list) :joint-angle))) ;; 5[deg] - (send self :angle-vector (send robot :angle-vector) 200 :gripper-controller) - (send self :wait-interpolation :gripper-controller) + (send robot :gripper :arm :joint-angle (- (send robot :gripper :arm :joint-angle) 5)) ;; 5[deg] + (send self :move-gripper (send robot :gripper :arm :joint-angle) :tm 200 :wait t) ) + ;; 把持モード停止メソッド (:stop-grasp - (&optional (arm :arm) &key (wait nil)) + () "Stop grasp mode." - (send robot :gripper arm :angle-vector - (send-all (send robot :gripper arm :joint-list) :max-angle)) - (send self :angle-vector (send robot :angle-vector) 1000 :gripper-controller) - (send self :set-compliance-slope 7 32) - (send self :set-torque-limit 7 1.0) - (send self :wait-interpolation :gripper-controller) + (send self :move-gripper (send (send robot :gripper_joint) :max-angle) :tm 1000 :wait t) + (unless (or (send self :simulation-modep) (ros::get-param "use_sim_time" nil)) + (send self :set-compliance-slope 7 32) + (send self :set-torque-limit 7 1.0)) ) ) ) diff --git a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface.l b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface.l index e2011415..798209be 100644 --- a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface.l +++ b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-interface.l @@ -13,7 +13,7 @@ ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; (defclass dxl-7dof-arm-interface :super robot-interface - :slots ()) + :slots (gripper-action)) (eval `(defmethod dxl-7dof-arm-interface ;; dxl-7dof-arm-interfaceのメソッドをdefmethodする diff --git a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-robot.l b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-robot.l index 37529684..ea119391 100644 --- a/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-robot.l +++ b/dynamixel_7dof_arm/euslisp/dxl-7dof-arm-robot.l @@ -276,7 +276,7 @@ (defclass dxl-7dof-arm-robot :super robot-model - :slots (jc0 jc1 jc2 jc3 jc4 jc5 jc6)) ;; 関節インスタンス + :slots (jc0 jc1 jc2 jc3 jc4 jc5 gripper_jc)) ;; 関節インスタンス (defmethod dxl-7dof-arm-robot (:init @@ -304,13 +304,13 @@ (setq jc3 (instance rotational-joint :init :parent-link (elt rarm 2) :child-link (elt rarm 3) :name "arm_joint4" :axis :x :min -180 :max 180 :max-joint-velocity max-joint-velocity :max-joint-torque max-joint-torque)) (setq jc4 (instance rotational-joint :init :parent-link (elt rarm 3) :child-link (elt rarm 4) :name "arm_joint5" :axis :y :min -90 :max 90 :max-joint-velocity max-joint-velocity :max-joint-torque max-joint-torque)) (setq jc5 (instance rotational-joint :init :parent-link (elt rarm 4) :child-link (elt rarm 5) :name "arm_joint6" :axis :x :min -180 :max 180 :max-joint-velocity max-joint-velocity :max-joint-torque max-joint-torque)) - (setq jc6 (instance rotational-joint :init :parent-link (elt rarm 5) :child-link (elt rarm 6) :name "arm_joint7" :axis :z :min -55 :max 50 :max-joint-velocity max-joint-velocity :max-joint-torque max-joint-torque)) + (setq gripper_jc (instance rotational-joint :init :parent-link (elt rarm 5) :child-link (elt rarm 6) :name "gripper_joint" :axis :z :min -55 :max 50 :max-joint-velocity max-joint-velocity :max-joint-torque max-joint-torque)) ) ;; 4. define slots for robot class ;; links and joint-list for cascaded-link. - (setq links (append (list aroot-link) rarm)) - (setq joint-list (list jc0 jc1 jc2 jc3 jc4 jc5 jc6)) + (setq links (append (list aroot-link) (butlast rarm))) + (setq joint-list (list jc0 jc1 jc2 jc3 jc4 jc5)) ;; These are for robot-model. (setq rarm-root-link (car rarm)) ;; end-coords @@ -320,6 +320,9 @@ ;; 5. call :init-ending after defining links and joint-list and return "self" (send self :init-ending) + + ;; 6. overwrite bodies to return draw-things links not (send link :bodies) + (setq bodies (flatten (mapcar #'(lambda (b) (if (find-method b :bodies) (send b :bodies))) (append links (last rarm))))) self)) ;; links (:make-root-link @@ -349,32 +352,57 @@ (:arm_joint4 () jc3) (:arm_joint5 () jc4) (:arm_joint6 () jc5) - (:arm_joint7 () jc6) + (:gripper_joint () gripper_jc) + ;; limbs (:arm (&rest args) "Accessor for arm methods." (unless args (setq args (list nil))) (send* self :limb :rarm args)) + + (:gripper + (limb &rest args) + (let () + (unless (or (eq limb :arm) (eq limb :rarm)) + (error "you can only use ~A, not ~A " ":arm" limb) + (return-from :gripper nil)) + (cond + ((memq :links args) + (list (send gripper_jc :child-link))) + ((memq :joint-list args) + (list gripper_jc)) + ((memq :joint-angle args) + (if (null (cdr args)) + (send gripper_jc :joint-angle) + (send gripper_jc :joint-angle (cadr args)) + )) + (t (send-super* :gripper limb args)) + ))) + ;; poses (:reset-pose () "Reset pose." - (send self :angle-vector (float-vector 0.0 0.0 -90.0 0.0 90.0 0.0 0.0))) + (let () + (send self :angle-vector (float-vector 0.0 0.0 -90.0 0.0 90.0 0.0)) + (send (send self :gripper_joint) :joint-angle 0))) (:reset-pose2 () "Reset pose2." - (send self :angle-vector (float-vector 0.0 150.0 -90.0 0.0 90.0 0.0 0.0))) + (let () + (send self :angle-vector (float-vector 0.0 150.0 -90.0 0.0 90.0 0.0)) + (send (send self :gripper_joint) :joint-angle 0))) (:tuckarm-pose () "Folding arm pose." - (send self :angle-vector (float-vector 0.0 150.0 -90.0 0.0 0.0 0.0 0.0))) + (send self :angle-vector (float-vector 0.0 150.0 -90.0 0.0 0.0 0.0))) (:tuckarm-pose2 () "Folding arm pose2." - (send self :angle-vector (float-vector 90.0 90.0 5.0 0.0 -90.0 90.0 0.0))) + (send self :angle-vector (float-vector 90.0 90.0 5.0 0.0 -90.0 90.0))) (:tuckarm-pose3 () "Folding arm pose3." - (send self :angle-vector (float-vector 0.0 90.0 0.0 -20.0 90.0 0.0 0.0))) + (send self :angle-vector (float-vector 0.0 90.0 0.0 -20.0 90.0 0.0))) ;; inverse-kinematics (:inverse-kinematics (target-coords &rest args &key (link-list) @@ -394,7 +422,6 @@ (setq move-target (send self :arm :end-coords))) (unless link-list (setq link-list (send self :link-list (send move-target :parent)))) - ;; use base (cond (use-base diff --git a/dynamixel_7dof_arm/launch/dynamixel_7dof_arm_bringup.launch b/dynamixel_7dof_arm/launch/dynamixel_7dof_arm_bringup.launch index 3e57e2f8..afd6a178 100644 --- a/dynamixel_7dof_arm/launch/dynamixel_7dof_arm_bringup.launch +++ b/dynamixel_7dof_arm/launch/dynamixel_7dof_arm_bringup.launch @@ -28,7 +28,7 @@ arm_j4_controller arm_j5_controller arm_j6_controller - arm_j7_controller" + gripper_joint_controller" output="screen"/> diff --git a/dynamixel_7dof_arm/launch/gripper_controller_spawner.launch b/dynamixel_7dof_arm/launch/gripper_controller_spawner.launch index 48942938..25228493 100644 --- a/dynamixel_7dof_arm/launch/gripper_controller_spawner.launch +++ b/dynamixel_7dof_arm/launch/gripper_controller_spawner.launch @@ -8,6 +8,6 @@ --port=7dof_arm_port --type=meta gripper_controller - arm_j7_controller" + gripper_joint_controller" output="screen"/> diff --git a/dynamixel_7dof_arm/urdf/dynamixel_7dof_arm.urdf.xacro b/dynamixel_7dof_arm/urdf/dynamixel_7dof_arm.urdf.xacro index 754615de..60032ac3 100644 --- a/dynamixel_7dof_arm/urdf/dynamixel_7dof_arm.urdf.xacro +++ b/dynamixel_7dof_arm/urdf/dynamixel_7dof_arm.urdf.xacro @@ -29,12 +29,12 @@ - - + + - + - + @@ -114,12 +114,12 @@ - - + + - + @@ -220,27 +220,28 @@ - + - - - + + - + - @@ -248,31 +249,33 @@ - + - - + - + - + - @@ -313,13 +316,22 @@ - - - - - - - + + 0.8 + 0.8 + + + 0.8 + 0.8 + + + + + + + + +